pima/Trinity-DevPCB-V1.0
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- Fixed IMU calibration function bugs

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- Fixed IMU data processing bugs
- Fixed madgwick init bug
- Inverted magn axis relative to IMU (180 degree rotation) in madgwick
- Acc bias currently set to 0 and 1 for gravity
- Gyro values now rad/s instead of deg/s as madgwick requires
This commit is contained in:
pima committed 2026-10-04 18:03:02 +02:00
1 parent 1409bad40b
commit 570f0c12f9
19 files changed
+45215 -45317
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Debug/Core/Src/main.cyclo
+18 -18
View File
@@ -3,21 +3,21 @@
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:364:22:LL_AHB1_GRP1_EnableClock 1
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:539:22:LL_AHB2_GRP1_EnableClock 1
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_hsem.h:233:26:LL_HSEM_1StepLock 2
../Core/Src/main.c:138:5:_write 2
../Core/Src/main.c:151:5:main 2
../Core/Src/main.c:266:6:SystemClock_Config 3
../Core/Src/main.c:332:6:PeriphCommonClock_Config 2
../Core/Src/main.c:357:13:MX_I2C1_Init 4
../Core/Src/main.c:405:13:MX_IPCC_Init 2
../Core/Src/main.c:431:13:MX_RF_Init 1
../Core/Src/main.c:452:13:MX_RTC_Init 3
../Core/Src/main.c:495:13:MX_SPI1_Init 2
../Core/Src/main.c:535:13:MX_SPI2_Init 2
../Core/Src/main.c:575:13:MX_TIM2_Init 6
../Core/Src/main.c:630:13:MX_DMA_Init 1
../Core/Src/main.c:658:13:MX_GPIO_Init 1
../Core/Src/main.c:725:6:Start_DataAnalysis 1
../Core/Src/main.c:808:6:Start_ICM45686 4
../Core/Src/main.c:896:6:Start_BMM350 4
../Core/Src/main.c:943:6:HAL_TIM_PeriodElapsedCallback 2
../Core/Src/main.c:961:6:Error_Handler 1
../Core/Src/main.c:139:5:_write 2
../Core/Src/main.c:152:5:main 2
../Core/Src/main.c:267:6:SystemClock_Config 3
../Core/Src/main.c:333:6:PeriphCommonClock_Config 2
../Core/Src/main.c:358:13:MX_I2C1_Init 4
../Core/Src/main.c:406:13:MX_IPCC_Init 2
../Core/Src/main.c:432:13:MX_RF_Init 1
../Core/Src/main.c:453:13:MX_RTC_Init 3
../Core/Src/main.c:496:13:MX_SPI1_Init 2
../Core/Src/main.c:536:13:MX_SPI2_Init 2
../Core/Src/main.c:576:13:MX_TIM2_Init 6
../Core/Src/main.c:631:13:MX_DMA_Init 1
../Core/Src/main.c:659:13:MX_GPIO_Init 1
../Core/Src/main.c:726:6:Start_DataAnalysis 1
../Core/Src/main.c:824:6:Start_ICM45686 4
../Core/Src/main.c:904:6:Start_BMM350 4
../Core/Src/main.c:945:6:HAL_TIM_PeriodElapsedCallback 2
../Core/Src/main.c:963:6:Error_Handler 1