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This is the repository showcasing the usage of ChibiOS on this cheap STM32F103C8T6 board equiped with a IMU, usb to serial converter and CAN bus transceiver. Implementation of common functions and peripherals used in the RoboMaster contest by our team ENTERPRIZE will be demonstrated here.
ChibiOS is a embedded RTOS which also comes with its own HAL (Hardware Abstraction Layer), and some useful utilities like the chprintf() and the command shell.
With these functions one can easily program a high performance embedded system.
However, basic RTOS concepts and electrical knowledge are prerequisites, while C/C++ programming basis is fundamental to embedded system development.
For documentation of ChibiOS, we will most often refer to the ChibiOS/RT 5.0.0 Reference Manual and ChibiOS/HAL 6.0.1 Reference Manual available here
For the STM32 chip itself, please refer to the reference manual and the datasheet, where the reference manual shows to low level details of the peripherals, and the datasheet shows the mapping of function (more importantly the alternate function mapping on pins)