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compare: pima/Trinity-DevPCB-V1.0:1409bad40b0655b4d6dfd4224eb6c5b4b73e6b86
pima/Trinity-DevPCB-V1.0:master
2 Commits
5e3dd3128b ... 1409bad40b
Author SHA1 Message Date
pima 1409bad40b Fixed DMA and INT bugs 
- Fixed indexed task notifications for INT and DMAf for both sensors
- Fixed the INT debugger startup freeze (added != NULL check in
callbacks)
- Fixed DMA notifications not being read properly/too early
- Changed IMU INT configure/enable function as one
- Added proper DMA checking in IMU calibration
 2026-10-03 17:42:33 +02:00
pima 5daac77a37 Added hemisphere continuity enforcement in the madgwick algorithm 2026-09-23 18:31:51 +02:00
71 changed files with 52897 additions and 51326 deletions
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Core/Inc/FreeRTOSConfig.h
+5
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@@ -76,6 +76,7 @@ extern uint32_t SystemCoreClock;
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
@@ -95,6 +96,9 @@ extern uint32_t SystemCoreClock;
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 1024
/* The following flag must be enabled only when using newlib */
#define configUSE_NEWLIB_REENTRANT 1
/* CMSIS-RTOS V2 flags */
#define configUSE_OS2_THREAD_SUSPEND_RESUME 1
#define configUSE_OS2_THREAD_ENUMERATE 1
@@ -166,6 +170,7 @@ standard names. */
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
#define configTASK_NOTIFICATION_ARRAY_ENTRIES 2
/* USER CODE END Defines */
#endif /* FREERTOS_CONFIG_H */
Core/Src/MadgwickAHRS.c
+17
View File
@@ -148,6 +148,14 @@ void MadgwickAHRS_update(MadgwickAHRS_Filter* filter, float gx, float gy, float
q[2] *= recipNorm;
q[3] *= recipNorm;
// enforce hemisphere continuity (because of the positive and negative doubling of output)
float dot = filter->q[0] * q[0] + filter->q[1] * q[1] + filter->q[2] * q[2] + filter->q[3] * q[3];
if (dot < 0.0f){
q[0] = -q[0];
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
// Update filter state
filter->q[0] = q[0];
filter->q[1] = q[1];
@@ -226,6 +234,15 @@ void MadgwickAHRS_update_IMU(MadgwickAHRS_Filter* filter, float gx, float gy, fl
q[2] *= recipNorm;
q[3] *= recipNorm;
// enforce hemisphere continuity (because of the positive and negative doubling of output)
float dot = filter->q[0] * q[0] + filter->q[1] * q[1] + filter->q[2] * q[2] + filter->q[3] * q[3];
if (dot < 0.0f){
q[0] = -q[0];
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
// Update filter state
filter->q[0] = q[0];
filter->q[1] = q[1];
Core/Src/app_freertos.c
+14
View File
@@ -52,6 +52,20 @@
/* USER CODE END FunctionPrototypes */
/* Hook prototypes */
void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName);
/* USER CODE BEGIN 4 */
void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
{
/* Run time stack overflow checking is performed if
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
called if a stack overflow is detected. */
__disable_irq();
for (;;) { } // breakpoint here
}
/* USER CODE END 4 */
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
Core/Src/main.c
+39 -37
View File
@@ -44,6 +44,12 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//#define ICM_NOTIFY_INT_DRDY 0
//#define ICM_NOTIFY_DMA 1
//#define BMM_NOTIFY_INT_DRDY 0
//#define BMM_NOTIFY_DMA 1
//configASSERT(BMM_NOTIFY_DMA < configTASK_NOTIFICATION_ARRAY_ENTRIES);
//configASSERT(BMM_NOTIFY_INT_DRDY < configTASK_NOTIFICATION_ARRAY_ENTRIES);
/* USER CODE END PD */
@@ -359,7 +365,7 @@ static void MX_I2C1_Init(void)
/* USER CODE END I2C1_Init 1 */
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x10B17DB5;
hi2c1.Init.Timing = 0x00C12166;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -504,7 +510,7 @@ 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_64;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -726,7 +732,7 @@ void Start_DataAnalysis(void *argument)
// 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;
@@ -735,7 +741,7 @@ void Start_DataAnalysis(void *argument)
Quat_Dat.SensorAddress = BMM350_I2C_ADSEL_SET_LOW;
Quat_Dat.EndByte = PACKET_END_BYTE;
MadgwickAHRS_init(&IMUQuat, 6400.0f, 0.15f);
MadgwickAHRS_init(&IMUQuat, 6400.0f, 0.00001f);
/* Infinite loop */
for(;;)
@@ -747,7 +753,7 @@ void Start_DataAnalysis(void *argument)
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)
@@ -805,8 +811,6 @@ void Start_ICM45686(void *argument)
HAL_StatusTypeDef status;
// char output_buffer[128];
xIMU_Task = osThreadGetId();
// ICM
//uint8_t usb_response;
uint8_t raw_imu_data[15];
int16_t imu_sensor_data[7];
ICM45686_Data processed_data;
@@ -815,30 +819,31 @@ void Start_ICM45686(void *argument)
imu.hspi = &hspi1;
imu.GPIO_Port = GPIO_SPI1_IMU_CS_GPIO_Port;
imu.GPIO_Pin = GPIO_SPI1_IMU_CS_Pin;
imu.acc_fs = ICM45686_ACC_FS_4G;
imu.acc_ssf = ICM45686_ACC_SSF[ICM45686_ACC_FS_4G >> 4];
imu.gyro_fs = ICM45686_GYRO_FS_250DPS;
imu.gyro_ssf = ICM45686_GYRO_SSF[ICM45686_GYRO_FS_250DPS >> 4];
imu.acc_fs = ICM45686_ACC_FS_16G;
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 ;
