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pima/Trinity-DevPCB-V1.0:master
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1409bad40b ... master
Author SHA1 Message Date
pima 570f0c12f9 - Fixed IMU calibration function bugs 
- 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
 2026-10-04 18:03:02 +02:00
19 changed files with 45215 additions and 45317 deletions
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Core/Src/main.c
+32 -23
View File
@@ -31,6 +31,7 @@
#include "bmm350_defs.h"
#include "bmm350_oor.h"
#include "task.h"
#include "trinity_helperlib.h"
// CDC functionality
#include "usbd_cdc_if.h"
@@ -510,7 +511,7 @@ static void MX_SPI1_Init(void)
hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -741,18 +742,33 @@ void Start_DataAnalysis(void *argument)
Quat_Dat.SensorAddress = BMM350_I2C_ADSEL_SET_LOW;
Quat_Dat.EndByte = PACKET_END_BYTE;
MadgwickAHRS_init(&IMUQuat, 6400.0f, 0.00001f);
MadgwickAHRS_init(&IMUQuat, 0.1f, 400.0f);
/* Infinite loop */
for(;;)
{
// TODO: Sample the IMU as a free-low pass to match the magnetometers
// ODR
// TODO: Add changing parameters from Trinity Control
// Don't feed Madgwick at 6.4 kHz. A 9-DOF update at that rate is expensive
// on an STM32WB, and a USB packet per sample can't keep up anyway. Average
// 16 samples in the IMU task to get 400 Hz, which also acts as a free low-pass
// filter. Let the IMU be the fusion clock and read the mag non-blocking.
//
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
// This code has the magnetometer axis rotated by 180 degrees relative to the IMU
// because the axis are different. IMU xy-coordinate system and magnetometer yx-coordinate system
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
magn_data.y, magn_data.x, -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)
@@ -808,9 +824,8 @@ void Start_DataAnalysis(void *argument)
void Start_ICM45686(void *argument)
{
/* USER CODE BEGIN Start_ICM45686 */
HAL_StatusTypeDef status;
// char output_buffer[128];
xIMU_Task = osThreadGetId();
HAL_StatusTypeDef status;
uint8_t raw_imu_data[15];
int16_t imu_sensor_data[7];
ICM45686_Data processed_data;
@@ -823,7 +838,7 @@ void Start_ICM45686(void *argument)
imu.acc_ssf = ICM45686_ACC_SSF[ICM45686_ACC_FS_16G >> 4];
imu.gyro_fs = ICM45686_GYRO_FS_2000DPS;
imu.gyro_ssf = ICM45686_GYRO_SSF[ICM45686_GYRO_FS_2000DPS >> 4];
imu.odr = ICM45686_ODR_6_4kHz_LN ;
imu.odr = ICM45686_ODR_400Hz_LNLP ;
uint8_t tx[15] = {0x00};
tx[0] = 0x00 | 0x80;
@@ -834,7 +849,7 @@ void Start_ICM45686(void *argument)
configure_and_enable_int_icm(&imu);
ulTaskNotifyTakeIndexed(ICM_NOTIFY_INT_DRDY, pdTRUE, 0);
ulTaskNotifyTakeIndexed(ICM_NOTIFY_DMA, pdTRUE, 0);
calibrate_icm(&imu, 25000);
calibrate_icm(&imu, 1000);
/* Infinite loop */
for(;;)
{
@@ -852,13 +867,13 @@ void Start_ICM45686(void *argument)
imu_sensor_data[5] = (int16_t)(raw_imu_data[11] << 8 | raw_imu_data[12]); // g_z
imu_sensor_data[6] = (int16_t)(raw_imu_data[13] << 8 | raw_imu_data[14]); // t
processed_data.processed_imu_data[0] = (float)imu_sensor_data[0] / (float)imu.acc_fs;
processed_data.processed_imu_data[1] = (float)imu_sensor_data[1] / (float)imu.acc_fs;
processed_data.processed_imu_data[2] = (float)imu_sensor_data[2] / (float)imu.acc_fs;
processed_data.processed_imu_data[3] = (float)imu_sensor_data[3] / (float)imu.gyro_ssf;
