Remote Control Microscope (RCM)

The Remote Control Microscope (RCM) is an embedded system project that enables remote interaction with a microscope head capable of moving in 3D space, adjusting zoom levels, and rotating its field of view. It leverages a real-time operating system (FreeRTOS), hardware peripherals, and wireless communication for interactive control and feedback.

System Overview

The RCM is a computer-controlled microscope that can:

• Move its stage along the X, Y, and Z axes in millimeters
• Rotate the viewed image by precise angles
• Zoom in/out on the target
• Be operated using onboard physical inputs or a radio-controlled interface
• Visually indicate current state and command status via onboard LEDs and displays
• Output current status through a seven-segment display
• Maintain responsiveness and modularity via FreeRTOS task-based design

Architecture Highlights

• Modular driver design with reusable hardware abstraction layers
• FreeRTOS-based control system with proper task synchronization
• NRF24L01+ radio module for wireless control
• State machine command input via pushbuttons and switches
• Hamming encoding for reliable radio packet transmission
• Live feedback system for user interaction using RGB LEDs and seven-segment displays
• Expandable via optional modules for additional interfaces (e.g., IR remote, DAC output, CLI)

Features

• Radio Communication: Wireless control using reliable, encoded packets
• Command Interface: Physical buttons allow cycling between movement, rotation, and zoom commands
• System Feedback:
  • Seven-segment display shows current X/Y/Z/Zoom/Rotation values
  • RGB LED and bar display reflect command mode
  • Diagnostic LEDs toggle on interaction events
• Extensible Architecture: Easily integrate new features using the existing mylib framework

📁 Project Structure

repo/
│
├── pf/                 # Main application logic
│   ├── main.c          # System initialization only
│   ├── makefile
│   └── filelist.mk
│
└── mylib/              # Modular drivers and hardware control
    ├──header & driver files

Dependencies

• STM32 Nucleo-F429ZI development board
• NRF24L01+ radio transceiver module
• MFS board (LEDs, seven-segment, pushbuttons, switches)
• FreeRTOS
• Logic analyzer for debugging (optional)
• STM32 HAL or LL drivers (used within abstraction)

Getting Started

1. Clone the repository.
2. Ensure toolchain and dependencies (ARM GCC, STM32CubeMX/HAL) are installed.
3. Configure myconfig.h with desired radio parameters.
4. Build using the provided makefile.
5. Flash to your STM32 Nucleo board.
6. Interact with the system using the pushbuttons or radio interface.

📡 Communication Protocol

All control packets are encoded using Hamming codes and transmitted in a fixed format. Each packet includes:

• A command type (JOIN, XYZ, ZOOM, ROT)
• A sender address (derived from unique ID)
• An ASCII-formatted payload string
• Padding to ensure fixed size before encoding

Packets are encoded to enhance robustness in noisy environments and decoded on the receiving end.