uint8_t tx[15] = {0x00};
tx[0] = 0x00 | 0x80;
uint16_t tx_len = sizeof(tx);
init_icm(&imu);
osDelay(50);
configure_interrupt_icm(&imu);
enable_interrupt_icm(&imu);
// osDelay(500);
// calibrate_icm(&imu, 1000);
configure_and_enable_int_icm(&imu);
ulTaskNotifyTakeIndexed(ICM_NOTIFY_INT_DRDY, pdTRUE, 0);
ulTaskNotifyTakeIndexed(ICM_NOTIFY_DMA, pdTRUE, 0);
calibrate_icm(&imu, 25000);
/* Infinite loop */
for(;;)
{
ulTaskNotifyTake(pdFALSE, osWaitForever);
status = read_icm_dma(&imu, tx, raw_imu_data, sizeof(tx));
ulTaskNotifyTakeIndexed(ICM_NOTIFY_INT_DRDY, pdTRUE, portMAX_DELAY);
status = read_icm_dma(&imu, tx, raw_imu_data, tx_len);
if (status != HAL_OK) {
printf("Reading IMU sensordata failed: %d\n", status);
}
if (ulTaskNotifyTakeIndexed(ICM_NOTIFY_DMA, pdTRUE, pdMS_TO_TICKS(10)) > 0) {
imu_sensor_data[0] = (int16_t)(raw_imu_data[1] << 8 | raw_imu_data[2]); // a_x
imu_sensor_data[1] = (int16_t)(raw_imu_data[3] << 8 | raw_imu_data[4]); // a_y
imu_sensor_data[2] = (int16_t)(raw_imu_data[5] << 8 | raw_imu_data[6]); // a_z
@@ -862,11 +867,14 @@ void Start_ICM45686(void *argument)
processed_data.processed_imu_data[3] -= imu.imu_bias[3];
processed_data.processed_imu_data[4] -= imu.imu_bias[4];
processed_data.processed_imu_data[5] -= imu.imu_bias[5];
processed_data.processed_imu_data[6] -= imu.imu_bias[7];
processed_data.processed_imu_data[6] -= imu.imu_bias[6];
}
osMessageQueuePut(Q_ICMHandle, &processed_data, 0, 5);
} else {
HAL_SPI_Abort(imu.hspi);
HAL_GPIO_WritePin(imu.GPIO_Port, imu.GPIO_Pin, GPIO_PIN_SET);
printf("IMU DMA data transaction timed out");
}
}
/* USER CODE END Start_ICM45686 */
}
@@ -881,44 +889,38 @@ void Start_ICM45686(void *argument)
void Start_BMM350(void *argument)
{
/* USER CODE BEGIN Start_BMM350 */
// HAL_StatusTypeDef status;
// char output_buffer[128];
xMagn_Task = osThreadGetId();
// BMM
struct bmm350_dev dev = {0x00};
int8_t rslt;
struct bmm350_mag_temp_data mag_data;
osDelay(500);
// struct bmm350_raw_mag_data mag_data;
// 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);
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);
// magnetometer
// ulTaskNotifyTake(pdFALSE, osWaitForever);
// ulTaskNotifyTakeIndexed(pdFALSE, BMM_NOTIFY_INT_DRDY, osWaitForever);
// ulTaskNotifyTakeIndexed(BMM_NOTIFY_INT_DRDY, pdTRUE, osWaitForever);
rslt = bmm350_get_compensated_mag_xyz_temp_data(&mag_data, &dev);
// rslt = bmm350_read_uncomp_mag_temp_data(&mag_data, &dev);
// ulTaskNotifyTake(pdFALSE, osWaitForever);
// ulTaskNotifyTakeIndexed(BMM_NOTIFY_DMA, pdTRUE, osWaitForever);
if (rslt == BMM350_OK)
{
// sprintf(output_buffer, "X: %.2f uT, Y: %.2f uT, Z: %.2f uT, Temp: %.2f C\n",
// mag_data.x, mag_data.y, mag_data.z, mag_data.temperature);
// CDC_Transmit_FS((uint8_t*)output_buffer, (uint16_t)strlen(output_buffer));
osMessageQueuePut(Q_BMMHandle, &mag_data, 0, 5);
}
// osDelay(100);
}
/* USER CODE END Start_BMM350 */
}
Core/Src/sensors.c
+114 -94
View File
@@ -10,65 +10,60 @@
//extern osThreadId_t defaultTaskHandle;
//TaskHandle_t xStartDefaultTask = NULL;
//extern osThreadId_t defaultTaskHandle
osThreadId_t xIMU_Task = NULL;
osThreadId_t xMagn_Task = NULL;
volatile osThreadId_t xIMU_Task = NULL;
volatile osThreadId_t xMagn_Task = NULL;
//osThreadId_t xData_Task = NULL;
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
if (hspi->Instance == SPI1) {
if (hspi->Instance == SPI1 && xIMU_Task != NULL) {
HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
// notify the task that the data is ready
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(xIMU_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xIMU_Task, ICM_NOTIFY_DMA, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *I2C_address) {
// printf("HAL_I2C_MemRxCpltCallback");
if (I2C_address->Instance == I2C1) {
if (I2C_address->Instance == I2C1 && xMagn_Task != NULL) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
// vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_DMA, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *I2C_address) {
// printf("HAL_I2C_MemTxCpltCallback");
if (I2C_address->Instance == I2C1) {
if (I2C_address->Instance == I2C1 && xMagn_Task != NULL) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
// vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_DMA, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) {
if (hi2c->Instance == I2C1) {
if (hi2c->Instance == I2C1 && xMagn_Task != NULL) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
printf("ErrorCallback: %ld\n", HAL_I2C_GetError(hi2c));
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
// vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_DMA, &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);
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) {
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
// printf("Triggered BMM350 EXTI\n");
if (GPIO_Pin == GPIO_MAGN_INT_Pin && xMagn_Task != NULL) {
// vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_INT_DRDY, &xHigherPriorityTaskWoken);
}
// was macht das?
