This repository contains the schematic, PCB design files and a basic firmware stack for the Hardware Interface of the Lightweight Autonomous Racing System (LARS).
The board is based on a STM32F4 microcontroller and is designed to interface with various sensors and actuators on the vehicle. The communication with the host PC is done via USB, using micro-ROS and the underlying micro-XRCE DDS.
A basic firmware stack will be released soon.
This project is licensed under the GNU General Public License v3.0. You can freely use, modify, and distribute this code as long as you comply with the terms of the license.
The hardware design files are released under the CERN Open Hardware Licence v2.
- STM32F429 microcontroller (Cortex-M4, 180MHz, 2MB Flash, 256KB RAM)
- Board dimensions: 86mm x 86mm
- SWD interface for programming and debugging
- 5V power supply via XT30 connector or USB
- 2x USB-C (2.0 Fullspeed) for host PC and debugging
- CAN-Bus
- 8x I2C ports
- 3x UART ports
- 2x SPI ports
- 2x Servo connectors (with analog feedback)
- 2x WS2812 LED strip connectors
- Buffered analog inputs
- Additional Timer channels and GPIOs
- User Button and Debug LEDs
- 3.3V and 5V output for external devices
The board was designed using KiCad 9.0. All PCB design files, a bill of materials and Gerber Files for manufacturing at JLCPCB can be found in the /PCB directory.