HomingOnSTM32

This repository contains a study case solution for a linear actuator homing function implemented in C on STM32 using the HAL driver.

Overview

The project targets an STM32-based ECU that controls a linear actuator through two digital outputs. Two buttons are used to simulate the actuator end switches, and two LEDs indicate actuator direction.

The implemented solution:

• Runs as a non-blocking step in the main superloop
• Uses a finite state machine for the homing sequence
• Includes debounce handling, timeout checks, and fault protection
• Separates actuator control and homing logic into reusable modules
• Supports midpoint estimation with asymmetric forward and reverse speeds

Project Structure

• Src/actuator.c, Inc/actuator.h: actuator direction abstraction
• Src/homing.c, Inc/homing.h: non-blocking homing logic
• Src/main.c: hardware initialization and superloop integration

Hardware / Test Setup

• Forward limit input: PC5
• Reverse limit input: PC6
• Forward output indicator: PC8
• Reverse output indicator: PC9
• Start button: B1 (PC13)

Build

The project was created with STM32CubeIDE and uses STM32 HAL.

Open the project in STM32CubeIDE and build it with the default Debug configuration.