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
// ICM 45686
@@ -93,33 +88,10 @@ HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint16_t
}
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???
uint8_t tx[2], rx[2];
HAL_StatusTypeDef status;
printf("Initializing ICM45686\n");
// WHO AM
// // WHO AM
tx[0] = ICM45686_WHO_AM_I | 0x80;
// 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, sizeof(tx));
if (status != HAL_OK) {
printf("Error in reading WHO AM I:%d\n", status);
@@ -127,12 +99,9 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
printf("WHO AM I (0xE9): 0x%02X \n", rx[1]);
}
// acc
// acc config
tx[0] = ICM45686_ACCEL_CONFIG0;
tx[1] = imu->acc_fs | imu->odr;
// 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, sizeof(tx));
if (status != HAL_OK) {
printf("Error in setting ACCEL_CONFIG0:%d\n", status);
@@ -142,9 +111,6 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
tx[0] = ICM45686_ACCEL_CONFIG0 | 0x80;
tx[1] = 0x00;
// 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, sizeof(tx));
if (status != HAL_OK) {
printf("Error reading ACCEL_CONFIG0:%d\n", status);
@@ -152,12 +118,9 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
printf("ACCEL_CONFIG0 read: 0x%02X \n", rx[1]);
}
// gyro
// gyro config
tx[0] = ICM45686_GYRO_CONFIG0;
tx[1] = imu->gyro_fs | imu->odr;
// 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, sizeof(tx));
if (status != HAL_OK) {
printf("Error in setting GYRO_CONFIG0:%d\n", status);
@@ -167,9 +130,6 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
tx[0] = ICM45686_GYRO_CONFIG0 | 0x80;
tx[1] = 0x00;
// 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, sizeof(tx));
if (status != HAL_OK) {
printf("Error reading GYRO_CONFIG0:%d\n", status);
@@ -180,9 +140,6 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// power settings
tx[0] = ICM45686_PWR_MGMT0;
tx[1] = 0x0F; //0x10 | 0x03;
// 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, sizeof(tx));
if (status != HAL_OK) {
printf("Error in setting PWR_MGMT0:%d\n", status);
@@ -192,17 +149,12 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
tx[0] = ICM45686_PWR_MGMT0 | 0x80;
tx[1] = 0x00;
// 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, sizeof(tx));
if (status != HAL_OK) {
printf("Error reading PWR_MGMT0:%d\n", status);
} else {
printf("PWR_MGMT0 read: 0x%02X \n", rx[1]);
}
osDelay(250);
}
void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
@@ -213,10 +165,17 @@ 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, 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) {
printf("Calibration read ICM failed: %d\n", status);
}
if (ulTaskNotifyTakeIndexed(ICM_NOTIFY_DMA, pdTRUE, pdMS_TO_TICKS(10)) > 0) {
sensor_data[0] += (int16_t)(raw_data[1] << 8 | raw_data[2]); // a_x
sensor_data[1] += (int16_t)(raw_data[3] << 8 | raw_data[4]); // a_y
sensor_data[2] += (int16_t)(raw_data[5] << 8 | raw_data[6]); // a_z
@@ -225,6 +184,7 @@ void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
sensor_data[5] += (int16_t)(raw_data[11] << 8 | raw_data[12]); // g_z
sensor_data[6] += (int16_t)(raw_data[13] << 8 | raw_data[14]); // t
}
}
imu->imu_bias[0] = (float)sensor_data[0] / (float)samples;
imu->imu_bias[1] = (float)sensor_data[1] / (float)samples;
@@ -239,20 +199,38 @@ void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
imu->calibated = true;
printf("Calibration finished of ICM45686\n");
printf("a_x: %.2f a_y: %.2f a_z: %.2f g_x: %.2f g_y: %.2f g_z: %.2f t: %.2f\n",
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;
printf("Enabling IMU INT pin\n");
//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};
// turn off int
tx[0] = ICM45686_INT1_CONFIG0;
tx[1] = 0x00;
HAL_StatusTypeDef status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) {
printf("Enabling of IMU INT failed: %d\n", status);
@@ -262,19 +240,15 @@ void enable_interrupt_icm(ICM45686_HandleTypeDef *imu) {
tx[1] = 0x00;
status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) {
printf("Reading IMU INT configuration0 failed: %d\n", status);
printf("Reading IMU INT1_CONFIG0 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};
// configure int1 to push-pull, pulse, active high
tx[0] = ICM45686_INT1_CONFIG2;
tx[1] = 0x01;
printf("Configuring IMU INT\n");