processed_data.processed_imu_data[4] = (float)imu_sensor_data[4] / (float)imu.gyro_ssf;
processed_data.processed_imu_data[5] = (float)imu_sensor_data[5] / (float)imu.gyro_ssf;
processed_data.processed_imu_data[6] = (float)(imu_sensor_data[6] / 128.0 + 25.0);
processed_data.processed_imu_data[0] = (float)imu_sensor_data[0] / imu.acc_ssf;
processed_data.processed_imu_data[1] = (float)imu_sensor_data[1] / imu.acc_ssf;
processed_data.processed_imu_data[2] = (float)imu_sensor_data[2] / imu.acc_ssf;
processed_data.processed_imu_data[3] = (float)imu_sensor_data[3] / imu.gyro_ssf * DEG2RAD;;
processed_data.processed_imu_data[4] = (float)imu_sensor_data[4] / imu.gyro_ssf * DEG2RAD;;
processed_data.processed_imu_data[5] = (float)imu_sensor_data[5] / imu.gyro_ssf * DEG2RAD;;
processed_data.processed_imu_data[6] = (float)(imu_sensor_data[6] / 128.0f + 25.0f);
if (imu.calibated) {
processed_data.processed_imu_data[0] -= imu.imu_bias[0];
@@ -894,29 +909,23 @@ void Start_BMM350(void *argument)
int8_t rslt;
struct bmm350_mag_temp_data mag_data;
// ODR: 200HZ, AVG:
// ODR: 400HZ, AVG: 0
rslt = init_bmm(&dev);
if (rslt != BMM350_OK) {
printf("BMM350 initialization failed: %d\n", rslt);
}
//
rslt = bmm_configure_interrupt(&dev);
if (rslt != BMM350_OK) {
printf("Configuring interrupt failed: %d\n", rslt);
}
ulTaskNotifyTakeIndexed(BMM_NOTIFY_INT_DRDY, pdTRUE, 0);
ulTaskNotifyTakeIndexed(BMM_NOTIFY_DMA, pdTRUE, 0);
// osDelay(50);
/* Infinite loop */
for(;;)
{
// wait for the interrupt
// ulTaskNotifyTake(pdFALSE, osWaitForever);
// ulTaskNotifyTakeIndexed(pdFALSE, BMM_NOTIFY_INT_DRDY, osWaitForever);
// ulTaskNotifyTakeIndexed(BMM_NOTIFY_INT_DRDY, pdTRUE, osWaitForever);
ulTaskNotifyTakeIndexed(BMM_NOTIFY_INT_DRDY, pdTRUE, osWaitForever);
rslt = bmm350_get_compensated_mag_xyz_temp_data(&mag_data, &dev);
// ulTaskNotifyTake(pdFALSE, osWaitForever);
// ulTaskNotifyTakeIndexed(BMM_NOTIFY_DMA, pdTRUE, osWaitForever);
if (rslt == BMM350_OK)
{
osMessageQueuePut(Q_BMMHandle, &mag_data, 0, 5);
Core/Src/sensors.c
+26 -98
View File
@@ -1,18 +1,15 @@
#include "main.h"
#include "sensors.h"
//#include "stm32wbxx_hal_i2c.h"
#include "trinity_helperlib.h"
#include <stdio.h>
#include "cmsis_os2.h"
#include "task.h"
#define HAL_I2C_TIMEOUT 100
//extern osThreadId_t defaultTaskHandle;
//TaskHandle_t xStartDefaultTask = NULL;
//extern osThreadId_t defaultTaskHandle
volatile osThreadId_t xIMU_Task = NULL;
volatile osThreadId_t xMagn_Task = NULL;
//osThreadId_t xData_Task = NULL;
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
@@ -36,7 +33,6 @@ void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *I2C_address) {
void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *I2C_address) {
if (I2C_address->Instance == I2C1 && xMagn_Task != NULL) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
// vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_DMA, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
@@ -46,7 +42,6 @@ void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) {
if (hi2c->Instance == I2C1 && xMagn_Task != NULL) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
printf("ErrorCallback: %ld\n", HAL_I2C_GetError(hi2c));
// vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_DMA, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
@@ -55,12 +50,9 @@ void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) {
