TrinityTrack6000 is a physically built, modular, multi-MCU tracked robotic platform.
The system is based on a stackable PCB architecture, where each module is responsible for a specific function such as control, power management, sensing, or data processing. A central STM32-based controller coordinates the system, while additional MCUs and FPGA modules handle specialized real-time tasks.
The project combines mechanical design with custom electronics and embedded software, focusing on distributed control, real-time operation, and scalable hardware integration.
The system is built as a set of dedicated PCB modules, each responsible for a specific function within the platform. A subset of modules forms a stackable backplane, connected via a shared SPI bus and a common 5V power rail distributed through a high-density board-to-board connector. Other modules are connected externally depending on their function and power requirements.
These modules are physically stacked and share:
- SPI communication bus
- Dedicated control lines (CS, READY, RESET)
- Common 5V power rail
- MainControlBoard – System coordination, communication and telemetry
- VideoAudioBoard – FPGA-based processing (planned)
- FireControlBoard – Ballistic computation (planned)
- RadarBoard – Radar processing module (planned)
These modules are connected outside of the stack and may use separate power paths or interfaces:
- HardwareControlBoard – Power electronics, motor control and actuator supervision
- PowerConversionBoard – Power regulation and distribution
- BMSBoard – Battery management system
Each module is developed independently and integrates into the system through clearly defined electrical and communication interfaces.
The project serves as a practical platform for exploring and implementing:
- Distributed embedded systems and multi-MCU coordination
- Real-time system design using RTOS (ThreadX / bare-metal approaches)
- Inter-module communication over a shared SPI backplane
- System-level synchronization, fault detection, and failsafe mechanisms
- FPGA-based real-time audio/video processing and compression
- Radar signal processing and object detection techniques
- Power electronics, including switch-mode power supplies and motor control (H-bridge)
- Modular hardware design and scalable PCB-based system architecture
Due to the modular nature of the system, the repository is organized around individual PCB modules.
Each module is contained in a dedicated directory and includes:
- hardware design files (schematics and PCB)
- firmware for the corresponding MCU(s)
- local documentation and development notes
Every module has its own README.md, describing its functionality, design decisions, and implementation details.
This structure allows independent development, easier navigation, and scalable integration of new modules into the system.
- 🔄 MainControlBoard hardware validation and firmware development
- 🔄 HardwareControlBoard architecture and hardware design
- 🔄 System architecture refinement and module integration
- MCUs: STM32G4, Infineon XMC4000 Family, NXP / Renesas (planned), FPGA
- RTOS: ThreadX
- Communication: SPI, UART, I2C, wireless link
- Build system: CMake + arm-gcc
PCB preview and assembly
PCB preview and assembly
PCB preview and assembly
PCB preview and assembly
The diagram below presents a high-level overview of the system architecture, including communication interfaces, control paths, and power distribution between all modules.
It illustrates how individual boards are interconnected, the role of each subsystem, and the overall data and energy flow within the platform.
⚠️ Note: This diagram represents a high-level abstraction of the system and does not include low-level implementation details such as signal timing, electrical characteristics, or protocol configurations.
The repository is organized around modular hardware components and supporting resources.
MainControlBoard/– high-level system coordination, communication and telemetryHardwareControlBoard/– power electronics and motion controlPowerConversionBoard/– power regulation and distributionRadarModuleBoard/– radar module (planned)AVProcessingBoard/– FPGA-based audio/video processing (planned)FireControlBoard/– fire control system (planned)MechanicalDesign/– chassis and mechanical componentsDatasheets/– documentation for used componentsdocs/– technical documentation and generated files (e.g. Doxygen)Media/– images, diagrams, and visual materialstools/– development tools and helper scripts
Each module contains its own firmware, hardware design files, and documentation.
PCB manufacturing for this project was sponsored by PCBWay, enabling rapid prototyping and validation of the hardware design.