HAL_StatusTypeDef status = write_icm(imu, tx, sizeof(tx));
status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) {
printf("Configuration of IMU INT failed: %d\n", status);
}
@@ -283,10 +257,27 @@ void configure_interrupt_icm (ICM45686_HandleTypeDef *imu) {
tx[1] = 0x00;
status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) {
printf("Reading IMU INT configuration2 failed: %d\n", status);
printf("Reading IMU INT1_CONFIG2 failed: %d\n", status);
} else {
printf("INT1_CONFIG2 read: 0x%02X\n", rx[1]);
}
// enable int
tx[0] = ICM45686_INT1_CONFIG0;
tx[1] = 0x04;
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]);
}
}
// BMM350
@@ -309,7 +300,9 @@ BMM350_INTF_RET_TYPE bmm350_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32
// 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 (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
}
}
@@ -317,6 +310,20 @@ BMM350_INTF_RET_TYPE bmm350_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32
}
//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);
@@ -325,13 +332,26 @@ BMM350_INTF_RET_TYPE bmm350_i2c_write(uint8_t reg_addr, const uint8_t *reg_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 (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
@@ -355,7 +375,7 @@ 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");
// printf("Starting up and configuring BMM350\n");
// Initialize BMM350 driver
rslt = bmm350_init(dev);
@@ -370,8 +390,8 @@ int8_t init_bmm(struct bmm350_dev *dev) {
// Set powermode, odr and avg
rslt = bmm350_set_powermode(BMM350_NORMAL_MODE, dev);
printf("Powermode (%d): %d\n", BMM350_NORMAL_MODE, rslt);
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);
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);
@@ -385,9 +405,9 @@ int8_t init_bmm(struct bmm350_dev *dev) {
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);
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);
printf("Configure interrupt: %d \n", rslt);
return BMM350_OK;
}
Core/Src/sensors.h
+12 -4
View File
@@ -10,10 +10,17 @@
// I2C Handle
extern I2C_HandleTypeDef hi2c1;
extern osThreadId_t defaultTaskHandle;
extern osThreadId_t xIMU_Task;
extern osThreadId_t xMagn_Task;
extern volatile osThreadId_t xIMU_Task;
extern volatile osThreadId_t xMagn_Task;
//extern osThreadId_t xData_Task;
typedef enum {
ICM_NOTIFY_INT_DRDY = 0,
ICM_NOTIFY_DMA = 1,
BMM_NOTIFY_INT_DRDY = 0,
BMM_NOTIFY_DMA = 1
} SENSOR_NOTIFY_INDEX;
// ICM45686
typedef struct {
SPI_HandleTypeDef *hspi;
@@ -66,7 +73,8 @@ typedef enum {
ICM45686_FIFO_COUNT = 0x12,
ICM45686_FIFO_DATA = 0x14,
ICM45686_INT1_CONFIG2 = 0x18,
ICM45686_INT1_CONFIG0 = 0x16
ICM45686_INT1_CONFIG0 = 0x16,
ICM45686_INT1_STATUS0 = 0x19
} ICM45686_registers;
typedef enum {
@@ -149,7 +157,7 @@ HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8
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);
void configure_and_enable_int_icm (ICM45686_HandleTypeDef *imu);
// BMM350 - Declarations of read/write/delay functions for the BMM350 API
void bmm_init_DWT(void);
Core/Src/stm32wbxx_hal_msp.c
+5 -1
View File
@@ -125,10 +125,14 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB8);
__HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB9);
/* Peripheral clock enable */
__HAL_RCC_I2C1_CLK_ENABLE();
Debug/Core/Src/MadgwickAHRS.cyclo
+3 -3
View File
@@ -1,4 +1,4 @@
../Core/Src/MadgwickAHRS.c:42:6:MadgwickAHRS_init 1
../Core/Src/MadgwickAHRS.c:55:6:MadgwickAHRS_update 7
../Core/Src/MadgwickAHRS.c:161:6:MadgwickAHRS_update_IMU 4
../Core/Src/MadgwickAHRS.c:240:7:invSqrt 1
../Core/Src/MadgwickAHRS.c:55:6:MadgwickAHRS_update 8
../Core/Src/MadgwickAHRS.c:169:6:MadgwickAHRS_update_IMU 5
../Core/Src/MadgwickAHRS.c:257:7:invSqrt 1
Debug/Core/Src/MadgwickAHRS.o
BIN
View File
Binary file not shown.
Debug/Core/Src/MadgwickAHRS.su
+2 -2
View File
@@ -1,4 +1,4 @@
../Core/Src/MadgwickAHRS.c:42:6:MadgwickAHRS_init 24 static
../Core/Src/MadgwickAHRS.c:55:6:MadgwickAHRS_update 208 static
../Core/Src/MadgwickAHRS.c:161:6:MadgwickAHRS_update_IMU 144 static
../Core/Src/MadgwickAHRS.c:240:7:invSqrt 32 static
../Core/Src/MadgwickAHRS.c:169:6:MadgwickAHRS_update_IMU 152 static
../Core/Src/MadgwickAHRS.c:257:7:invSqrt 32 static
Debug/Core/Src/app_debug.o
BIN
View File
Binary file not shown.
