pima/Trinity-DevPCB-V1.0
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base: pima/Trinity-DevPCB-V1.0:5e3dd3128b544c5df5f3e5b62e12fd71d522a38e
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compare: pima/Trinity-DevPCB-V1.0:master
pima/Trinity-DevPCB-V1.0:master
3 Commits
5e3dd3128b .. 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
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
76 changed files with 52564 additions and 51095 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_16_BIT_TICKS 0
#define configUSE_MUTEXES 1 #define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8 #define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_RECURSIVE_MUTEXES 1 #define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1 #define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
@@ -95,6 +96,9 @@ extern uint32_t SystemCoreClock;
#define configTIMER_QUEUE_LENGTH 10 #define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 1024 #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 */ /* CMSIS-RTOS V2 flags */
#define configUSE_OS2_THREAD_SUSPEND_RESUME 1 #define configUSE_OS2_THREAD_SUSPEND_RESUME 1
#define configUSE_OS2_THREAD_ENUMERATE 1 #define configUSE_OS2_THREAD_ENUMERATE 1
@@ -166,6 +170,7 @@ standard names. */
/* USER CODE BEGIN Defines */ /* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */ /* 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 */ /* USER CODE END Defines */
#endif /* FREERTOS_CONFIG_H */ #endif /* FREERTOS_CONFIG_H */
Core/Src/MadgwickAHRS.c
+17
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@@ -148,6 +148,14 @@ void MadgwickAHRS_update(MadgwickAHRS_Filter* filter, float gx, float gy, float
q[2] *= recipNorm; q[2] *= recipNorm;
q[3] *= 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 // Update filter state
filter->q[0] = q[0]; filter->q[0] = q[0];
filter->q[1] = q[1]; 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[2] *= recipNorm;
q[3] *= 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 // Update filter state
filter->q[0] = q[0]; filter->q[0] = q[0];
filter->q[1] = q[1]; filter->q[1] = q[1];
Core/Src/app_freertos.c
+14
View File
@@ -52,6 +52,20 @@
/* USER CODE END FunctionPrototypes */ /* 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 --------------------------------------------------*/ /* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */ /* USER CODE BEGIN Application */
Core/Src/main.c
+60 -49
View File
@@ -31,6 +31,7 @@
#include "bmm350_defs.h" #include "bmm350_defs.h"
#include "bmm350_oor.h" #include "bmm350_oor.h"
#include "task.h" #include "task.h"
#include "trinity_helperlib.h"
// CDC functionality // CDC functionality
#include "usbd_cdc_if.h" #include "usbd_cdc_if.h"
@@ -44,6 +45,12 @@
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */ /* 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 */ /* USER CODE END PD */
@@ -359,7 +366,7 @@ static void MX_I2C1_Init(void)
/* USER CODE END I2C1_Init 1 */ /* USER CODE END I2C1_Init 1 */
hi2c1.Instance = I2C1; hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x10B17DB5; hi2c1.Init.Timing = 0x00C12166;
hi2c1.Init.OwnAddress1 = 0; hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -504,7 +511,7 @@ static void MX_SPI1_Init(void)
hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH; hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE; hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT; hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE; hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -726,7 +733,7 @@ void Start_DataAnalysis(void *argument)
// TODO: Einstellungen setzbar durch trinity control für IMU, Magnetometer, etc. // TODO: Einstellungen setzbar durch trinity control für IMU, Magnetometer, etc.
