pima/Trinity-DevPCB-V1.0
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Both sensors now run over interrupts in pulse mode. This still needs

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tweaking as its buggy but works for now on full speed for both sensors.
This commit is contained in:
pima
2026-09-20 19:55:57 +02:00
parent 7ee381de58
commit 5e3dd3128b
25 changed files with 51334 additions and 49390 deletions
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Core/Src/main.c
+35 -26
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@@ -30,6 +30,7 @@
#include "bmm350.h"
#include "bmm350_defs.h"
#include "bmm350_oor.h"
#include "task.h"
// CDC functionality
#include "usbd_cdc_if.h"
@@ -695,6 +696,10 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIO_MAGN_INT_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
@@ -716,8 +721,12 @@ void Start_DataAnalysis(void *argument)
/* init code for USB_Device */
MX_USB_Device_Init();
/* USER CODE BEGIN 5 */
// TODO: USB/BLE Connection in beide Richtungen (MCU-PC)
// TODO: Einstellungen setzbar durch trinity control für IMU, Magnetometer, etc.
// HAL_StatusTypeDef status;
// char output_buffer[128];
char output_buffer[128];
ICM45686_Data imu_data;
struct bmm350_mag_temp_data magn_data;
// struct bmm350_raw_mag_data magn_data;
@@ -735,12 +744,12 @@ void Start_DataAnalysis(void *argument)
osMessageQueueGet(Q_BMMHandle, &magn_data, NULL, osWaitForever);
osMessageQueueGet(Q_ICMHandle, &imu_data, NULL, osWaitForever);
// MadgwickAHRS_update(&IMUQuat, imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], //gx, gy, gz
// imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2], // ax, ay, yz
// magn_data.x, magn_data.y, magn_data.z); // mx, my, mz
MadgwickAHRS_update_IMU(&IMUQuat, imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], //gx, gy, gz
imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2]); // ax, ay, yz)
MadgwickAHRS_update(&IMUQuat, imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], //gx, gy, gz
imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2], // ax, ay, yz
magn_data.x, magn_data.y, magn_data.z); // mx, my, mz
//
// MadgwickAHRS_update_IMU(&IMUQuat, imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], //gx, gy, gz
// imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2]); // ax, ay, yz)
Quat_Dat.qw = IMUQuat.q[0];
@@ -761,8 +770,8 @@ void Start_DataAnalysis(void *argument)
// sprintf(output_buffer, "ICM:\ta_x: %.2f a_y: %.2f a_z: %.2f\t g_x: %.2f g_y: %.2f g_z: %.2f temp: %.2f \n", imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2],
// imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], imu_data.processed_imu_data[6]);
// CDC_Transmit_FS((uint8_t*)output_buffer, (uint16_t)strlen(output_buffer));
//
// // compensated mag data
////
//// // compensated mag data
// sprintf(output_buffer, "BMM:\tX: %.2f uT, Y: %.2f uT, Z: %.2f uT, Temp: %.2f C\n",
// magn_data.x, magn_data.y, magn_data.z, magn_data.temperature);
// CDC_Transmit_FS((uint8_t*)output_buffer, (uint16_t)strlen(output_buffer));
@@ -777,7 +786,7 @@ void Start_DataAnalysis(void *argument)
//
// sprintf(output_buffer, "------------\n");
// CDC_Transmit_FS((uint8_t*)output_buffer, (uint16_t)strlen(output_buffer));
osDelay(100);
// osDelay(100);
}
/* USER CODE END 5 */
@@ -816,14 +825,16 @@ void Start_ICM45686(void *argument)
tx[0] = 0x00 | 0x80;
init_icm(&imu);
osDelay(50);
configure_interrupt_icm(&imu);
enable_interrupt_icm(&imu);
// osDelay(500);
// calibrate_icm(&imu, 1000);
/* Infinite loop */
for(;;)
{
// imu
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
// status = HAL_SPI_TransmitReceive_DMA(&hspi1, tx, raw_imu_data, sizeof(raw_imu_data)); //(&hspi1, tx, raw_imu_data, sizeof(raw_imu_data), 50);
status = read_icm_dma(&imu, tx, raw_imu_data);
ulTaskNotifyTake(pdFALSE, osWaitForever);
status = read_icm_dma(&imu, tx, raw_imu_data, sizeof(tx));
if (status != HAL_OK) {
printf("Reading IMU sensordata failed: %d\n", status);
}
@@ -854,12 +865,8 @@ void Start_ICM45686(void *argument)
processed_data.processed_imu_data[6] -= imu.imu_bias[7];
}
// printf("[0]: %.2f [3]: %.2f [6]: %.2f\n", processed_data.processed_imu_data[0], processed_data.processed_imu_data[3], processed_data.processed_imu_data[6]);
osMessageQueuePut(Q_ICMHandle, &processed_data, 0, 5);
osDelay(100);
}
/* USER CODE END Start_ICM45686 */
}
@@ -881,21 +888,26 @@ void Start_BMM350(void *argument)
struct bmm350_dev dev = {0x00};
int8_t rslt;
struct bmm350_mag_temp_data mag_data;
osDelay(250);
osDelay(500);
// struct bmm350_raw_mag_data mag_data;
// struct bmm350_mag_temp_data mag_temp_data;
// struct bmm350_pmu_cmd_status_0 pmu_cmd_stat_0;
// ODR: 200HZ, AVG:
rslt = init_bmm(&dev);
if (rslt != BMM350_OK) {
printf("BMM350 initialization failed: %d\n", rslt);
printf("Chip id: 0x%02X\n", dev.chip_id);
}
rslt = bmm_configure_interrupt(&dev);
if (rslt != BMM350_OK) {
printf("Configuring interrupt failed: %d\n", rslt);
}
// osDelay(200);
/* Infinite loop */
for(;;)
{
// wait for the interrupt
ulTaskNotifyTake(pdFALSE, osWaitForever);
// magnetometer
rslt = bmm350_get_compensated_mag_xyz_temp_data(&mag_data, &dev);
// rslt = bmm350_read_uncomp_mag_temp_data(&mag_data, &dev);
@@ -906,10 +918,7 @@ void Start_BMM350(void *argument)
// CDC_Transmit_FS((uint8_t*)output_buffer, (uint16_t)strlen(output_buffer));
osMessageQueuePut(Q_BMMHandle, &mag_data, 0, 5);
}
osDelay(100);
// osDelay(100);
}
/* USER CODE END Start_BMM350 */
}