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (GPIO_Pin == GPIO_IMU_INT_Pin && xIMU_Task != NULL) {
// vTaskNotifyGiveFromISR(xIMU_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xIMU_Task, ICM_NOTIFY_INT_DRDY, &xHigherPriorityTaskWoken);
// printf("Triggered ICM45686 EXTI\n");
}
if (GPIO_Pin == GPIO_MAGN_INT_Pin && xMagn_Task != NULL) {
// vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_INT_DRDY, &xHigherPriorityTaskWoken);
}
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
@@ -160,16 +152,12 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
HAL_StatusTypeDef status;
uint8_t raw_data[15];
int16_t sensor_data[7] = {0};
int32_t sensor_data[7] = {0};
float processed_data[7] = {0};
uint8_t tx[15] = {0x00};
tx[0] = 0x00 | 0x80;
for (int i = 1; i <= samples; i++) {
// status = read_icm_dma(imu, tx, raw_data, sizeof(tx));
// osDelay(1);
// if (status != HAL_OK) {
// printf("Calibration read ICM failed: %d\n", status);
// }
ulTaskNotifyTakeIndexed(ICM_NOTIFY_INT_DRDY, pdTRUE, portMAX_DELAY);
status = read_icm_dma(imu, tx, raw_data, sizeof(tx));
if (status != HAL_OK) {
@@ -185,46 +173,34 @@ void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
sensor_data[6] += (int16_t)(raw_data[13] << 8 | raw_data[14]); // t
}
}
// The acc biases is set to 0 or 1 for gravity to avoid messy values without
// proper multiposition calibration done once per board/sensor
processed_data[0] = 0.0f; //(float)sensor_data[0] / ((float)samples * imu->acc_ssf);
processed_data[1] = 0.0f; //(float)sensor_data[1] / ((float)samples * imu->acc_ssf);
processed_data[2] = 1.0f; //(float)sensor_data[2] / ((float)samples * imu->acc_ssf);
processed_data[3] = (float)sensor_data[3] / ((float)samples * imu->gyro_ssf);
processed_data[4] = (float)sensor_data[4] / ((float)samples * imu->gyro_ssf);
processed_data[5] = (float)sensor_data[5] / ((float)samples * imu->gyro_ssf);
processed_data[6] = (float)sensor_data[6] / (float)samples;
imu->imu_bias[0] = (float)sensor_data[0] / (float)samples;
imu->imu_bias[1] = (float)sensor_data[1] / (float)samples;
imu->imu_bias[2] = (float)sensor_data[2] / (float)samples;
imu->imu_bias[3] = (float)sensor_data[3] / (float)samples;
imu->imu_bias[4] = (float)sensor_data[4] / (float)samples;
imu->imu_bias[5] = (float)sensor_data[5] / (float)samples;
imu->imu_bias[6] = (float)sensor_data[6] / (float)samples;
// remrove gravity
imu->imu_bias[2] -= 1.0f;
imu->calibated = true;
imu->imu_bias[0] = processed_data[0];
imu->imu_bias[1] = processed_data[1];
imu->imu_bias[2] = processed_data[2];// - 1.0f;
imu->imu_bias[3] = processed_data[3] * DEG2RAD;
imu->imu_bias[4] = processed_data[4] * DEG2RAD;
imu->imu_bias[5] = processed_data[5] * DEG2RAD;
imu->imu_bias[6] = processed_data[6] / 128.0f + 25.0f;
printf("ICM calibration bias: a_x: %.2f a_y: %.2f a_z: %.2f g_x: %.2f g_y: %.2f g_z: %.2f t: %.2f\n",
imu->imu_bias[0], imu->imu_bias[1], imu->imu_bias[2],
imu->imu_bias[3], imu->imu_bias[4], imu->imu_bias[5],
imu->imu_bias[6]);
imu->calibated = true;
printf("ICM calibration bias: a_x: %.2f a_y: %.2f a_z: %.2f g_x: %.2f g_y: %.2f g_z: %.2f t: %.2f\n",
imu->imu_bias[0], imu->imu_bias[1], imu->imu_bias[2],
imu->imu_bias[3], imu->imu_bias[4], imu->imu_bias[5],
imu->imu_bias[6]);
}
//void enable_interrupt_icm(ICM45686_HandleTypeDef *imu) {
// uint8_t tx[2], rx[2] = {0x00, 0x00};
//
// tx[0] = ICM45686_INT1_CONFIG0;
// tx[1] = 0x04;
