Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
This commit is contained in:
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file stm32wbxx_hal_msp.c
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* @brief This file provides code for the MSP Initialization
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* and de-Initialization codes.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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extern DMA_HandleTypeDef hdma_i2c1_tx;
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extern DMA_HandleTypeDef hdma_i2c1_rx;
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extern DMA_HandleTypeDef hdma_spi1_tx;
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extern DMA_HandleTypeDef hdma_spi1_rx;
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN TD */
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/* USER CODE END TD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN Define */
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/* USER CODE END Define */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN Macro */
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/* USER CODE END Macro */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* External functions --------------------------------------------------------*/
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/* USER CODE BEGIN ExternalFunctions */
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/* USER CODE END ExternalFunctions */
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
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/**
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* Initializes the Global MSP.
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*/
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void HAL_MspInit(void)
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{
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/* USER CODE BEGIN MspInit 0 */
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/* USER CODE END MspInit 0 */
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__HAL_RCC_HSEM_CLK_ENABLE();
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HAL_PWREx_EnableVddUSB();
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/* System interrupt init*/
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/* PendSV_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
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/* Peripheral interrupt init */
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/* HSEM_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(HSEM_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(HSEM_IRQn);
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/* USER CODE BEGIN MspInit 1 */
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/* USER CODE END MspInit 1 */
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}
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/**
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* @brief I2C MSP Initialization
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* This function configures the hardware resources used in this example
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* @param hi2c: I2C handle pointer
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* @retval None
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*/
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void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
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if(hi2c->Instance==I2C1)
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{
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/* USER CODE BEGIN I2C1_MspInit 0 */
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/* USER CODE END I2C1_MspInit 0 */
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/** Initializes the peripherals clock
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*/
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PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
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PeriphClkInitStruct.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**I2C1 GPIO Configuration
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PB8 ------> I2C1_SCL
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PB9 ------> I2C1_SDA
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/* Peripheral clock enable */
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__HAL_RCC_I2C1_CLK_ENABLE();
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/* I2C1 DMA Init */
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/* I2C1_TX Init */
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hdma_i2c1_tx.Instance = DMA1_Channel3;
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hdma_i2c1_tx.Init.Request = DMA_REQUEST_I2C1_TX;
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hdma_i2c1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_i2c1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_i2c1_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_i2c1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_i2c1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_i2c1_tx.Init.Mode = DMA_NORMAL;
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hdma_i2c1_tx.Init.Priority = DMA_PRIORITY_HIGH;
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if (HAL_DMA_Init(&hdma_i2c1_tx) != HAL_OK)
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{
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Error_Handler();
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}
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__HAL_LINKDMA(hi2c,hdmatx,hdma_i2c1_tx);
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/* I2C1_RX Init */
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hdma_i2c1_rx.Instance = DMA1_Channel4;
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hdma_i2c1_rx.Init.Request = DMA_REQUEST_I2C1_RX;
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hdma_i2c1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma_i2c1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_i2c1_rx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_i2c1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_i2c1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_i2c1_rx.Init.Mode = DMA_NORMAL;
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hdma_i2c1_rx.Init.Priority = DMA_PRIORITY_HIGH;
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if (HAL_DMA_Init(&hdma_i2c1_rx) != HAL_OK)
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{
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Error_Handler();
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}
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__HAL_LINKDMA(hi2c,hdmarx,hdma_i2c1_rx);
