Micromouse code

A maze-solving micromouse implemented on STM32F446RE

This mouse design has two DC motors driven by a TI DRV8833, and 4 IR sensors, two looking forward at an outward angle and two looking sideways, again at an angle. Odometry is provided by a hall effect quadrature encoder on each motor. Provision is made for a TDK ICM-42688 IMU, or a TDK ICM-45688 if and when that becomes available. A forward-facing VL53L4CD time-of-flight ranging sensor is used for look-ahead

Pin Descriptions

Position	Name	Type	Signal	Label	Description
1	VBAT	Power
2	PC13	I/O	GPIO_EXTI13	VL53L4CD_INT	Interrupt from VL53L4CD
3	PC14-OSC32_IN	Output	GPIO_Output	VL53L4CD_EN	Enable for VL53L4CD
4	PC15-OSC32_OUT	Output	GPIO_Output	MOTORS_EN	DRM8833 Enable line
5	PH0-OSC_IN	Output	GPIO_Output	LED1	LED 1 Output
6	PH1-OSC_OUT	Output	GPIO_Output	LED2	LED 2 Output
7	NRST	Reset
8	PC0	I/O	ADC1_IN10	IR_FRONT_L	Front Left IR Sensor
9	PC1	I/O	ADC1_IN11	IR_FRONT_R	Front Right IR Sensor
10	PC2	I/O	ADC1_IN12	IR_L	Left IR Sensor
11	PC3	I/O	ADC1_IN13	IR_R	Right IR Sensor
12	VSSA	Power
13	VDDA	Power
14	PA0-WKUP	I/O	SYS_WKUP0	SW1	Switch 1, momentary push-button input
15	PA1	Input	GPIO_Input	SW2	Switch 2, momentary push-button input
16	PA2	Inpu	GPIO_Input	MOTOR_FAULT	Motor fault
17	PA3	I/O
18	VSS	Power
19	VDD	Power
20	PA4	I/O	ADC1_IN4	VBATT_MON	Battery voltage input
21	PA5	I/O
22	PA6	I/O	GPIO_EXTI6	ICM_42688_INT1	Interrupt 1 from ICM-42688
23	PA7	I/O	GPIO_EXTI7	ICM_42688_INT2	Interrupt 2 from ICM-42688
24	PC4	I/O
25	PC5	I/O
26	PB0	Output	GPIO_Output	IR_FRONT_L_PULSE	Front left IR emitter pulse enable
27	PB1	Output	GPIO_Output	IR_FRONT_R_PULSE	Front right IR emitter pulse enable
28	PB2	Output	GPIO_Output	IR_L_PULSE	Left IR emitter pulse enable
29	PB10	I/O	SPI2_SCK	ICM_42688_SCK	SPI Clock for ICM-42688
30	VCAP_1	Power
31	VSS	Power
32	VDD	Power
33	PB12	I/O
34	PB13	Output	GPIO_Output	ICM_42688_CS	Chip select, active low, for ICM-42688
35	PB14	I/O	SPI2_MISO	ICM_42688_MISO	SPI MISO for ICM-42688
36	PB15	I/O	SPI2_MOSI	ICM_42688_MOSI	SPI MOSI for ICM-42688
37	PC6	I/O	TIM8_CH1	LMOTOR_A	Left motor PWM signal 1
38	PC7	I/O	TIM8_CH2	LMOTOR_B	Left motor PWM signal 2
39	PC8	I/O	TIM8_CH3	RMOTOR_A	Right motor PWM signal 1
40	PC9	I/O	TIM8_CH4	RMOTOR_B	Right motor PWM signal 2
41	PA8	Output	GPIO_Output	BT_COMMAND_MODE	Bluetooth command mode
42	PA9	I/O	USART1_TX		Remote Serial/bootloader TX
43	PA10	I/O	USART1_RX		Remote Serial/bootloader RX
44	PA11	I/O
45	PA12	I/O
46	PA13	I/O	SYS_JTMS-SWDIO	SWDIO	Serial Wire Debug Data
47	VSS	Power
48	VDD	Power
49	PA14	I/O	SYS_JTCK-SWCLK	SWCLK	Serial Wire Debug Clock
50	PA15	I/O
51	PC10	I/O
52	PC11	I/O
53	PC12	I/O
54	PD2	I/O
55	PB3	Output	GPIO_Output	IR_R_PULSE	Right IR emitter pulse enable
56	PB4	I/O	TIM3_CH1	L_ENC_A	Left encoder channel A
57	PB5	I/O	TIM3_CH2	L_ENC_B	Left encoder channel B
58	PB6	I/O	TIM4_CH1	R_ENC_A	Right encoder channel A
59	PB7	I/O	TIM4_CH2	R_ENC_B	Right encoder channel B
60	BOOT0	Boot
61	PB8	I/O	I2C1_SCL	VL53L4CD_SCL	I2C bus clock for VL53L4CD
62	PB9	I/O	I2C1_SDA	VL53L4CD_SDA	I2C bus data for VL53L4CD
63	VSS	Power
64	VDD	Power