Firmware for a device that orients itself north using a stepper motor and compass readings on the STM32F3DISCOVERY board. It reads from the board's LSM303AGR compass, then a stepper controller to adjust the stepper motor's position to point the entire device north.

TODO

To run the code on the device, first start the openocd remote debugger connection:

openocd

Then, using cargo build and flash the firmware to the device:

cargo run

This will drop you into a debugger that breaks at the rtic init.

• Add a circuit diagram to the README
• Add a video of the device operating
• Disable the stepper motor when not adjusting to allow for the free motion of he device. This will require a buk circuit since we only have 2 5v capable pins on GPIO. Should also try and determine if a person is moving it before enabling as well.
• Use the available button to enable/disable functionality
• Implement necessary correction for 3d compas z-axis movement

The scaffolding of this project is based on cortex-m-quickstart and used under the MIT license.