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/* I2C1 interrupt Init */
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HAL_NVIC_SetPriority(I2C1_EV_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(I2C1_EV_IRQn);
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HAL_NVIC_SetPriority(I2C1_ER_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(I2C1_ER_IRQn);
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/* USER CODE BEGIN I2C1_MspInit 1 */
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/* USER CODE END I2C1_MspInit 1 */
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}
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}
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/**
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* @brief I2C MSP De-Initialization
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* This function freeze the hardware resources used in this example
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* @param hi2c: I2C handle pointer
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* @retval None
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*/
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void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
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{
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if(hi2c->Instance==I2C1)
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{
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/* USER CODE BEGIN I2C1_MspDeInit 0 */
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/* USER CODE END I2C1_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_I2C1_CLK_DISABLE();
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/**I2C1 GPIO Configuration
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PB8 ------> I2C1_SCL
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PB9 ------> I2C1_SDA
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*/
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HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
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HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
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/* I2C1 DMA DeInit */
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HAL_DMA_DeInit(hi2c->hdmatx);
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HAL_DMA_DeInit(hi2c->hdmarx);
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/* I2C1 interrupt DeInit */
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HAL_NVIC_DisableIRQ(I2C1_EV_IRQn);
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HAL_NVIC_DisableIRQ(I2C1_ER_IRQn);
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/* USER CODE BEGIN I2C1_MspDeInit 1 */
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/* USER CODE END I2C1_MspDeInit 1 */
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}
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}
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/**
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* @brief IPCC MSP Initialization
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* This function configures the hardware resources used in this example
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* @param hipcc: IPCC handle pointer
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* @retval None
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*/
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void HAL_IPCC_MspInit(IPCC_HandleTypeDef* hipcc)
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{
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if(hipcc->Instance==IPCC)
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{
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/* USER CODE BEGIN IPCC_MspInit 0 */
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/* USER CODE END IPCC_MspInit 0 */
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/* Peripheral clock enable */
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__HAL_RCC_IPCC_CLK_ENABLE();
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/* IPCC interrupt Init */
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HAL_NVIC_SetPriority(IPCC_C1_RX_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(IPCC_C1_RX_IRQn);
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HAL_NVIC_SetPriority(IPCC_C1_TX_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(IPCC_C1_TX_IRQn);
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/* USER CODE BEGIN IPCC_MspInit 1 */
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/* USER CODE END IPCC_MspInit 1 */
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}
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}
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/**
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* @brief IPCC MSP De-Initialization
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* This function freeze the hardware resources used in this example
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* @param hipcc: IPCC handle pointer
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* @retval None
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*/
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void HAL_IPCC_MspDeInit(IPCC_HandleTypeDef* hipcc)
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{
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if(hipcc->Instance==IPCC)
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{
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/* USER CODE BEGIN IPCC_MspDeInit 0 */
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/* USER CODE END IPCC_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_IPCC_CLK_DISABLE();
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/* IPCC interrupt DeInit */
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HAL_NVIC_DisableIRQ(IPCC_C1_RX_IRQn);
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HAL_NVIC_DisableIRQ(IPCC_C1_TX_IRQn);
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/* USER CODE BEGIN IPCC_MspDeInit 1 */
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/* USER CODE END IPCC_MspDeInit 1 */
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}
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}
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/**
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* @brief RTC MSP Initialization
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* This function configures the hardware resources used in this example
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* @param hrtc: RTC handle pointer
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* @retval None
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*/