Debug/Core/Src/app_entry.o
BIN
View File
Binary file not shown.
Debug/Core/Src/app_freertos.cyclo
+1
View File
@@ -0,0 +1 @@
../Core/Src/app_freertos.c:59:6:vApplicationStackOverflowHook 1
Debug/Core/Src/app_freertos.d
+2
View File
@@ -6,6 +6,7 @@ Core/Src/app_freertos.o: ../Core/Src/app_freertos.c \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Core/Inc/main.h ../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_hal.h \
@@ -76,6 +77,7 @@ Core/Src/app_freertos.o: ../Core/Src/app_freertos.c \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Core/Inc/main.h:
Debug/Core/Src/app_freertos.o
BIN
View File
Binary file not shown.
Debug/Core/Src/app_freertos.su
+1
View File
@@ -0,0 +1 @@
../Core/Src/app_freertos.c:59:6:vApplicationStackOverflowHook 16 static,ignoring_inline_asm
Debug/Core/Src/freertos_port.d
+2
View File
@@ -66,6 +66,7 @@ Core/Src/freertos_port.o: ../Core/Src/freertos_port.c \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Utilities/lpm/tiny_lpm/stm32_lpm.h
@@ -139,6 +140,7 @@ Core/Src/freertos_port.o: ../Core/Src/freertos_port.c \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Utilities/lpm/tiny_lpm/stm32_lpm.h:
Debug/Core/Src/freertos_port.o
BIN
View File
Binary file not shown.
Debug/Core/Src/hw_timerserver.o
BIN
View File
Binary file not shown.
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:132:5:_write 2
../Core/Src/main.c:145:5:main 2
../Core/Src/main.c:260:6:SystemClock_Config 3
../Core/Src/main.c:326:6:PeriphCommonClock_Config 2
../Core/Src/main.c:351:13:MX_I2C1_Init 4
../Core/Src/main.c:399:13:MX_IPCC_Init 2
../Core/Src/main.c:425:13:MX_RF_Init 1
../Core/Src/main.c:446:13:MX_RTC_Init 3
../Core/Src/main.c:489:13:MX_SPI1_Init 2
../Core/Src/main.c:529:13:MX_SPI2_Init 2
../Core/Src/main.c:569:13:MX_TIM2_Init 6
../Core/Src/main.c:624:13:MX_DMA_Init 1
../Core/Src/main.c:652:13:MX_GPIO_Init 1
../Core/Src/main.c:719:6:Start_DataAnalysis 1
../Core/Src/main.c:802:6:Start_ICM45686 3
../Core/Src/main.c:881:6:Start_BMM350 4
../Core/Src/main.c:934:6:HAL_TIM_PeriodElapsedCallback 2
../Core/Src/main.c:952:6:Error_Handler 1
../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
Debug/Core/Src/main.d
+2
View File
@@ -68,6 +68,7 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../USB_Device/App/usb_device.h \
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h \
../USB_Device/Target/usbd_conf.h ../Core/Src/MadgwickAHRS.h \
@@ -155,6 +156,7 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../USB_Device/App/usb_device.h:
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h:
../USB_Device/Target/usbd_conf.h:
Debug/Core/Src/main.o
BIN
View File
Binary file not shown.
Debug/Core/Src/main.su
+18 -18
View File
@@ -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:132:5:_write 32 static
../Core/Src/main.c:145:5:main 8 static
../Core/Src/main.c:260:6:SystemClock_Config 112 static
../Core/Src/main.c:326:6:PeriphCommonClock_Config 88 static
../Core/Src/main.c:351:13:MX_I2C1_Init 8 static
../Core/Src/main.c:399:13:MX_IPCC_Init 8 static
../Core/Src/main.c:425:13:MX_RF_Init 4 static
../Core/Src/main.c:446:13:MX_RTC_Init 8 static
../Core/Src/main.c:489:13:MX_SPI1_Init 8 static
../Core/Src/main.c:529:13:MX_SPI2_Init 8 static
../Core/Src/main.c:569:13:MX_TIM2_Init 48 static
../Core/Src/main.c:624:13:MX_DMA_Init 8 static
../Core/Src/main.c:652:13:MX_GPIO_Init 32 static
../Core/Src/main.c:719:6:Start_DataAnalysis 208 static
../Core/Src/main.c:802:6:Start_ICM45686 152 static
../Core/Src/main.c:881:6:Start_BMM350 216 static
../Core/Src/main.c:934:6:HAL_TIM_PeriodElapsedCallback 16 static
../Core/Src/main.c:952:6:Error_Handler 4 static,ignoring_inline_asm
../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
Debug/Core/Src/sensors.cyclo
+17 -18
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@@ -1,18 +1,17 @@
../Core/Src/sensors.c:18:6:HAL_SPI_TxRxCpltCallback 3
../Core/Src/sensors.c:29:6:HAL_I2C_MemRxCpltCallback 3
../Core/Src/sensors.c:38:6:HAL_I2C_MemTxCpltCallback 3
../Core/Src/sensors.c:47:6:HAL_I2C_ErrorCallback 3
../Core/Src/sensors.c:56:6:HAL_GPIO_EXTI_Callback 4
../Core/Src/sensors.c:75:19:read_icm 1
../Core/Src/sensors.c:82:19:read_icm_dma 1
../Core/Src/sensors.c:88:19:write_icm 1
../Core/Src/sensors.c:95:6:init_icm 8
../Core/Src/sensors.c:208:6:calibrate_icm 3
../Core/Src/sensors.c:250:6:enable_interrupt_icm 3
../Core/Src/sensors.c:271:6:configure_interrupt_icm 3
../Core/Src/sensors.c:293:6:bmm_init_DWT 1
../Core/Src/sensors.c:304:22:bmm350_i2c_read 3
../Core/Src/sensors.c:320:22:bmm350_i2c_write 3
../Core/Src/sensors.c:335:6:bmm350_delay 2
../Core/Src/sensors.c:346:8:init_bmm 2
../Core/Src/sensors.c:385:8:bmm_configure_interrupt 1
../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
Debug/Core/Src/sensors.d
+2
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@@ -68,6 +68,7 @@ Core/Src/sensors.o: ../Core/Src/sensors.c ../Core/Inc/main.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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 \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
@@ -147,6 +148,7 @@ Core/Src/sensors.o: ../Core/Src/sensors.c ../Core/Inc/main.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
Debug/Core/Src/sensors.o
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Debug/Core/Src/sensors.su
+16 -17
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@@ -1,18 +1,17 @@
