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/sensors.c
+103 -15
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@@ -47,29 +47,47 @@ void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *I2C_address) {
void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) {
if (hi2c->Instance == I2C1) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
printf("ErrorCallback: %ld", HAL_I2C_GetError(hi2c));
printf("ErrorCallback: %ld\n", HAL_I2C_GetError(hi2c));
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
// was macht das?
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (GPIO_Pin == GPIO_IMU_INT_Pin) {
vTaskNotifyGiveFromISR(xIMU_Task, &xHigherPriorityTaskWoken);
// printf("Triggered ICM45686 EXTI\n");
}
if (GPIO_Pin == GPIO_MAGN_INT_Pin) {
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
// printf("Triggered BMM350 EXTI\n");
}
// was macht das?
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
// ICM 45686
HAL_StatusTypeDef read_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[]) {
HAL_StatusTypeDef read_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[], uint16_t len_tx) {
HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_RESET);
HAL_StatusTypeDef status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
HAL_StatusTypeDef status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, len_tx, 50);
HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_SET);
return status;
}
HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[]) {
HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[], uint16_t len_tx) {
HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_RESET);
HAL_StatusTypeDef status = HAL_SPI_TransmitReceive_DMA(imu->hspi, tx, rx, sizeof(rx));
HAL_StatusTypeDef status = HAL_SPI_TransmitReceive_DMA(imu->hspi, tx, rx, len_tx);
return status;
}
HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[]) {
HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint16_t len_tx) {
HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_RESET);
HAL_StatusTypeDef status = HAL_SPI_Transmit(imu->hspi, tx, sizeof(tx), 50);
HAL_StatusTypeDef status = HAL_SPI_Transmit(imu->hspi, tx, len_tx, 50);
HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_SET);
return status;
}
@@ -78,6 +96,18 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// TODO: Add settings as enum to choose from
// FIFO
// Interrupt
/* Interrupt functionality is configured via the Interrupt Configuration register. Items that are configurable include the
interrupt pins configuration, the interrupt latching and clearing method, and triggers for the interrupt. Items that
can trigger an interrupt are (1) Clock generator locked to new reference oscillator (used when switching clock
sources); (2) new data is available to be read (from the FIFO and Data registers); (3) accelerometer event
interrupts; (4) FIFO watermark; (5) FIFO overflow. The interrupt status can be read from the Interrupt Status
register.
- Configure interrupt pin on icm
- configure interrupt pin on bmm
- -> push/pull or open drain, latch, polarity
- everything stays as is only that a interrupt callback gets added, that when called wakes up the
corresponding task for the sensor
*/
// APEX???
// EDMP???
@@ -90,7 +120,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_RESET);
// status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
status = read_icm(imu, tx, rx);
status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) {
printf("Error in reading WHO AM I:%d\n", status);
} else {
@@ -103,7 +133,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
// status = HAL_SPI_Transmit(imu->hspi, tx, sizeof(tx), 50);
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
status = write_icm(imu, tx);
status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) {
printf("Error in setting ACCEL_CONFIG0:%d\n", status);
} else {
@@ -115,7 +145,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
// status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
status = read_icm(imu, tx, rx);
status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) {
printf("Error reading ACCEL_CONFIG0:%d\n", status);
} else {
@@ -128,7 +158,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
// status = HAL_SPI_Transmit(imu->hspi, tx, sizeof(tx), 50);
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
status = write_icm(imu, tx);
status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) {
printf("Error in setting GYRO_CONFIG0:%d\n", status);
} else {
@@ -140,7 +170,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
// status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
status = read_icm(imu, tx, rx);
status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) {
printf("Error reading GYRO_CONFIG0:%d\n", status);
} else {
@@ -153,7 +183,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
// status = HAL_SPI_Transmit(imu->hspi, tx, sizeof(tx), 50);
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
status = write_icm(imu, tx);
status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) {
printf("Error in setting PWR_MGMT0:%d\n", status);
} else {
@@ -165,7 +195,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
// status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
// HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
status = read_icm(imu, tx, rx);
status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) {
printf("Error reading PWR_MGMT0:%d\n", status);
} else {
@@ -183,7 +213,7 @@ void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
tx[0] = 0x00 | 0x80;
for (int i = 1; i <= samples; i++) {
status = read_icm_dma(imu, tx, raw_data);
status = read_icm_dma(imu, tx, raw_data, sizeof(tx));
if (status != HAL_OK) {
printf("Calibration read ICM failed: %d\n", status);
}
@@ -217,6 +247,48 @@ void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
}
void enable_interrupt_icm(ICM45686_HandleTypeDef *imu) {
uint8_t tx[2], rx[2] = {0x00, 0x00};
tx[0] = ICM45686_INT1_CONFIG0;
tx[1] = 0x04;
printf("Enabling IMU INT pin\n");
HAL_StatusTypeDef status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) {
printf("Enabling of IMU INT failed: %d\n", status);
}
tx[0] = ICM45686_INT1_CONFIG0 | 0x80;
tx[1] = 0x00;
status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) {
printf("Reading IMU INT configuration0 failed: %d\n", status);
} else {
printf("INT1_CONFIG0 read: 0x%02X\n", rx[1]);
}
}
void configure_interrupt_icm (ICM45686_HandleTypeDef *imu) {
uint8_t tx[2], rx[2] = {0x00, 0x00};
tx[0] = ICM45686_INT1_CONFIG2;
tx[1] = 0x01;
printf("Configuring IMU INT\n");
HAL_StatusTypeDef status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) {
printf("Configuration of IMU INT failed: %d\n", status);
}
tx[0] = ICM45686_INT1_CONFIG2 | 0x80;
tx[1] = 0x00;
status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) {
printf("Reading IMU INT configuration2 failed: %d\n", status);
} else {
printf("INT1_CONFIG2 read: 0x%02X\n", rx[1]);
}
}
// BMM350
void bmm_init_DWT(void){
// Enable trace and debug block (TRCENA)
@@ -301,5 +373,21 @@ int8_t init_bmm(struct bmm350_dev *dev) {
rslt = bmm350_set_odr_performance(BMM350_DATA_RATE_200HZ, BMM350_AVERAGING_2, dev);
printf("ODR(%d) and AVG(%d): %d\n", BMM350_DATA_RATE_200HZ, BMM350_AVERAGING_2, rslt);
// // configure interrupt
// rslt = bmm350_enable_interrupt(BMM350_ENABLE_INTERRUPT, dev);
// printf("Interrupt enable: %d", rslt);
// rslt = bmm350_configure_interrupt(BMM350_LATCHED, BMM350_ACTIVE_HIGH, BMM350_INTR_OPEN_DRAIN, BMM350_MAP_TO_PIN, dev);
// printf("Configure interrupt: %d", rslt);
return BMM350_OK;
}
int8_t bmm_configure_interrupt (struct bmm350_dev *dev) {
int8_t rslt;
rslt = bmm350_enable_interrupt(BMM350_ENABLE_INTERRUPT, dev);
printf("Interrupt enable: %d\n", rslt);
rslt = bmm350_configure_interrupt(BMM350_PULSED, BMM350_ACTIVE_HIGH, BMM350_INTR_PUSH_PULL, BMM350_MAP_TO_PIN, dev);
printf("Configure interrupt: %d\n", rslt);
return BMM350_OK;
}