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void HAL_RTC_MspInit(RTC_HandleTypeDef* hrtc)
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{
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RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
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if(hrtc->Instance==RTC)
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{
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/* USER CODE BEGIN RTC_MspInit 0 */
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/* USER CODE END RTC_MspInit 0 */
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/** Enable access to the backup domain
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*/
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HAL_PWR_EnableBkUpAccess();
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/** Initializes the peripherals clock
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*/
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PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC;
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PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/* Peripheral clock enable */
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__HAL_RCC_RTC_ENABLE();
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__HAL_RCC_RTCAPB_CLK_ENABLE();
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/* RTC interrupt Init */
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HAL_NVIC_SetPriority(RTC_WKUP_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(RTC_WKUP_IRQn);
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/* USER CODE BEGIN RTC_MspInit 1 */
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/* USER CODE END RTC_MspInit 1 */
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}
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}
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/**
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* @brief RTC MSP De-Initialization
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* This function freeze the hardware resources used in this example
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* @param hrtc: RTC handle pointer
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* @retval None
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*/
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void HAL_RTC_MspDeInit(RTC_HandleTypeDef* hrtc)
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{
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if(hrtc->Instance==RTC)
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{
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/* USER CODE BEGIN RTC_MspDeInit 0 */
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/* USER CODE END RTC_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_RTC_DISABLE();
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__HAL_RCC_RTCAPB_CLK_DISABLE();
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/* RTC interrupt DeInit */
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HAL_NVIC_DisableIRQ(RTC_WKUP_IRQn);
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/* USER CODE BEGIN RTC_MspDeInit 1 */
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/* USER CODE END RTC_MspDeInit 1 */
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}
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}
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/**
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* @brief SPI MSP Initialization
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* This function configures the hardware resources used in this example
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* @param hspi: SPI handle pointer
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* @retval None
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*/
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void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(hspi->Instance==SPI1)
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{
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/* USER CODE BEGIN SPI1_MspInit 0 */
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/* USER CODE END SPI1_MspInit 0 */
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/* Peripheral clock enable */
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__HAL_RCC_SPI1_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/**SPI1 GPIO Configuration
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PA5 ------> SPI1_SCK
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PA6 ------> SPI1_MISO
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PA7 ------> SPI1_MOSI
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*/
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GPIO_InitStruct.Pin = SPI1_IMU_SCK_Pin|SPI1_IMU_MISO_Pin|SPI1_IMU_MOSI_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/* SPI1 DMA Init */
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/* SPI1_TX Init */
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hdma_spi1_tx.Instance = DMA1_Channel1;
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hdma_spi1_tx.Init.Request = DMA_REQUEST_SPI1_TX;
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hdma_spi1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_spi1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_spi1_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_spi1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_spi1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_spi1_tx.Init.Mode = DMA_NORMAL;
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hdma_spi1_tx.Init.Priority = DMA_PRIORITY_HIGH;
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if (HAL_DMA_Init(&hdma_spi1_tx) != HAL_OK)
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||||
{
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Error_Handler();
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}
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||||
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__HAL_LINKDMA(hspi,hdmatx,hdma_spi1_tx);
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||||
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||||
/* SPI1_RX Init */
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hdma_spi1_rx.Instance = DMA1_Channel2;
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hdma_spi1_rx.Init.Request = DMA_REQUEST_SPI1_RX;
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hdma_spi1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma_spi1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_spi1_rx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_spi1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_spi1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_spi1_rx.Init.Mode = DMA_NORMAL;
