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.h
+10 -4
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@@ -64,7 +64,9 @@ typedef enum {
ICM45686_ACCEL_DATA = 0x00,
ICM45686_GYRO_DATA = 0x06,
ICM45686_FIFO_COUNT = 0x12,
ICM45686_FIFO_DATA = 0x14
ICM45686_FIFO_DATA = 0x14,
ICM45686_INT1_CONFIG2 = 0x18,
ICM45686_INT1_CONFIG0 = 0x16
} ICM45686_registers;
typedef enum {
@@ -138,13 +140,16 @@ void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi);
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *I2C_address);
void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *I2C_address);
void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c);
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin);
// ICM45686
void init_icm(ICM45686_HandleTypeDef *imu);
HAL_StatusTypeDef read_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[]);
HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[]);
HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[]);
HAL_StatusTypeDef read_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[], uint16_t len_tx);
HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[], uint16_t len_tx);
HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint16_t len_tx);
void calibrate_icm (ICM45686_HandleTypeDef * imu, int samples);
void enable_interrupt_icm(ICM45686_HandleTypeDef *imu);
void configure_interrupt_icm (ICM45686_HandleTypeDef *imu);
// BMM350 - Declarations of read/write/delay functions for the BMM350 API
void bmm_init_DWT(void);
@@ -152,6 +157,7 @@ BMM350_INTF_RET_TYPE bmm350_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32
BMM350_INTF_RET_TYPE bmm350_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, void *intf_ptr);
void bmm350_delay(uint32_t period_us, void *intf_ptr);
int8_t init_bmm(struct bmm350_dev *dev);
int8_t bmm_configure_interrupt (struct bmm350_dev *dev);
// structs that hold the sensor data
typedef struct {