// 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 INT1_CONFIG0 failed: %d\n", status);
// } else {
// printf("INT1_CONFIG0 read: 0x%02X\n", rx[1]);
// }
//}
void configure_and_enable_int_icm (ICM45686_HandleTypeDef *imu) {
uint8_t tx[2], rx[2] = {0x00, 0x00};
@@ -284,10 +260,8 @@ void configure_and_enable_int_icm (ICM45686_HandleTypeDef *imu) {
void bmm_init_DWT(void){
// Enable trace and debug block (TRCENA)
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
// Reset cycle counter
DWT->CYCCNT = 0;
// Enable the cycle counter
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
}
@@ -295,66 +269,28 @@ void bmm_init_DWT(void){
BMM350_INTF_RET_TYPE bmm350_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, void *intf_ptr){
// Extract I2C device address from intf_ptr
uint8_t device_addr = *(uint8_t*)intf_ptr;
// STM32 HAL: Write register address, then read data
// Device address is left-shifted by 1 for STM32 HAL
// if (HAL_I2C_Mem_Read(&hi2c1, device_addr << 1, reg_addr, I2C_MEMADD_SIZE_8BIT, reg_data, length, HAL_I2C_TIMEOUT ) == HAL_OK) {
if (HAL_I2C_Mem_Read_DMA(&hi2c1, device_addr << 1, reg_addr, I2C_MEMADD_SIZE_8BIT, reg_data, length) == HAL_OK) {
// if (ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(10)) == pdTRUE) {
if (ulTaskNotifyTakeIndexed(BMM_NOTIFY_DMA, pdTRUE, pdMS_TO_TICKS(10)) == pdTRUE) {
// if (ulTaskNotifyTakeIndexed(pdTRUE, BMM_NOTIFY_DMA, pdMS_TO_TICKS(10)) == pdTRUE) {
return BMM350_INTF_RET_SUCCESS; // 0
}
}
return -1; // Communication failure
}
//BMM350_INTF_RET_TYPE bmm350_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, void *intf_ptr) {
// // Extract I2C device address from intf_ptr
// uint8_t device_addr = *(uint8_t*)intf_ptr;
//
// // STM32 HAL: Write register address, then read data
// // Device address is left-shifted by 1 for STM32 HAL
// if (HAL_I2C_Mem_Read(&hi2c1, device_addr << 1, reg_addr, I2C_MEMADD_SIZE_8BIT, reg_data, length, HAL_I2C_TIMEOUT ) == HAL_OK)
// {
// return BMM350_INTF_RET_SUCCESS; // 0
// }
//
// return -1; // Communication failure
//}
BMM350_INTF_RET_TYPE bmm350_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, void *intf_ptr){
uint8_t device_addr = *(uint8_t*)intf_ptr;
// uint8_t rslt = HAL_I2C_Mem_Write_DMA(&hi2c1, device_addr << 1, reg_addr, I2C_MEMADD_SIZE_8BIT, (uint8_t*)reg_data, length);
// printf("rslt write: %d\n", rslt);
// // STM32 HAL: Write register address + data
if (HAL_I2C_Mem_Write_DMA(&hi2c1, device_addr << 1, reg_addr, I2C_MEMADD_SIZE_8BIT, (uint8_t*)reg_data, length) == HAL_OK) {
// if (HAL_I2C_Mem_Write(&hi2c1, device_addr << 1, reg_addr, I2C_MEMADD_SIZE_8BIT, (uint8_t*)reg_data, length, HAL_I2C_TIMEOUT ) == HAL_OK) {
// if (rslt == HAL_OK) {
// if (ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(10)) == pdTRUE) {
if (ulTaskNotifyTakeIndexed(BMM_NOTIFY_DMA, pdTRUE, pdMS_TO_TICKS(10)) == pdTRUE) {
// if (ulTaskNotifyTakeIndexed(pdTRUE, BMM_NOTIFY_DMA, pdMS_TO_TICKS(10)) == pdTRUE) {
return BMM350_INTF_RET_SUCCESS; // 0
}
}
return -1;
}
//BMM350_INTF_RET_TYPE bmm350_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, void *intf_ptr){
// uint8_t device_addr = *(uint8_t*)intf_ptr;
//
// // STM32 HAL: Write register address + data
// if (HAL_I2C_Mem_Write(&hi2c1, device_addr << 1, reg_addr, I2C_MEMADD_SIZE_8BIT, (uint8_t*)reg_data, length, HAL_I2C_TIMEOUT ) == HAL_OK) {
// return BMM350_INTF_RET_SUCCESS;