../Core/Src/sensors.c:18:6:HAL_SPI_TxRxCpltCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:29:6:HAL_I2C_MemRxCpltCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:38:6:HAL_I2C_MemTxCpltCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:47:6:HAL_I2C_ErrorCallback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:56:6:HAL_GPIO_EXTI_Callback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:75:19:read_icm 40 static
../Core/Src/sensors.c:82:19:read_icm_dma 32 static
../Core/Src/sensors.c:88:19:write_icm 32 static
../Core/Src/sensors.c:95:6:init_icm 24 static
../Core/Src/sensors.c:208:6:calibrate_icm 168 static
../Core/Src/sensors.c:250:6:enable_interrupt_icm 24 static
../Core/Src/sensors.c:271:6:configure_interrupt_icm 24 static
../Core/Src/sensors.c:293:6:bmm_init_DWT 4 static
../Core/Src/sensors.c:304:22:bmm350_i2c_read 40 static
../Core/Src/sensors.c:320:22:bmm350_i2c_write 40 static
../Core/Src/sensors.c:335:6:bmm350_delay 24 static
../Core/Src/sensors.c:346:8:init_bmm 24 static
../Core/Src/sensors.c:385:8:bmm_configure_interrupt 32 static
../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
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../Core/Src/sensors.c:295:22:bmm350_i2c_read 40 static
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../Core/Src/sensors.c:366:8:init_bmm 24 static
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Debug/Core/Src/stm32_lpm_if.o
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Debug/Core/Src/stm32wbxx_hal_msp.cyclo
+11 -10
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@@ -7,15 +7,16 @@
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:1038:22:LL_APB1_GRP1_DisableClock 1
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:1274:22:LL_APB2_GRP1_EnableClock 1
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:1328:22:LL_APB2_GRP1_DisableClock 1
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_system.h:567:22:LL_SYSCFG_EnableFastModePlus 1
../Core/Src/stm32wbxx_hal_msp.c:71:6:HAL_MspInit 1
../Core/Src/stm32wbxx_hal_msp.c:101:6:HAL_I2C_MspInit 5
../Core/Src/stm32wbxx_hal_msp.c:189:6:HAL_I2C_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:227:6:HAL_IPCC_MspInit 2
../Core/Src/stm32wbxx_hal_msp.c:255:6:HAL_IPCC_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:281:6:HAL_RTC_MspInit 3
../Core/Src/stm32wbxx_hal_msp.c:323:6:HAL_RTC_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:349:6:HAL_SPI_MspInit 5
../Core/Src/stm32wbxx_hal_msp.c:461:6:HAL_SPI_MspDeInit 3
../Core/Src/stm32wbxx_hal_msp.c:515:6:HAL_TIM_PWM_MspInit 2
../Core/Src/stm32wbxx_hal_msp.c:532:6:HAL_TIM_MspPostInit 2
../Core/Src/stm32wbxx_hal_msp.c:566:6:HAL_TIM_PWM_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:193:6:HAL_I2C_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:231:6:HAL_IPCC_MspInit 2
../Core/Src/stm32wbxx_hal_msp.c:259:6:HAL_IPCC_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:285:6:HAL_RTC_MspInit 3
../Core/Src/stm32wbxx_hal_msp.c:327:6:HAL_RTC_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:353:6:HAL_SPI_MspInit 5
../Core/Src/stm32wbxx_hal_msp.c:465:6:HAL_SPI_MspDeInit 3
../Core/Src/stm32wbxx_hal_msp.c:519:6:HAL_TIM_PWM_MspInit 2
../Core/Src/stm32wbxx_hal_msp.c:536:6:HAL_TIM_MspPostInit 2
../Core/Src/stm32wbxx_hal_msp.c:570:6:HAL_TIM_PWM_MspDeInit 2
Debug/Core/Src/stm32wbxx_hal_msp.o
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Debug/Core/Src/stm32wbxx_hal_msp.su
+11 -10
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@@ -7,15 +7,16 @@
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:1038:22:LL_APB1_GRP1_DisableClock 16 static
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:1274:22:LL_APB2_GRP1_EnableClock 24 static
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_bus.h:1328:22:LL_APB2_GRP1_DisableClock 16 static
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_system.h:567:22:LL_SYSCFG_EnableFastModePlus 16 static
../Core/Src/stm32wbxx_hal_msp.c:71:6:HAL_MspInit 8 static
../Core/Src/stm32wbxx_hal_msp.c:101:6:HAL_I2C_MspInit 120 static
../Core/Src/stm32wbxx_hal_msp.c:189:6:HAL_I2C_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:227:6:HAL_IPCC_MspInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:255:6:HAL_IPCC_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:281:6:HAL_RTC_MspInit 96 static
../Core/Src/stm32wbxx_hal_msp.c:323:6:HAL_RTC_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:349:6:HAL_SPI_MspInit 40 static
../Core/Src/stm32wbxx_hal_msp.c:461:6:HAL_SPI_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:515:6:HAL_TIM_PWM_MspInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:532:6:HAL_TIM_MspPostInit 40 static
../Core/Src/stm32wbxx_hal_msp.c:566:6:HAL_TIM_PWM_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:193:6:HAL_I2C_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:231:6:HAL_IPCC_MspInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:259:6:HAL_IPCC_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:285:6:HAL_RTC_MspInit 96 static
../Core/Src/stm32wbxx_hal_msp.c:327:6:HAL_RTC_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:353:6:HAL_SPI_MspInit 40 static
../Core/Src/stm32wbxx_hal_msp.c:465:6:HAL_SPI_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:519:6:HAL_TIM_PWM_MspInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:536:6:HAL_TIM_MspPostInit 40 static
../Core/Src/stm32wbxx_hal_msp.c:570:6:HAL_TIM_PWM_MspDeInit 16 static
Debug/Core/Src/stm32wbxx_it.o
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Debug/Middlewares/ST/STM32_WPAN/ble/svc/Src/svc_ctl.o
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Debug/Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/tl/hci_tl.o
