STM32, Nucleo F767ZI based graphical user interface on TFT LCD ST7789 2" and Raspberry Pi-4 5" touchscreen

The embedded system comprises 2 STM32 boards connected to their own 7 sensors, 1 motor,
and 3 relays. Each is connected to a central Raspberry Pi 4 board. The RIGHT STM32 board
also has a TFT ST7789 2inch display. The Raspberry Pi has its own 5-inch display (connected
via HDMI) and is connected to a battery BMS via UART and controls the main ON/OFF switching
of the exoskeleton system driven via a 48V 10A relay. The Raspberry Pi also controls the
operation of a 5V air-pump via a relay able to deliver 1.5A.

1. Graphical user interface (GUI) developed for the STM32 to drive the ST7789 display. The
detailed requirements for this GUI are presented in Figure 3.
2. GUI developed for the Raspberry Pi display. The detailed requirements for this GUI are the
same as for STM32.
3. Software for the Right-leg STM32 microcontroller
4. Software for the Raspberry Pi
5. Software for the Left-leg STM32 microcontroller

Top part of screen: Waist status showing ON/OFF, battery and waist airbags status. Green OK, red fault, blue
deflating.
Middle part of screen: Left and Right leg knee angles displayed at top and bottom using sensor data display as
2D graphs in real time. Sensor graphs are for:
o Encoder motor position
o Thigh IMU in sagittal plane
o Calf IMU in sagittal plane
o Thigh load cells
o Calf load cells
Range of values can be set on graphs and low and high angle warning s given.
Bottom part of screen: Exo ON/OFF. Inflate/Deflate airbags ON/OFF