NUSense

Embedded robotics platform built on STM32H753 for advanced servo control, sensor fusion, and real-time communication.

Features

• 6 RS485 channels for Dynamixel servo communication
• IMU integration for 6-axis motion sensing
• USB CDC ACM virtual serial interface with DMA
• Power monitoring with battery voltage/current sensing
• Fan control with thermal management
• GPIO support for buttons and digital I/O

Technical Specifications

• MCU: STM32H753VI (Cortex-M7, 480MHz, 2MB Flash, 1MB RAM)
• USB: High-speed USB 2.0 with ULPI PHY
• Communication: 6 independent RS485 channels

Code Architecture

Built with Embassy async framework:

• src/peripherals/ - Hardware abstraction layer
  • system.rs - Clock and system initialization
  • usb_system.rs - USB device management
  • acm.rs - CDC ACM packet-based interface
• src/apps/ - Application layer
  • echo_app.rs - USB communication test

Quick Start

Setup

# Install Rust target and tools
rustup target add thumbv7em-none-eabi
cargo install probe-rs --features cli

# Build and flash
cargo run

Communication

Connect via USB - device appears as virtual serial port:

# Linux/macOS
screen /dev/ttyACM0 115200

# Test with echo app - type messages to see them echoed back

Development

Adding Features

1. Hardware drivers → src/peripherals/
2. Applications → src/apps/
3. Initialize in main.rs

Debugging

Use VS Code with the probe-rs extension for integrated debugging and real-time logging.

License

MIT License - see LICENSE file.

Built with Embassy • Developed by NUbots