This page provides complete **STM32F103C8T6** microcontroller example projects for controlling UIROBOT motors via **CAN bus** (using SN65HVD230) and **direct pulse-direction wiring**. --- ## Quick Selection | Connection Method | Compatible Products | Docs | |-----------------|-------------------|------| | **STM32 + SN65HVD230 → CAN Bus** | UIM342 (single motor) | [AN250908] | | **STM32 + SN65HVD230 → CAN Bus** | UIM342 (change Node ID) | [AN250909] | | **STM32 + SN65HVD230 → CAN Bus** | UIM342 (multiple motors) | [AN250910] | | **STM32 Direct Wiring (Pulse-Direction)** | UIM344 (single motor) | [AN250912] | | **STM32 Direct Wiring (Pulse-Direction)** | UIM344 (high speed) | [AN250913] | | **STM32 Direct Wiring (Pulse-Direction)** | UIM344 (multiple motors) | [AN250914] | --- ## Section 1: STM32 + SN65HVD230 → CAN Bus (UIM342) ### Background The UIM342 is a high-performance integrated stepper motor driver designed for applications requiring precise motion control. By combining an **STM32F103C8T6** microcontroller, the **SN65HVD230** CAN transceiver, and **UIM342** motor drivers, users can efficiently create a powerful motion control system. This section provides step-by-step instructions for controlling UIM342 using STM32F103C8T6 and SN65HVD230. ### Required Hardware | Item | Qty | Description | |------|:---:|-------------| | STM32F103C8T6 Board | 1 | "Blue Pill" development board | | SN65HVD230 | 1 | CAN transceiver module | | UIM342 Series Motor | 1+ | CAN bus smart motor | | ST-LINK V2 | 1 | Debugger/programmer | | 24V DC Power Supply | 1 | For motor power | | Keil uVision5 | 1 | IDE (install on PC) | ### Wiring  ### Debugger Connections | STM32F103C8T6 | ST-LINK V2 | |---------------|------------| | SWDIO | SWDIO | | SWCLK | SWCLK | | GND | GND | | 3.3V (optional) | 3.3V | --- ## Section 2: STM32 Direct Wiring — Pulse-Direction (UIM344) ### Background The UIM344 is a closed-loop stepper motor driver that accepts standard pulse-direction signals. Connect STM32 GPIO pins directly to the motor's PLS (Pulse), DIR (Direction), and ENA (Enable) inputs — no CAN transceiver required. ### Required Hardware | Item | Qty | Description | |------|:---:|-------------| | STM32F103C8T6 Board | 1 | "Blue Pill" development board | | UIM344 Series Motor | 1+ | Pulse-direction stepper motor | | ST-LINK V2 | 1 | Debugger/programmer | | 24V DC Power Supply | 1 | For motor power | | Keil uVision5 | 1 | IDE | ### Wiring ``` STM32F103C8T6 UIM344 Motor +----------------+ +--------------+ | GPIO Pin |------>| PLS (Pulse) | | GPIO Pin |------>| DIR (Dir.) | | GPIO Pin |------>| ENA (Enable) | | GND |------>| GND | +----------------+ +--------------+ | 24V DC Power Supply ``` > **Note**: For multi-motor control, connect each motor's PLS/DIR/ENA to separate STM32 GPIO pins. --- ## Sample Code ### Download Links | Application Note | Description | Download | |-----------------|-------------|----------| | AN250908 | UIM342 basic CAN control | [Download](https://www.uirobot.com/uploads/files/Stm32_C_UIM342_AN250908.zip) | | AN250909 | UIM342 change Node ID | [Download](https://www.uirobot.com/uploads/files/Stm32_C_UIM342_ChangeNodeID_AN250909.zip) | | AN250910 | UIM342 multi-motor CAN control | [Download](https://www.uirobot.com/uploads/files/Stm32_C_UIM342_Multiple_AN250910.zip) | | AN250912 | UIM344 