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Firmware

The firmware runs on the STM32 L5 microcontroller (ARM Cortex-M33). It reads raw audio from the four microphones, runs the GCC-PHAT localization algorithm, and streams azimuth angle estimates to the phone over USB.

The firmware source is provided as an STM32CubeIDE project. Loading it onto the MCU requires an ST-LINK programmer.

Compiling

  1. Install STM32Cube IDE and the ST-LINK toolchain.

  2. Download the zipped project and unzip it.

  3. Import into STM32Cube IDE: File → Import → Existing Projects into Workspace and select the project folder.

  4. Build the project. The console should show no errors.

Flashing

Flashing requires a programmer and a tag-connect cable:

  1. Connect a USB cable for board power (the programmer does not supply power).
  2. Hold the tag-connect cable against the board's programming header.
  3. In STM32Cube IDE, click the debug/flash button. On first use, configure the programmer if prompted.
  4. To verify: open a serial terminal (e.g., Arduino IDE serial monitor) on the USB port. You should see angle values printing continuously. Baud rate does not matter.

Note: Flashing can also be done without the IDE by using ST-LINK command-line tools to flash a pre-compiled .hex or .bin binary directly.