// HAL_StatusTypeDef status; // HAL_StatusTypeDef status;
char output_buffer[128]; // char output_buffer[128];
ICM45686_Data imu_data; ICM45686_Data imu_data;
struct bmm350_mag_temp_data magn_data; struct bmm350_mag_temp_data magn_data;
// struct bmm350_raw_mag_data magn_data; // struct bmm350_raw_mag_data magn_data;
@@ -735,19 +742,34 @@ void Start_DataAnalysis(void *argument)
Quat_Dat.SensorAddress = BMM350_I2C_ADSEL_SET_LOW; Quat_Dat.SensorAddress = BMM350_I2C_ADSEL_SET_LOW;
Quat_Dat.EndByte = PACKET_END_BYTE; Quat_Dat.EndByte = PACKET_END_BYTE;
MadgwickAHRS_init(&IMUQuat, 6400.0f, 0.15f); MadgwickAHRS_init(&IMUQuat, 0.1f, 400.0f);
/* Infinite loop */ /* Infinite loop */
for(;;) 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_BMMHandle, &magn_data, NULL, osWaitForever);
osMessageQueueGet(Q_ICMHandle, &imu_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 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 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 // 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) // imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2]); // ax, ay, yz)
@@ -802,11 +824,8 @@ void Start_DataAnalysis(void *argument)
void Start_ICM45686(void *argument) void Start_ICM45686(void *argument)
{ {
/* USER CODE BEGIN Start_ICM45686 */ /* USER CODE BEGIN Start_ICM45686 */
HAL_StatusTypeDef status;
// char output_buffer[128];
xIMU_Task = osThreadGetId(); xIMU_Task = osThreadGetId();
// ICM HAL_StatusTypeDef status;
//uint8_t usb_response;
uint8_t raw_imu_data[15]; uint8_t raw_imu_data[15];
int16_t imu_sensor_data[7]; int16_t imu_sensor_data[7];
ICM45686_Data processed_data; ICM45686_Data processed_data;
@@ -815,30 +834,31 @@ void Start_ICM45686(void *argument)
imu.hspi = &hspi1; imu.hspi = &hspi1;
imu.GPIO_Port = GPIO_SPI1_IMU_CS_GPIO_Port; imu.GPIO_Port = GPIO_SPI1_IMU_CS_GPIO_Port;
imu.GPIO_Pin = GPIO_SPI1_IMU_CS_Pin; imu.GPIO_Pin = GPIO_SPI1_IMU_CS_Pin;
imu.acc_fs = ICM45686_ACC_FS_4G; imu.acc_fs = ICM45686_ACC_FS_16G;
imu.acc_ssf = ICM45686_ACC_SSF[ICM45686_ACC_FS_4G >> 4]; imu.acc_ssf = ICM45686_ACC_SSF[ICM45686_ACC_FS_16G >> 4];
imu.gyro_fs = ICM45686_GYRO_FS_250DPS; imu.gyro_fs = ICM45686_GYRO_FS_2000DPS;
imu.gyro_ssf = ICM45686_GYRO_SSF[ICM45686_GYRO_FS_250DPS >> 4]; 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}; uint8_t tx[15] = {0x00};
tx[0] = 0x00 | 0x80; tx[0] = 0x00 | 0x80;
uint16_t tx_len = sizeof(tx);
init_icm(&imu); init_icm(&imu);
osDelay(50); configure_and_enable_int_icm(&imu);
configure_interrupt_icm(&imu); ulTaskNotifyTakeIndexed(ICM_NOTIFY_INT_DRDY, pdTRUE, 0);
enable_interrupt_icm(&imu); ulTaskNotifyTakeIndexed(ICM_NOTIFY_DMA, pdTRUE, 0);
// osDelay(500); calibrate_icm(&imu, 1000);
// calibrate_icm(&imu, 1000);
/* Infinite loop */ /* Infinite loop */
for(;;) for(;;)
{ {
ulTaskNotifyTake(pdFALSE, osWaitForever); ulTaskNotifyTakeIndexed(ICM_NOTIFY_INT_DRDY, pdTRUE, portMAX_DELAY);
status = read_icm_dma(&imu, tx, raw_imu_data, sizeof(tx)); status = read_icm_dma(&imu, tx, raw_imu_data, tx_len);
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Reading IMU sensordata failed: %d\n", status); 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[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[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 imu_sensor_data[2] = (int16_t)(raw_imu_data[5] << 8 | raw_imu_data[6]); // a_z
@@ -847,13 +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[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 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[0] = (float)imu_sensor_data[0] / imu.acc_ssf;
processed_data.processed_imu_data[1] = (float)imu_sensor_data[1] / (float)imu.acc_fs; 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] / (float)imu.acc_fs; 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] / (float)imu.gyro_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] / (float)imu.gyro_ssf; 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] / (float)imu.gyro_ssf; 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] / 128.0 + 25.0); processed_data.processed_imu_data[6] = (float)(imu_sensor_data[6] / 128.0f + 25.0f);
if (imu.calibated) { if (imu.calibated) {
processed_data.processed_imu_data[0] -= imu.imu_bias[0]; processed_data.processed_imu_data[0] -= imu.imu_bias[0];
@@ -862,11 +882,14 @@ void Start_ICM45686(void *argument)
processed_data.processed_imu_data[3] -= imu.imu_bias[3]; 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[4] -= imu.imu_bias[4];