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Debug/Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/tl/tl_mbox.o
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Debug/Middlewares/ST/STM32_WPAN/utilities/dbg_trace.o
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Debug/Middlewares/ST/STM32_WPAN/utilities/otp.o
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Debug/Middlewares/ST/STM32_WPAN/utilities/stm_list.o
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Debug/Middlewares/ST/STM32_WPAN/utilities/stm_queue.o
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Debug/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.cyclo
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@@ -80,5 +80,6 @@
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2833:14:CreateBlock 2
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2850:14:AllocBlock 2
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2867:13:FreeBlock 1
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2919:13:vApplicationStackOverflowHook 1
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2934:13:vApplicationGetIdleTaskMemory 1
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2948:13:vApplicationGetTimerTaskMemory 1
Debug/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.d
Vendored
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h \
@@ -71,6 +72,7 @@ Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.o
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Debug/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.su
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@@ -80,5 +80,6 @@
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2833:14:CreateBlock 24 static
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2850:14:AllocBlock 24 static
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2867:13:FreeBlock 24 static
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2919:13:vApplicationStackOverflowHook 24 static,ignoring_inline_asm
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2934:13:vApplicationGetIdleTaskMemory 24 static
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2948:13:vApplicationGetTimerTaskMemory 24 static
Debug/Middlewares/Third_Party/FreeRTOS/Source/croutine.d
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/croutine.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
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../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h
@@ -17,6 +18,7 @@ Middlewares/Third_Party/FreeRTOS/Source/croutine.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/croutine.o
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/event_groups.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
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../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/timers.h \
@@ -20,6 +21,7 @@ Middlewares/Third_Party/FreeRTOS/Source/event_groups.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
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../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/timers.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/event_groups.o
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/list.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
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../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h:
../Core/Inc/FreeRTOSConfig.h:
@@ -15,4 +16,5 @@ Middlewares/Third_Party/FreeRTOS/Source/list.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.o: \
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../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h:
@@ -16,5 +17,6 @@ Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.o: \
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h:
@@ -16,5 +17,6 @@ Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.o
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Debug/Middlewares/Third_Party/FreeRTOS/Source/queue.d
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/queue.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h \
@@ -18,6 +19,7 @@ Middlewares/Third_Party/FreeRTOS/Source/queue.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/queue.o
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Debug/Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.d
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h
@@ -17,6 +18,7 @@ Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.o
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Debug/Middlewares/Third_Party/FreeRTOS/Source/tasks.cyclo
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+1 -1
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@@ -25,7 +25,7 @@
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:2550:17:uxTaskGetSystemState 4
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:2677:12:xTaskCatchUpTicks 2
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:2781:12:xTaskIncrementTick 14
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3070:6:vTaskSwitchContext 5
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3070:6:vTaskSwitchContext 9
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3144:6:vTaskPlaceOnEventList 2
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3169:6:vTaskPlaceOnUnorderedEventList 3
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3197:10:vTaskPlaceOnEventListRestricted 3
Debug/Middlewares/Third_Party/FreeRTOS/Source/tasks.d
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+2
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/tasks.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/timers.h \
