32Raven

Status: Active development. Interfaces, configs, and behavior can change quickly.

Overview

32Raven is a high-performance, bare-metal flight control ecosystem designed from the ground up.

Unlike standard hobbyist stacks, 32Raven utilizes a decoupled dual-target architecture to ensure maximum reliability:

• stm32/ (The Brain): Real-time, deterministic flight-control logic (sensors, PID loops, low-level drivers) running on STM32F407.
• esp32/ (The Bridge): High-level communication, telemetry (MAVLink/CRSF), and wireless integration (WiFi/OTA).
• libs/: Shared core logic and math utilities used by both targets.

Vision & Design Direction

The project is built on a "Bare-Metal First" philosophy. Our goal is to eliminate the unpredictability of heavy abstractions to achieve industrial-grade timing and control.

• Deterministic Performance: We prioritize minimal abstraction overhead for predictable runtime behavior.
• HAL Strategy: HAL is currently used for initial bring-up (clocks, peripherals). Runtime data paths are being systematically migrated to direct register-level control.
• Hardware Stack: Optimized custom drivers for the ICM42688P IMU and u-blox M9N GPS.
• Wireless First: Built-in support for flashing the STM32 "over the air" via the ESP32 communication bridge.

Repository Layout

• stm32/ — STM32 firmware, drivers, core flight state machine.
• esp32/ — ESP-IDF firmware, MAVLink/CRSF bridge, and failsafe services.
• libs/ — Shared headers and portable source code.
• tools/ — Helper scripts for flashing, bridging, and telemetry dashboards.
• scripts/ — Linting and project automation.

Build Prerequisites

• CMake (3.22+)
• ARM GCC toolchain (arm-none-eabi-*) for STM32
• ESP-IDF for the ESP32 target
• Python 3 for helper tools

Note: Optional local overrides (e.g., IDF_PATH, serial port, baud) are read from user_config.cmake.

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Quick Start

1. Configure

make configure

2. Build

Target	Command
STM32 Only	make stm32
ESP32 Only	make esp32
Complete Stack	make all
Cleanup	make clean

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Flashing & Deployment

ESP32 (Serial)

make flash-esp32

ESP32 (Wireless/OTA)

make flash-wifi-esp32 ESP_IP=192.168.4.1

STM32 (Wireless via Bridge)

This flashes the STM32 via the ESP32's WiFi connection:

make flash-wifi-stm32 ESP_IP=192.168.4.1

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Technical Notes

• Generator: The top-level build uses GEN (default Ninja). To change: make configure GEN="Unix Makefiles".
• Output: The STM32 binary is generated under build/stm32/.
• Toolchains: If switching generators or toolchains, always run make clean first.

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