UTMS9_a+cm

What Is This?

UTMS9_a+cm is a lightweight real-time kernel and Software Development Kit (SDK) for ARM Cortex-M microcontrollers. It is not a complete operating system. It is a base layer for motion control systems.

You use this project to build firmware for CNC machines, 3D printers, laser engravers, and other machines that need precise motor control.

Goal

The goal of UTMS9_a+cm is to give developers a fast, reliable, and small kernel. It must be easy to build a complete firmware on top of it. The kernel handles real-time tasks. The SDK gives you ready-to-use blocks for machine control.

You do not write a kernel from zero. You take UTMS9_a+cm, add your machine configuration, and build your firmware.

How To Use

Step 1: Build the Kernel

Clone this repository and build the kernel with UMK:

git clone https://github.com/user12ms4c/utms9_a_cm
cd utms9_a_cm
umk build

You get utms9.bin. You can flash this file to your board.

Step 2: Configure Your Machine

Create a configuration file in machine/your_machine/. Define your pins, axes, steps per millimeter, and max speed.

Step 3: Build Your Firmware

Write your application code. Use the SDK functions to control axes, parse G-code, and manage motion. Link your code with the kernel. Build your final firmware with UMK.

Step 4: Send G-code

Connect to your board with a UART adapter. Send G-code commands:

G1 X10 Y20 F1200

The kernel parses the command, plans the trajectory, and generates STEP pulses.

Features

• Preemptive priority-based scheduler with time blocking.
• Hardware timer and DMA support for STEP pulse generation.
• G-code parser with basic G0/G1 support.
• Trajectory planner with Look-ahead algorithm.
• Motion profile generator for acceleration and deceleration.
• Flexible axis abstraction for CNC and 3D printers.
• UART driver for logging and G-code input.
• Minimal footprint. No standard library. No dynamic allocation in the core.

Architecture

The project has three levels:

Kernel

The kernel provides basic primitives:

• Task scheduler.
• Context switch.
• Critical sections.
• System timer (SysTick).

HAL (Hardware Abstraction Layer)

The HAL provides hardware drivers:

• GPIO.
• UART.
• Hardware timers with DMA.

SDK (Software Development Kit)

The SDK provides machine-level abstractions:

• Axis management.
• G-code parser.
• Trajectory planner.
• Motion profile generator.
• Kinematics.

Supported Hardware

The current target is STM32F407 (ARM Cortex-M4F).

Supported peripherals:

• TIM5 for X-axis STEP pulses.
• TIM2 for Y-axis STEP pulses.
• TIM3 for Z-axis STEP pulses.
• TIM4 for E-axis STEP pulses.
• USART2 for G-code input and logging.

Build Dependencies

You need the following tools:

• arm-none-eabi-gcc
• arm-none-eabi-as
• arm-none-eabi-ld
• arm-none-eabi-objcopy
• UMK build system

Install UMK from the official repository:

git clone https://github.com/user12msd4c/umk
cd umk
gcc -O3 -Wall -Wextra -o umk umk.c
sudo cp umk /usr/local/bin/

License

MIT License