processed_data.processed_imu_data[5] -= imu.imu_bias[5]; 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); 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 */ /* USER CODE END Start_ICM45686 */
} }
@@ -881,44 +904,32 @@ void Start_ICM45686(void *argument)
void Start_BMM350(void *argument) void Start_BMM350(void *argument)
{ {
/* USER CODE BEGIN Start_BMM350 */ /* USER CODE BEGIN Start_BMM350 */
// HAL_StatusTypeDef status;
// char output_buffer[128];
xMagn_Task = osThreadGetId(); xMagn_Task = osThreadGetId();
// BMM
struct bmm350_dev dev = {0x00}; struct bmm350_dev dev = {0x00};
int8_t rslt; int8_t rslt;
struct bmm350_mag_temp_data mag_data; struct bmm350_mag_temp_data mag_data;
osDelay(500);
// struct bmm350_raw_mag_data mag_data;
// ODR: 200HZ, AVG: // ODR: 400HZ, AVG: 0
rslt = init_bmm(&dev); rslt = init_bmm(&dev);
if (rslt != BMM350_OK) { if (rslt != BMM350_OK) {
printf("BMM350 initialization failed: %d\n", rslt); printf("BMM350 initialization failed: %d\n", rslt);
printf("Chip id: 0x%02X\n", dev.chip_id);
} }
rslt = bmm_configure_interrupt(&dev); rslt = bmm_configure_interrupt(&dev);
if (rslt != BMM350_OK) { if (rslt != BMM350_OK) {
printf("Configuring interrupt failed: %d\n", rslt); printf("Configuring interrupt failed: %d\n", rslt);
} }
// osDelay(200); ulTaskNotifyTakeIndexed(BMM_NOTIFY_INT_DRDY, pdTRUE, 0);
ulTaskNotifyTakeIndexed(BMM_NOTIFY_DMA, pdTRUE, 0);
/* Infinite loop */ /* Infinite loop */
for(;;) for(;;)
{ {
// wait for the interrupt ulTaskNotifyTakeIndexed(BMM_NOTIFY_INT_DRDY, pdTRUE, osWaitForever);
ulTaskNotifyTake(pdFALSE, osWaitForever);
// magnetometer
rslt = bmm350_get_compensated_mag_xyz_temp_data(&mag_data, &dev); rslt = bmm350_get_compensated_mag_xyz_temp_data(&mag_data, &dev);
// rslt = bmm350_read_uncomp_mag_temp_data(&mag_data, &dev);
if (rslt == BMM350_OK) 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); osMessageQueuePut(Q_BMMHandle, &mag_data, 0, 5);
} }
// osDelay(100);
} }
/* USER CODE END Start_BMM350 */ /* USER CODE END Start_BMM350 */
} }
Core/Src/sensors.c
+75 -127
View File
@@ -1,74 +1,61 @@
#include "main.h" #include "main.h"
#include "sensors.h" #include "sensors.h"
//#include "stm32wbxx_hal_i2c.h" #include "trinity_helperlib.h"
#include <stdio.h> #include <stdio.h>
#include "cmsis_os2.h" #include "cmsis_os2.h"
#include "task.h" #include "task.h"
#define HAL_I2C_TIMEOUT 100 #define HAL_I2C_TIMEOUT 100
//extern osThreadId_t defaultTaskHandle; volatile osThreadId_t xIMU_Task = NULL;
//TaskHandle_t xStartDefaultTask = NULL; volatile osThreadId_t xMagn_Task = NULL;
//extern osThreadId_t defaultTaskHandle
osThreadId_t xIMU_Task = NULL;
osThreadId_t xMagn_Task = NULL;
//osThreadId_t xData_Task = NULL;
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) { 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); HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
// notify the task that the data is ready
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(xIMU_Task, &xHigherPriorityTaskWoken); vTaskNotifyGiveIndexedFromISR(xIMU_Task, ICM_NOTIFY_DMA, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
} }
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *I2C_address) { void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *I2C_address) {
// printf("HAL_I2C_MemRxCpltCallback"); if (I2C_address->Instance == I2C1 && xMagn_Task != NULL) {
if (I2C_address->Instance == I2C1) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken); // vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_DMA, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
} }
void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *I2C_address) { void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *I2C_address) {
// printf("HAL_I2C_MemTxCpltCallback"); if (I2C_address->Instance == I2C1 && xMagn_Task != NULL) {
if (I2C_address->Instance == I2C1) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken); vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_DMA, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
} }
void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) { void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) {
if (hi2c->Instance == I2C1) { if (hi2c->Instance == I2C1 && xMagn_Task != NULL) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
printf("ErrorCallback: %ld\n", HAL_I2C_GetError(hi2c)); printf("ErrorCallback: %ld\n", HAL_I2C_GetError(hi2c));
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken); vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_DMA, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
} }
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
// was macht das?
