> For the complete documentation index, see [llms.txt](https://mx-motion.gitbook.io/tutorial/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://mx-motion.gitbook.io/tutorial/readme/dev-environment-setup.md).

# Dev environment setup

Essential software

## STM32 board devleopment

* [STM32CubeIDE Version: 1.19.0](https://www.st.com/en/development-tools/stm32cubeide.html)
* [STM32CubeMX Version: 6.15.0](https://www.st.com/content/st_com/en/stm32cubemx.html)
* **Install software packages for STM32F4**\
  ST has created STM32Cube MCU packages for different series of STM32 processors. The package is MCU specific and contains all the low-level files, which are：

  * HAL (Hardware Abstraction Layer) APIs
  * LL (Low-layer) APIs
  * ARM Cortex-M CMSIS files
  * BSP (Board Support Package) files
  * Additional utilities and drivers.
  * User can also deploy FreeRTOS in the project.

  MX Motion IMU uses the STM32F405 processor, so after the installation of STM32CUbeIDE, the STM32CubeF4 MCU package is also needed.

  * Go to Help->STM32Cube Updates->connection to myST, and enter your password to login with ST account.
  * Then go to Help->Configuration Tool->Manage Embedded Software Packages. A new window with title ‘Embedded Software Packages Manager’ will popup.
  * Select the ‘STM32Cube MCU Packages’ tab in the top, and find the ‘STM32F4’ series. The latest version is 1.28.3.\
    ![Embedded Software Packages Manager](https://1184299001-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFbNqahavkKgWcbDQvSbS%2Fuploads%2Fgit-blob-ba5e4a67aa8e6ac6bd0849d9ab4a84f0419cf6cf%2Fimage-4.png?alt=media)

## Python environment

* [Anaconda3-2025.06-0-Windows-x86\_64](https://www.anaconda.com/blog/new-release-anaconda-distribution-2025-06)
* PyCharm comes along with Anaconda3.\
  Using PyCharm, the following libraries need to install:
  * Pyqt6\
    a set of Python bindings for the cross-platform Qt application framework, used to create graphical user interfaces (GUIs).
  * [PyMAVLink](https://mavlink.io/en/mavgen_python/)
    * It is a low level and general purpose MAVLink message processing library. MAVLink also has a version supporting c programme language.
    * In STM32 we also C version MAVLink to handle MAVLinl messages.

## Source code management

* install [Github Desktop](https://desktop.github.com/download/)
* download code from [MX Motion Firmware repo](https://github.com/leelili444/imu_firmware)

## Online manuals

We mainly need the following manuals:

* [STM32F405RGT6](https://www.st.com/resource/en/datasheet/dm00037051.pdf)
* [ICM42688-P](https://invensense.tdk.com/download-pdf/icm-42688-p-datasheet/)