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
| STM32F446RE Pin number | Configuration | Name | Description |
|---|---|---|---|
| PWM Output | LMotor_A | Left motor PWM signal 1 | |
| PWM Output | LMotor_B | Left motor PWM signal 2 | |
| PWM Output | RMotor_A | Right motor PWM signal 1 | |
| PWM Output | RMotor_B | Right motor PWM signal 2 | |
| GPIO Output | Motors_EN | DRM8833 Enable line | |
| GPIO Output | IR_Front_L_Pulse | Front left IR emitter pulse enable | |
| GPIO Output | IR_Front_R_Pulse | Front right IR emitter pulse enable | |
| GPIO Output | IR_L_Pulse | Left IR emitter pulse enable | |
| GPIO Output | IR_R_Pulse | Right IR emitter pulse enable | |
| ADC | IR_Front_L | Front Left IR Sensor | |
| ADC | IR_Front_R | Front Right IR Sensor | |
| ADC | IR_L | Left IR Sensor | |
| ADC | IR_R | Right IR Sensor | |
| Interrupt Input | L_ENC_A | Left encoder channel A | |
| Interrupt Input | L_ENC_B | Left encoder channel B | |
| Interrupt Input | R_ENC_A | Right encoder channel A | |
| Interrupt Input | R_ENC_B | Right encoder channel B | |
| I2C SDA | VL53L4CD_SDA | I2C bus data for VL53L4CD | |
| I2C SCL | VL53L4CD_SCL | I2C bus clock for VL53L4CD | |
| Interrupt Input | VL53L4CD_INT | Interrupt from VL53L4CD | |
| GPIO Output | VL53L4CD_EN | Enable for VL53L4CD | |
| SPI SCK | ICM-42688_SCK | SPI Clock for ICM-42688 | |
| SPI MISO | ICM-42688_MISO | SPI MISO for ICM-42688 | |
| SPI MOSI | ICM-42688_MOSI | SPI MOSI for ICM-42688 | |
| SPI CS or GPIO Output | ICM-42688_CS | Chip select, active low, for ICM-42688 | |
| GPIO Interrupt | ICM-42688_INT1 | Interrupt 1 from ICM-42688 | |
| GPIO Interrupt | ICM-42688_INT2 | Interrupt 2 from ICM-42688 | |
| GPIO Input or Interrupt | SW1 | Switch 1, momentary push-button input | |
| GPIO Input or Interrupt | SW2 | Switch 2, momentary push-button input | |
| GPIO Output | LED1 | LED 1 Output | |
| GPIO Output | LED2 | LED 2 Output | |
| ADC | VBATT | Battery voltage input | |
| SWDIO | SWDIO | Serial Wire Debug Data | |
| SWDCLK | SWDCLK | Serial Wire Debug Clock |