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hdma_spi1_rx.Init.Priority = DMA_PRIORITY_HIGH;
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||||
if (HAL_DMA_Init(&hdma_spi1_rx) != HAL_OK)
|
||||
{
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||||
Error_Handler();
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||||
}
|
||||
|
||||
__HAL_LINKDMA(hspi,hdmarx,hdma_spi1_rx);
|
||||
|
||||
/* USER CODE BEGIN SPI1_MspInit 1 */
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||||
|
||||
/* USER CODE END SPI1_MspInit 1 */
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||||
}
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||||
else if(hspi->Instance==SPI2)
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||||
{
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||||
/* USER CODE BEGIN SPI2_MspInit 0 */
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||||
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||||
/* USER CODE END SPI2_MspInit 0 */
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||||
/* Peripheral clock enable */
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||||
__HAL_RCC_SPI2_CLK_ENABLE();
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||||
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||||
__HAL_RCC_GPIOC_CLK_ENABLE();
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||||
__HAL_RCC_GPIOA_CLK_ENABLE();
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||||
/**SPI2 GPIO Configuration
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||||
PC1 ------> SPI2_MOSI
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||||
PC2 ------> SPI2_MISO
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||||
PA9 ------> SPI2_SCK
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||||
*/
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||||
GPIO_InitStruct.Pin = SPI2_SD_MOSI_Pin;
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||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
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||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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||||
GPIO_InitStruct.Alternate = GPIO_AF3_SPI2;
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||||
HAL_GPIO_Init(SPI2_SD_MOSI_GPIO_Port, &GPIO_InitStruct);
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||||
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||||
GPIO_InitStruct.Pin = SPI2_SD_MISO_Pin;
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||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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||||
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
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||||
HAL_GPIO_Init(SPI2_SD_MISO_GPIO_Port, &GPIO_InitStruct);
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||||
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||||
GPIO_InitStruct.Pin = SPI2_SD_SCK_Pin;
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||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
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||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
||||
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
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||||
HAL_GPIO_Init(SPI2_SD_SCK_GPIO_Port, &GPIO_InitStruct);
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||||
|
||||
/* USER CODE BEGIN SPI2_MspInit 1 */
|
||||
|
||||
/* USER CODE END SPI2_MspInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SPI MSP De-Initialization
|
||||
* This function freeze the hardware resources used in this example
|
||||
* @param hspi: SPI handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
|
||||
{
|
||||
if(hspi->Instance==SPI1)
|
||||
{
|
||||
/* USER CODE BEGIN SPI1_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END SPI1_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_SPI1_CLK_DISABLE();
|
||||
|
||||
/**SPI1 GPIO Configuration
|
||||
PA5 ------> SPI1_SCK
|
||||
PA6 ------> SPI1_MISO
|
||||
PA7 ------> SPI1_MOSI
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOA, SPI1_IMU_SCK_Pin|SPI1_IMU_MISO_Pin|SPI1_IMU_MOSI_Pin);
|
||||
|
||||
/* SPI1 DMA DeInit */
|
||||
HAL_DMA_DeInit(hspi->hdmatx);
|
||||
HAL_DMA_DeInit(hspi->hdmarx);
|
||||
/* USER CODE BEGIN SPI1_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END SPI1_MspDeInit 1 */
|
||||
}
|
||||
else if(hspi->Instance==SPI2)
|
||||
{
|
||||
/* USER CODE BEGIN SPI2_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END SPI2_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_SPI2_CLK_DISABLE();
|
||||
|
||||
/**SPI2 GPIO Configuration
|
||||
PC1 ------> SPI2_MOSI
|
||||
PC2 ------> SPI2_MISO
|
||||
PA9 ------> SPI2_SCK
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOC, SPI2_SD_MOSI_Pin|SPI2_SD_MISO_Pin);
|
||||
|
||||
HAL_GPIO_DeInit(SPI2_SD_SCK_GPIO_Port, SPI2_SD_SCK_Pin);
|
||||
|
||||
/* USER CODE BEGIN SPI2_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END SPI2_MspDeInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief TIM_PWM MSP Initialization
|
||||
* This function configures the hardware resources used in this example
|
||||
* @param htim_pwm: TIM_PWM handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
|
||||
{
|
||||
if(htim_pwm->Instance==TIM2)
|
||||
{
|
||||
/* USER CODE BEGIN TIM2_MspInit 0 */
|
||||
|
||||
/* USER CODE END TIM2_MspInit 0 */
|
||||
/* Peripheral clock enable */
|
||||
__HAL_RCC_TIM2_CLK_ENABLE();
|
||||
/* USER CODE BEGIN TIM2_MspInit 1 */
|
||||
|
||||
/* USER CODE END TIM2_MspInit 1 */
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
if(htim->Instance==TIM2)
|
||||
{
|
||||
/* USER CODE BEGIN TIM2_MspPostInit 0 */
|
||||
|
||||
/* USER CODE END TIM2_MspPostInit 0 */
|
||||
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
/**TIM2 GPIO Configuration
|
||||
PA0 ------> TIM2_CH1
|
||||
PA1 ------> TIM2_CH2
|
||||
PA2 ------> TIM2_CH3
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_CONNECT_LED_Pin|GPIO_STATUS_LED_Pin|GPIO_DEBUG_LED_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN TIM2_MspPostInit 1 */
|
||||
|
||||
/* USER CODE END TIM2_MspPostInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
/**
|
||||
* @brief TIM_PWM MSP De-Initialization
|
||||
* This function freeze the hardware resources used in this example
|
||||
* @param htim_pwm: TIM_PWM handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
|
||||
{
|
||||
if(htim_pwm->Instance==TIM2)
|
||||
{
|
||||
/* USER CODE BEGIN TIM2_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END TIM2_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_TIM2_CLK_DISABLE();
|
||||
/* USER CODE BEGIN TIM2_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END TIM2_MspDeInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
Reference in New Issue
Block a user