@@ -19,6 +20,7 @@ Middlewares/Third_Party/FreeRTOS/Source/tasks.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/timers.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/tasks.o
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Debug/Middlewares/Third_Party/FreeRTOS/Source/tasks.su
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+1 -1
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@@ -25,7 +25,7 @@
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:2550:17:uxTaskGetSystemState 32 static
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:2677:12:xTaskCatchUpTicks 24 static,ignoring_inline_asm
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:2781:12:xTaskIncrementTick 48 static,ignoring_inline_asm
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3070:6:vTaskSwitchContext 24 static,ignoring_inline_asm
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3070:6:vTaskSwitchContext 32 static,ignoring_inline_asm
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3144:6:vTaskPlaceOnEventList 24 static,ignoring_inline_asm
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3169:6:vTaskPlaceOnUnorderedEventList 40 static,ignoring_inline_asm
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3197:10:vTaskPlaceOnEventListRestricted 32 static,ignoring_inline_asm
Debug/Middlewares/Third_Party/FreeRTOS/Source/timers.d
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+2
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/timers.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h \
@@ -19,6 +20,7 @@ Middlewares/Third_Party/FreeRTOS/Source/timers.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/timers.o
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Debug/STM32_WPAN/Target/hw_ipcc.o
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Debug/Trinity_Devboard_V2.elf
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Debug/Trinity_Devboard_V2.list
+49980 -48638
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Debug/Trinity_Devboard_V2.map
+2558 -2446
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Debug/USB_Device/Target/usbd_conf.o
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Debug/Utilities/lpm/tiny_lpm/stm32_lpm.o
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Trinity_Devboard_V2.ioc
+22 -7
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@@ -76,15 +76,18 @@ Dma.SPI1_TX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.SPI1_TX.0.SyncRequestNumber=1
Dma.SPI1_TX.0.SyncSignalID=NONE
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,configMINIMAL_STACK_SIZE,FootprintOK,configTOTAL_HEAP_SIZE,Queues01
FREERTOS.IPParameters=Tasks01,configMINIMAL_STACK_SIZE,FootprintOK,configTOTAL_HEAP_SIZE,Queues01,configCHECK_FOR_STACK_OVERFLOW,configUSE_NEWLIB_REENTRANT
FREERTOS.Queues01=Q_ICM,1,ICM45686_Data,0,Dynamic,NULL,NULL;Q_BMM,1,struct bmm350_mag_temp_data,0,Dynamic,NULL,NULL
FREERTOS.Tasks01=Task_DataAnalys,24,512,Start_DataAnalysis,Default,NULL,Dynamic,NULL,NULL;Task_ICM45686,24,512,Start_ICM45686,Default,NULL,Dynamic,NULL,NULL;Task_BMM350,24,512,Start_BMM350,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
FREERTOS.configMINIMAL_STACK_SIZE=512
FREERTOS.configTOTAL_HEAP_SIZE=64000
FREERTOS.configUSE_NEWLIB_REENTRANT=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
I2C1.IPParameters=Timing
I2C1.Timing=0x10B17DB5
I2C1.I2C_Speed_Mode=I2C_Fast
I2C1.IPParameters=Timing,I2C_Speed_Mode
I2C1.Timing=0x00C12166
KeepUserPlacement=false
MMTAppReg1.MEMORYMAP.AppRegionName=RAM
MMTAppReg1.MEMORYMAP.ContextName=Cortex-M4NS
@@ -229,12 +232,17 @@ PA1.GPIOParameters=GPIO_Label
PA1.GPIO_Label=GPIO_STATUS_LED
PA1.Locked=true
PA1.Signal=S_TIM2_CH2
PA10.GPIOParameters=GPIO_Label
PA10.GPIOParameters=GPIO_PuPd,GPIO_Label
PA10.GPIO_Label=GPIO_IMU_INT
PA10.GPIO_PuPd=GPIO_NOPULL
PA10.Locked=true
PA10.Signal=GPXTI10
PA11.GPIOParameters=GPIO_Speed
PA11.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PA11.Mode=Device
PA11.Signal=USB_DM
PA12.GPIOParameters=GPIO_Speed
PA12.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PA12.Mode=Device
PA12.Signal=USB_DP
PA13.Mode=Trace_Asynchronous_SW
@@ -272,8 +280,14 @@ PA9.Mode=Full_Duplex_Master
PA9.Signal=SPI2_SCK
PB3.Mode=Trace_Asynchronous_SW
PB3.Signal=SYS_JTDO-SWO
PB8.GPIOParameters=GPIO_Speed,GPIO_FM8
PB8.GPIO_FM8=SYSCFG_FASTMODEPLUS_PB8
PB8.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB8.Mode=I2C
PB8.Signal=I2C1_SCL
PB9.GPIOParameters=GPIO_Speed,GPIO_FM9
PB9.GPIO_FM9=SYSCFG_FASTMODEPLUS_PB9
PB9.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB9.Mode=I2C
PB9.Signal=I2C1_SDA
PC1.GPIOParameters=GPIO_Speed,GPIO_Label
@@ -425,10 +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_64
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=1000.0 KBits/s
SPI1.CalculateBaudRate=4.0 MBits/s
SPI1.DataSize=SPI_DATASIZE_8BIT
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase,CLKPolarity
@@ -441,7 +455,8 @@ SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
STM32_WPAN.BT_SIG_HEART_RATE_SENSOR=Disabled
STM32_WPAN.CFG_BONDING_MODE=0
STM32_WPAN.IPParameters=BT_SIG_HEART_RATE_SENSOR,CFG_BONDING_MODE
STM32_WPAN.CFG_LSCLK_LSE=0
STM32_WPAN.IPParameters=BT_SIG_HEART_RATE_SENSOR,CFG_BONDING_MODE,CFG_LSCLK_LSE
TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
USB_Device/Target/usbd_conf.c
+1 -1
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@@ -103,7 +103,7 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_USB;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);