basic pulse-direction | [Download](https://www.uirobot.com/uploads/files/Stm32_C_UIM344_AN250912.zip) | | AN250913 | UIM344 high-speed pulse-direction | [Download](https://www.uirobot.com/uploads/files/Stm32_C_UIM344_HighSpeed_AN250913.zip) | | AN250914 | UIM344 multi-motor pulse-direction | [Download](https://www.uirobot.com/uploads/files/Stm32_C_UIM344_Multiple_AN250914.zip) | > **Note**: The actual sample code is provided in the ZIP files above. The code snippet illustrates the general structure. --- ## Step-by-Step Setup ### Step 1 — Install Keil uVision5 1. Visit the official Keil website: [keil.com](https://www.keil.com/) 2. Navigate to **Downloads → Product Downloads → MDK Arm** 3. Download and install Keil uVision5 (including STM32F1 device support) ### Step 2 — Download Sample Code 1. Visit [uirobot.com](https://uirobot.com) 2. Navigate to **Support → Code Example** 3. Find the STM32 section and download the appropriate sample code 4. Extract the downloaded ZIP file ### Step 3 — Install ST-LINK V2 Driver 1. Connect ST-LINK V2 to your PC via USB 2. Install the ST-LINK V2 driver (included in Keil installation or available from STMicroelectronics) 3. Verify the driver is installed correctly in Device Manager ### Step 4 — Configure Keil Project 1. Open the `.uvprojx` project file in Keil uVision5 2. Select **Project → Options for Target** 3. In the **Device** tab, verify STM32F103C8 is selected 4. In the **C/C++** tab, set **Compiler version 5** (or as required) 5. In the **Output** tab, check **"Create HEX File"** 6. In the **Debug** tab, select **ST-Link Debugger** ### Step 5 — Compile and Debug 1. Click **Build** (or press F7) to compile the project 2. Confirm no errors in the build output 3. Connect ST-LINK V2 to the STM32 board (SWDIO, SWCLK, GND) 4. Click **Download** to program the microcontroller 5. Click **Start/Stop Debug Session** to debug if needed --- ## Download All Sample Codes | Application Note | Description | Download Link | |-----------------|-------------|---------------| | AN250908 | UIM342 basic CAN control | [Download ZIP](https://www.uirobot.com/uploads/files/Stm32_C_UIM342_AN250908.zip) | | AN250909 | UIM342 change Node ID | [Download ZIP](https://www.uirobot.com/uploads/files/Stm32_C_UIM342_ChangeNodeID_AN250909.zip) | | AN250910 | UIM342 multi-motor CAN control | [Download ZIP](https://www.uirobot.com/uploads/files/Stm32_C_UIM342_Multiple_AN250910.zip) | | AN250912 | UIM344 basic pulse-direction | [Download ZIP](https://www.uirobot.com/uploads/files/Stm32_C_UIM344_AN250912.zip) | | AN250913 | UIM344 high-speed pulse-direction | [Download ZIP](https://www.uirobot.com/uploads/files/Stm32_C_UIM344_HighSpeed_AN250913.zip) | | AN250914 | UIM344 multi-motor pulse-direction | [Download ZIP](https://www.uirobot.com/uploads/files/Stm32_C_UIM344_Multiple_AN250914.zip) | --- ## Related Documents - [UIROBOT Code Examples Overview](/docs/code-examples-overview) - [Arduino CAN Bus Examples](/docs/arduino-examples) - [Raspberry Pi 4 CAN Bus Examples](/docs/raspberry-pi-examples) - [STC89C52 CAN Bus Examples](/docs/stc89c52-examples) - [UIM342 CAN Bus Motor Controller](/docs/uim342) - [UIM344 Pulse-Direction Motor Controller](/docs/uim344) - [Quick Start Guide](/docs/quick-start) --- *Last updated: 2026-06-25 | Based on Application Notes AN250908-AN250914*