Steppe School

Part 1: STM32 Programming

In this part of the course, participants will gain proficiency in STM32 programming, essential for embedded systems development. Beginning with an introduction and clarification of prerequisites, the course progresses to hands-on experience with STM32 CubeIDE and HAL API. Students learn to create projects, utilize SWV for efficient debugging, and master SPI for communication. The focus extends to driver development for the ICM20948 IMU sensor, covering the library's initial version and testing procedures. The section concludes with an exploration of DMA theory and configuration. Throughout this part, participants build a solid foundation in STM32 programming, acquiring skills crucial for the subsequent focus on attitude estimation.

Part 2: Orientation Estimation

Building on the STM32 programming foundation, this part of the course delves into the specialized field of attitude estimation. Participants start with Euler angles, gaining insights into frame notions, 2D rotation, and Euler angles. Practical applications involve deriving pitch, roll, and yaw angles using accelerometers, magnetometers, and gyroscopes. The introduction of the Complementary Filter enhances students' understanding of sensor fusion techniques. The course then progresses to Quaternions theory, addressing challenges such as gimbal lock and emphasizing the necessity of quaternions in attitude estimation. Students explore quaternion operations, rotation matrices, and their integration into projects. The final chapter introduces the Extended Kalman Filter, applying the theory to achieve robust sensor fusion for accurate attitude estimation. This part provides participants with a comprehensive understanding of attitude estimation algorithms, allowing them to integrate these concepts into real-world applications.