pima/RTOS_Dual_Sensor_Single_Board_Testing
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started changing implementation to 1 sensor reading task and 1 uart

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transmit task
This commit is contained in:
AlphaCapella
2025-08-09 14:22:46 +02:00
parent e87d0618c8
commit 4cafb2f7f7
2 changed files with 97 additions and 2 deletions
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94
RTOS_Dual_Sensor_Single_Board_Testing/Core/Src/main.c
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@@ -53,10 +53,17 @@ DMA_HandleTypeDef hdma_i2c1_rx;
UART_HandleTypeDef huart2;
osThreadId defaultTaskHandle;
osThreadId SensorReadingHandle;
osThreadId Sensor2ReadingHandle;
/* USER CODE BEGIN PV */
MPU6050_HandleTypeDef hmpu1;
MPU6050_HandleTypeDef hmpu2;
MadgwickFilter madgwick;
// sensor reading flags
uint8_t sensor1_flag = 0;
uint8_t sensor2_flag = 0;
char output[128];
int16_t copy_raw_data[6]; //[ax, ay, az, gx, gy, gz]
@@ -78,6 +85,8 @@ static void MX_DMA_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_I2C1_Init(void);
void StartDefaultTask(void const * argument);
void StartSensorReading(void const * argument);
void StartSensor2Reading(void const * argument);
/* USER CODE BEGIN PFP */
@@ -149,6 +158,14 @@ int main(void)
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 1024);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* definition and creation of SensorReading */
osThreadDef(SensorReading, StartSensorReading, osPriorityIdle, 0, 1024);
SensorReadingHandle = osThreadCreate(osThread(SensorReading), NULL);
/* definition and creation of Sensor2Reading */
osThreadDef(Sensor2Reading, StartSensor2Reading, osPriorityNormal, 0, 1024);
Sensor2ReadingHandle = osThreadCreate(osThread(Sensor2Reading), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
@@ -432,6 +449,83 @@ void StartDefaultTask(void const * argument)
/* USER CODE END 5 */
}
/* USER CODE BEGIN Header_StartSensorReading */
/**
* @brief Function implementing the SensorReading thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartSensorReading */
void StartSensorReading(void const * argument)
{
/* USER CODE BEGIN StartSensorReading */
// set the sensor struct
hmpu1.address = GYR1_Add;
hmpu1.hi2c = &hi2c1;
hmpu1.accel_range = 0x02;
hmpu1.gyro_range = 0x02;
hmpu1.accel_factor = 4096.0;
hmpu1.gyro_factor = 32.8;
hmpu1.calibrate = 0;
hmpu2.address = GYR2_Add;
hmpu2.hi2c = &hi2c1;
hmpu2.accel_range = 0x02;
hmpu2.gyro_range = 0x02;
hmpu2.accel_factor = 4096.0;
hmpu2.gyro_factor = 32.8;
hmpu2.calibrate = 0;
// initialize and calibrate both sensors
Init_MPU6050(&hmpu1, &huart2);
Calibrate_MPU(&hmpu1, &huart2);
Init_MPU6050(&hmpu2, &huart2);
Calibrate_MPU(&hmpu2, &huart2);
// hold the sensor data
uint8_t binarySensorData[14];
int16_t rawData[6];
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END StartSensorReading */
}
/* USER CODE BEGIN Header_StartSensor2Reading */
/**
* @brief Function implementing the Sensor2Reading thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartSensor2Reading */
void StartSensor2Reading(void const * argument)
{
/* USER CODE BEGIN StartSensor2Reading */
// Initialize MPU struct
hmpu2.address = GYR2_Add;
hmpu2.hi2c = &hi2c1;
hmpu2.accel_range = 0x02;
hmpu2.gyro_range = 0x02;
hmpu2.accel_factor = 4096.0;
hmpu2.gyro_factor = 32.8;
hmpu2.calibrate = 0;
// init, calibrate and start mpu
Init_MPU6050(&hmpu2, &huart2);
Calibrate_MPU(&hmpu2, &huart2);
start_dma_transfer(&hmpu2);
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END StartSensor2Reading */
}
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside

5
RTOS_Dual_Sensor_Single_Board_Testing/RTOS_Dual_Sensor_Single_Board_Testing.ioc
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@@ -14,8 +14,9 @@ Dma.I2C1_RX.0.Priority=DMA_PRIORITY_LOW
Dma.I2C1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.Request0=I2C1_RX
Dma.RequestsNb=1
FREERTOS.IPParameters=Tasks01,configUSE_IDLE_HOOK,configENABLE_FPU
FREERTOS.Tasks01=defaultTask,0,1024,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,configUSE_IDLE_HOOK,configENABLE_FPU,FootprintOK
FREERTOS.Tasks01=defaultTask,0,1024,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;SensorReading,-3,1024,StartSensorReading,Default,NULL,Dynamic,NULL,NULL;Sensor2Reading,0,1024,StartSensor2Reading,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configENABLE_FPU=1
FREERTOS.configUSE_IDLE_HOOK=0
File.Version=6