This repository contains the firmware for a rotary controller board based on the STM32F411 microcontroller (github.com). It provides Digital Read Out (DRO) and single-axis control for CNC-style rotary tables.

🛒 Purchase all boards from our shop: Provvedo Shop

• Utilizes STM32CubeMX for hardware configuration (.ioc file included)
• Modular firmware structure with FreeRTOS support
• Supports ST‑Link V2 and Raspberry Pi + OpenOCD programming
• Optimized for high-speed encoder + stepper motor control

• CMake & C/C++ toolchain (e.g. arm-none-eabi-gcc, make)
• ST-Link v2 or Raspberry Pi with OpenOCD

git clone https://github.com/bartei/rotary-controller-f4.git
cd rotary-controller-f4
cmake -DCMAKE_BUILD_TYPE=Release .
make -j$(nproc)

make clean

• ST‑Link V2:

  st-flash --format ihex write rotary-controller-f4.hex

• Raspberry Pi + OpenOCD:

  openocd -f ./raspberry.cfg

  The default raspberry.cfg configures SWD over GPIO pins 24/25 + GND. Ensure GND wiring is the same length as SWCLK/SWDIO for reliability. Modify the GPIO pins in raspberry.cfg if needed.

• .ioc file for use with STM32CubeMX included
• Pin assignments for encoder, buttons, LEDs, SWD, etc. reviewed and tested
• Memory layout defined by STM32F411CEUX_FLASH.ld and STM32F411CEUX_RAM.ld

Firmware integrates with hardware design available at:

• PCB repo: bartei/rotary-controller-pcb — includes Proteus schematic, BOM (with pricing), and fab files; KiCad version in progress (github.com, github.com, github.com)

Together, they form a complete controller + UI system when paired with:

• rotary-controller-python — a Raspberry Pi Kivy-based DRO + control UI

• Works as a single-axis rotary DRO
• FreeRTOS scheduler handles encoder sampling loop
• GPIO/button routines support nudge and rotary button functions
• SWD pins must be appropriately wired and matched in length

• Firmware repo
• PCB repo (Proteus/KiCad)
• Raspberry Pi UI with Kivy
• Join the community on Discord

1. Test hardware interface in CubeMX; verify pin assignments
2. Build and flash firmware, connect to DRO UI app
3. Utilize FreeRTOS for real-time sampling and control
4. Contribute improvements — e.g. KiCad support, UI features, multi-axis

Need help? Join our Discord community for support, discussions, and updates.

Let me know if you'd like additions like block diagrams, pinout tables, or usage screenshots!