README

SkyPascal - Drone Project (FreePascal Firmware)

A drone project using FreePascal for Arduino firmware development

Project Structure

skypascal/
????????? firmware/          # FreePascal drone firmware
????????? libraries/         # Custom FreePascal libraries for Arduino
????????? common/            # Shared units and utilities
????????? schematics/        # Circuit diagrams and hardware documentation
????????? docs/              # Project documentation
????????? README.md

Overview

This project demonstrates how to develop Arduino drone firmware entirely in FreePascal, bypassing the traditional C/C++ Arduino development environment. We use FreePascal's embedded capabilities to directly program the Arduino microcontroller.

Why FreePascal for Arduino?

• Type Safety: Strong typing helps prevent common embedded programming errors
• Readable Code: Pascal syntax is more readable and maintainable
• Modern Language Features: Object-oriented programming, units, and modularity
• Cross-Platform: Same language for firmware and ground station (if needed later)
• Memory Management: Better control over memory usage in constrained environments

Components

Firmware (firmware/)

• Main flight controller logic
• Sensor interfacing (IMU, GPS, barometer, etc.)
• Motor control and ESC communication
• Communication protocols (Serial, SPI, I2C)
• Safety systems and failsafes
• Real-time control loops

Libraries (libraries/)

• Arduino hardware abstraction layer in Pascal
• Sensor driver libraries
• Communication protocol implementations
• Mathematical utilities (PID, Kalman filters, etc.)
• Hardware-specific drivers

Common (common/)

• Shared data structures
• Protocol definitions
• Utility functions
• Configuration management

Getting Started

Prerequisites

1. Free Pascal Compiler (FPC) with embedded target support
2. AVR Cross-Compiler Tools (avr-gcc for linking only)
3. AVRDUDE for flashing firmware to Arduino
4. Arduino Hardware (Uno, Nano, or compatible AVR-based board)

Hardware Requirements

Basic Drone Components:

• Arduino-compatible flight controller board
• IMU sensor (MPU6050/MPU9250 or similar)
• GPS module (optional)
• Barometric pressure sensor
• Motors and Electronic Speed Controllers (ESCs)
• Propellers
• Battery and power distribution
• Radio receiver (for manual control)

Development Workflow

1. Hardware Setup: Connect sensors and components to Arduino
2. FreePascal Development: Write firmware in Pascal
3. Compilation: Compile to AVR machine code using FPC
4. Flash: Upload firmware to Arduino using AVRDUDE
5. Testing: Ground testing with safety measures
6. Flight Testing: Controlled flight tests

License

This project is open source. Please check individual files for specific licensing terms.

Contributing

Contributions are welcome! Please focus on:

• FreePascal code quality and best practices
• Safety improvements
• Hardware compatibility
• Documentation and examples