Firmware for Arnie, a differential-drive mobile robot on STM32F103 (Blue Pill): Delta-2B lidar sensing, magnetometer heading, dual H-bridge motors with quadrature encoders, all running under the AcroSched cooperative scheduler. Dual-toolchain (AC6/GCC), no libm, static memory only.
AcroClock is a compact desktop digital clock based on the AcroSched cooperative scheduler. The project uses a RTC over I2C, four large green seven-segment displays driven statically, an ambient light sensor for adaptive brightness, an external EEPROM for persistent settings, and a simple buzzer for alarms.
Nux is a bare-metal firmware monorepo for a Devilboy-themed radio-controlled off-road car, built around an STM32F103C8T6 MCU and SX1276 sub-GHz radio link. It includes the vehicle and transmitter firmwares, shared protocol code, and a lightweight scheduler-based architecture for real-time control and telemetry.
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