// }
//
// return -1;
//}
void bmm350_delay(uint32_t period_us, void *intf_ptr){
(void)intf_ptr; // Unused
// For STM32, use DWT cycle counter for accurate microsecond delays
uint32_t start = DWT->CYCCNT;
uint32_t cycles = period_us * (SystemCoreClock / 1000000);
@@ -375,8 +311,6 @@ int8_t init_bmm(struct bmm350_dev *dev) {
dev->delay_us = bmm350_delay;
dev->intf_ptr = &dev_addr;
// printf("Starting up and configuring BMM350\n");
// Initialize BMM350 driver
rslt = bmm350_init(dev);
if (rslt != BMM350_OK)
@@ -393,12 +327,6 @@ int8_t init_bmm(struct bmm350_dev *dev) {
rslt = bmm350_set_odr_performance(BMM350_DATA_RATE_400HZ, BMM350_NO_AVERAGING, dev);
printf("ODR(%d) and AVG(%d): %d\n", BMM350_DATA_RATE_400HZ, BMM350_NO_AVERAGING, 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;
}
Core/Src/trinity_helperlib.c
+8
View File
@@ -1,4 +1,12 @@
#include "trinity_helperlib.h"
void convert_rad_to_deg (float data[]) {
float factor = 0.01745329252f;
for (int i = 0; i <= sizeof(data)/sizeof(data[0]); i++) {
data[i] *= factor;
}
}
Core/Src/trinity_helperlib.h
+1 -13
View File
@@ -1,13 +1 @@
/*
* trinity_helperlib.h
*
* Created on: Aug 17, 2026
* Author: pima
*/
#ifndef SRC_TRINITY_HELPERLIB_H_
#define SRC_TRINITY_HELPERLIB_H_
#endif /* SRC_TRINITY_HELPERLIB_H_ */
#define DEG2RAD 0.01745329252f
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
Debug/Core/Src/main.d
+2 -1
View File
@@ -76,7 +76,7 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Core/Src/bmm350_oor.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../USB_Device/App/usbd_cdc_if.h \
../Core/Src/trinity_helperlib.h ../USB_Device/App/usbd_cdc_if.h \
../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h \
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h \
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h \
@@ -167,6 +167,7 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Core/Src/bmm350_oor.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Core/Src/trinity_helperlib.h:
../USB_Device/App/usbd_cdc_if.h:
../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h:
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h:
Debug/Core/Src/main.o
BIN
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Binary file not shown.
Debug/Core/Src/main.su
+18 -18
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@@ -3,21 +3,21 @@
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:364:22:LL_AHB1_GRP1_EnableClock 24 static
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:539:22:LL_AHB2_GRP1_EnableClock 24 static
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_hsem.h:233:26:LL_HSEM_1StepLock 16 static
../Core/Src/main.c:138:5:_write 32 static
../Core/Src/main.c:151:5:main 8 static
../Core/Src/main.c:266:6:SystemClock_Config 112 static
../Core/Src/main.c:332:6:PeriphCommonClock_Config 88 static
../Core/Src/main.c:357:13:MX_I2C1_Init 8 static
../Core/Src/main.c:405:13:MX_IPCC_Init 8 static
../Core/Src/main.c:431:13:MX_RF_Init 4 static
../Core/Src/main.c:452:13:MX_RTC_Init 8 static
../Core/Src/main.c:495:13:MX_SPI1_Init 8 static
../Core/Src/main.c:535:13:MX_SPI2_Init 8 static
../Core/Src/main.c:575:13:MX_TIM2_Init 48 static
../Core/Src/main.c:630:13:MX_DMA_Init 8 static
../Core/Src/main.c:658:13:MX_GPIO_Init 32 static
../Core/Src/main.c:725:6:Start_DataAnalysis 80 static
../Core/Src/main.c:808:6:Start_ICM45686 152 static
