STM32 Solar Tracker Firmware

I have an STM32F407VET board that will drive a completely stand-alone single-axis solar tracker. The controller must perform three key jobs: • Automatic sun tracking – use only a gyroscope/accelerometer (no light or temperature sensors) to predict the sun vector and move two actuators so the panel stays aligned all day. • Manual control override – via push buttons or simple UART commands I can pause the algorithm and jog each axis, then resume tracking instantly. • Data logging and monitoring – record attitude, motor commands, and health metrics to a micro-SD card while simultaneously streaming the same data over UART for live viewing. I expect clean, non-blocking C firmware that compiles in STM32CubeIDE for the F407VET. HAL drivers are fine; FreeRTOS is welcome if you prefer. Please keep the project structured and heavily commented so I can extend it later. Deliverables 1. Full source code, CubeMX .ioc file, and ready-to-flash .bin. 2. Wiring diagram that shows F407 pinout to IMU, H-bridge drivers, limit switches, and SD module. 3. README covering build steps, IMU calibration, and PID gain tuning. Acceptance criteria • Autotracking holds panel within ±2 ° of the computed sun vector throughout a bench-top 24 h simulation. • Manual override responds instantly and hands control back to the algorithm on request. • Log file stores at least 24 h of correct, timestamped records without overflow or corruption. A first working build in two weeks would be ideal so I can integrate with the mechanical platform.