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Nico Stute 9590cb339b
Update Getting Started.adoc
1 year ago
bootloader cleaned up use of .PHONY in Makefiles 3 years ago
conf add dmm encoder support 3 years ago
docs Update Getting Started.adoc 1 year ago
f3_boot cleaned up use of .PHONY in Makefiles 3 years ago
graphviz update doc 5 years ago
hw Merge branch 'no_volatile' 3 years ago
inc fix variable scope, multiple declerations error with gcc 10 1 year ago
lib f3 hal and cmsis update 5 years ago
shared Update iit.c 1 year ago
src fix variable scope, multiple declerations error with gcc 10 1 year ago
stm32f103 cleaned up use of .PHONY in Makefiles 3 years ago
stm32f303 Merge pull request #109 from fdarling/fast_make 3 years ago
tools warning about missing pyserial 3 years ago
.clang-format dont sort includes 6 years ago
.gitattributes comp 8 years ago
.gitignore fixed comp Makefile dependencies to minimize recompiling 3 years ago
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405.ioc 405 ioc file 7 years ago Create 6 years ago
COPYING License 9 years ago Create 6 years ago
Makefile smartabs crc 2 years ago Update 4 years ago
base.mak fixed Makefile rule dependencies 3 years ago
stm32_flash.ld initial v4 port 7 years ago
timer.txt initial v4 port 7 years ago
toolchain.mak default python3 3 years ago

Build Status Join the chat at

Build Log:


THE AUTHORS OF THIS SOFTWARE ACCEPT ABSOLUTELY NO LIABILITY FOR ANY HARM OR LOSS RESULTING FROM ITS USE. IT IS EXTREMELY UNWISE TO RELY ON SOFTWARE ALONE FOR SAFETY. Any machinery capable of harming persons must have provisions for completely removing power from all motors, etc, before persons enter any danger area. All machinery must be designed to comply with local and national safety codes, and the authors of this software can not, and do not, take any responsibility for such compliance.

This software is released under the GPLv3.


There is work in progress on documentation:

IRC: #stmbl on

STMBL is an open source servo drive designed for Retrofitting CNC machines and Robots. It supports Industrial AC and DC servos with up to 320V and 2kW (see specs for details).

Documentation about the PCB and pinout of the feedback connector:

Hardware version 4.1

top bot case1 case2

Driving a Bosch Turboscara

Driving a Manutec Robot

Driving a Weeke BP12 VMC

Driving a Haas VF0 (Spindle + Axes)


Supported Motors

  • Synchronous AC Servos
  • Asynchronous AC Servos
  • DC Servos
  • 2 Phase HF spindle motors

Supported Feedback systems

  • Resolvers
  • Incremental encoders
  • sin/cos encoder interpolation
  • Mitsubishi absolute encoders
  • Sanyo Denki absolute encoders
  • Yaskawa absolute encoders
  • Tamagawa SmartAbs
  • EnDat
  • BiSS
  • SSI
  • Sanyo Denki wire-saving incremental encoder

Supported Position/Velocity Commands Inputs:

  • Smartserial
  • Quadrature
  • Step/direction
  • RS485


  • Sensorless FOC


  • hw/spice/ Spice simulation for resolver interface
  • hw/kicad/v4.0/ kicad files for version 4
  • src/ STM32F4 code, command, feedback and control loop
  • stm32f303/ STM32F3 code, running on the HV side, generating PWM
Commercial Applications

Should you find the GPL license insufficient for your needs, other licenses can be purchased from my company.

Likewise, please contact us should you wish to fund the further development of this project, or are interesed in custom hardware, software, or commercial support.