../Core/Src/main.c:896:6:Start_BMM350 216 static
../Core/Src/main.c:943:6:HAL_TIM_PeriodElapsedCallback 16 static
../Core/Src/main.c:961:6:Error_Handler 4 static,ignoring_inline_asm
../Core/Src/main.c:139:5:_write 32 static
../Core/Src/main.c:152:5:main 8 static
../Core/Src/main.c:267:6:SystemClock_Config 112 static
../Core/Src/main.c:333:6:PeriphCommonClock_Config 88 static
../Core/Src/main.c:358:13:MX_I2C1_Init 8 static
../Core/Src/main.c:406:13:MX_IPCC_Init 8 static
../Core/Src/main.c:432:13:MX_RF_Init 4 static
../Core/Src/main.c:453:13:MX_RTC_Init 8 static
../Core/Src/main.c:496:13:MX_SPI1_Init 8 static
../Core/Src/main.c:536:13:MX_SPI2_Init 8 static
../Core/Src/main.c:576:13:MX_TIM2_Init 48 static
../Core/Src/main.c:631:13:MX_DMA_Init 8 static
../Core/Src/main.c:659:13:MX_GPIO_Init 32 static
../Core/Src/main.c:726:6:Start_DataAnalysis 80 static
../Core/Src/main.c:824:6:Start_ICM45686 152 static
../Core/Src/main.c:904:6:Start_BMM350 216 static
../Core/Src/main.c:945:6:HAL_TIM_PeriodElapsedCallback 16 static
../Core/Src/main.c:963:6:Error_Handler 4 static,ignoring_inline_asm
Debug/Core/Src/sensors.cyclo
+17 -17
View File
@@ -1,17 +1,17 @@
../Core/Src/sensors.c:18:6:HAL_SPI_TxRxCpltCallback 4
../Core/Src/sensors.c:27:6:HAL_I2C_MemRxCpltCallback 4
../Core/Src/sensors.c:36:6:HAL_I2C_MemTxCpltCallback 4
../Core/Src/sensors.c:45:6:HAL_I2C_ErrorCallback 4
../Core/Src/sensors.c:55:6:HAL_GPIO_EXTI_Callback 6
../Core/Src/sensors.c:70:19:read_icm 1
../Core/Src/sensors.c:77:19:read_icm_dma 1
../Core/Src/sensors.c:83:19:write_icm 1
../Core/Src/sensors.c:90:6:init_icm 8
../Core/Src/sensors.c:160:6:calibrate_icm 4
../Core/Src/sensors.c:228:6:configure_and_enable_int_icm 7
../Core/Src/sensors.c:284:6:bmm_init_DWT 1
../Core/Src/sensors.c:295:22:bmm350_i2c_read 3
../Core/Src/sensors.c:327:22:bmm350_i2c_write 3
../Core/Src/sensors.c:355:6:bmm350_delay 2
../Core/Src/sensors.c:366:8:init_bmm 2
../Core/Src/sensors.c:405:8:bmm_configure_interrupt 1
../Core/Src/sensors.c:15:6:HAL_SPI_TxRxCpltCallback 4
../Core/Src/sensors.c:24:6:HAL_I2C_MemRxCpltCallback 4
../Core/Src/sensors.c:33:6:HAL_I2C_MemTxCpltCallback 4
../Core/Src/sensors.c:41:6:HAL_I2C_ErrorCallback 4
../Core/Src/sensors.c:50:6:HAL_GPIO_EXTI_Callback 6
../Core/Src/sensors.c:62:19:read_icm 1
../Core/Src/sensors.c:69:19:read_icm_dma 1
../Core/Src/sensors.c:75:19:write_icm 1
../Core/Src/sensors.c:82:6:init_icm 8
../Core/Src/sensors.c:152:6:calibrate_icm 4
../Core/Src/sensors.c:204:6:configure_and_enable_int_icm 7
../Core/Src/sensors.c:260:6:bmm_init_DWT 1
../Core/Src/sensors.c:269:22:bmm350_i2c_read 3
../Core/Src/sensors.c:282:22:bmm350_i2c_write 3
../Core/Src/sensors.c:292:6:bmm350_delay 2
../Core/Src/sensors.c:302:8:init_bmm 2
../Core/Src/sensors.c:333:8:bmm_configure_interrupt 1
Debug/Core/Src/sensors.d
+2
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@@ -70,6 +70,7 @@ Core/Src/sensors.o: ../Core/Src/sensors.c ../Core/Inc/main.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Drivers/CMSIS/RTOS2/Include/cmsis_os2.h \
../Core/Src/trinity_helperlib.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
../Core/Inc/main.h:
@@ -150,5 +151,6 @@ Core/Src/sensors.o: ../Core/Src/sensors.c ../Core/Inc/main.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Drivers/CMSIS/RTOS2/Include/cmsis_os2.h:
../Core/Src/trinity_helperlib.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
Debug/Core/Src/sensors.o
BIN
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Debug/Core/Src/sensors.su
+17 -17
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@@ -1,17 +1,17 @@
../Core/Src/sensors.c:18:6:HAL_SPI_TxRxCpltCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:27:6:HAL_I2C_MemRxCpltCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:36:6:HAL_I2C_MemTxCpltCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:45:6:HAL_I2C_ErrorCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:55:6:HAL_GPIO_EXTI_Callback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:70:19:read_icm 40 static
../Core/Src/sensors.c:77:19:read_icm_dma 32 static
../Core/Src/sensors.c:83:19:write_icm 32 static
../Core/Src/sensors.c:90:6:init_icm 24 static
../Core/Src/sensors.c:160:6:calibrate_icm 168 static
../Core/Src/sensors.c:228:6:configure_and_enable_int_icm 24 static
../Core/Src/sensors.c:284:6:bmm_init_DWT 4 static
../Core/Src/sensors.c:295:22:bmm350_i2c_read 40 static
../Core/Src/sensors.c:327:22:bmm350_i2c_write 40 static
../Core/Src/sensors.c:355:6:bmm350_delay 24 static
../Core/Src/sensors.c:366:8:init_bmm 24 static
../Core/Src/sensors.c:405:8:bmm_configure_interrupt 32 static
../Core/Src/sensors.c:15:6:HAL_SPI_TxRxCpltCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:24:6:HAL_I2C_MemRxCpltCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:33:6:HAL_I2C_MemTxCpltCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:41:6:HAL_I2C_ErrorCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:50:6:HAL_GPIO_EXTI_Callback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:62:19:read_icm 40 static
../Core/Src/sensors.c:69:19:read_icm_dma 32 static
../Core/Src/sensors.c:75:19:write_icm 32 static
../Core/Src/sensors.c:82:6:init_icm 24 static
../Core/Src/sensors.c:152:6:calibrate_icm 208 static
../Core/Src/sensors.c:204:6:configure_and_enable_int_icm 24 static
../Core/Src/sensors.c:260:6:bmm_init_DWT 4 static
../Core/Src/sensors.c:269:22:bmm350_i2c_read 40 static
../Core/Src/sensors.c:282:22:bmm350_i2c_write 40 static
../Core/Src/sensors.c:292:6:bmm350_delay 24 static
../Core/Src/sensors.c:302:8:init_bmm 24 static
../Core/Src/sensors.c:333:8:bmm_configure_interrupt 32 static
Debug/Core/Src/trinity_helperlib.cyclo
+1
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@@ -0,0 +1 @@
../Core/Src/trinity_helperlib.c:3:6:convert_rad_to_deg 2
Debug/Core/Src/trinity_helperlib.o
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Debug/Core/Src/trinity_helperlib.su
+1
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@@ -0,0 +1 @@
../Core/Src/trinity_helperlib.c:3:6:convert_rad_to_deg 24 static
Debug/Trinity_Devboard_V2.elf
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Debug/Trinity_Devboard_V2.list
+43421 -43466
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Debug/Trinity_Devboard_V2.map
+1649 -1644
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Trinity_Devboard_V2.ioc
+2 -2
View File
@@ -439,10 +439,10 @@ SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
SH.S_TIM2_CH2.ConfNb=1
SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
SH.S_TIM2_CH3.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=4.0 MBits/s
SPI1.CalculateBaudRate=16.0 MBits/s
SPI1.DataSize=SPI_DATASIZE_8BIT
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase,CLKPolarity