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (GPIO_Pin == GPIO_IMU_INT_Pin && xIMU_Task != NULL) {
if (GPIO_Pin == GPIO_IMU_INT_Pin) { vTaskNotifyGiveIndexedFromISR(xIMU_Task, ICM_NOTIFY_INT_DRDY, &xHigherPriorityTaskWoken);
vTaskNotifyGiveFromISR(xIMU_Task, &xHigherPriorityTaskWoken);
// printf("Triggered ICM45686 EXTI\n");
} }
if (GPIO_Pin == GPIO_MAGN_INT_Pin && xMagn_Task != NULL) {
if (GPIO_Pin == GPIO_MAGN_INT_Pin) { vTaskNotifyGiveIndexedFromISR(xMagn_Task, BMM_NOTIFY_INT_DRDY, &xHigherPriorityTaskWoken);
vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
// printf("Triggered BMM350 EXTI\n");
} }
// was macht das?
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
// ICM 45686 // ICM 45686
@@ -93,33 +80,10 @@ HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint16_t
} }
void init_icm(ICM45686_HandleTypeDef *imu) { 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]; uint8_t tx[2], rx[2];
HAL_StatusTypeDef status; HAL_StatusTypeDef status;
// // WHO AM
printf("Initializing ICM45686\n");
// WHO AM
tx[0] = ICM45686_WHO_AM_I | 0x80; 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)); status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Error in reading WHO AM I:%d\n", status); printf("Error in reading WHO AM I:%d\n", status);
@@ -127,12 +91,9 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
printf("WHO AM I (0xE9): 0x%02X \n", rx[1]); printf("WHO AM I (0xE9): 0x%02X \n", rx[1]);
} }
// acc // acc config
tx[0] = ICM45686_ACCEL_CONFIG0; tx[0] = ICM45686_ACCEL_CONFIG0;
tx[1] = imu->acc_fs | imu->odr; 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)); status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Error in setting ACCEL_CONFIG0:%d\n", status); printf("Error in setting ACCEL_CONFIG0:%d\n", status);
@@ -142,9 +103,6 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
tx[0] = ICM45686_ACCEL_CONFIG0 | 0x80; tx[0] = ICM45686_ACCEL_CONFIG0 | 0x80;
tx[1] = 0x00; 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)); status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Error reading ACCEL_CONFIG0:%d\n", status); printf("Error reading ACCEL_CONFIG0:%d\n", status);
@@ -152,12 +110,9 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
printf("ACCEL_CONFIG0 read: 0x%02X \n", rx[1]); printf("ACCEL_CONFIG0 read: 0x%02X \n", rx[1]);
} }
// gyro // gyro config
tx[0] = ICM45686_GYRO_CONFIG0; tx[0] = ICM45686_GYRO_CONFIG0;
tx[1] = imu->gyro_fs | imu->odr; 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)); status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Error in setting GYRO_CONFIG0:%d\n", status); printf("Error in setting GYRO_CONFIG0:%d\n", status);
@@ -167,9 +122,6 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
tx[0] = ICM45686_GYRO_CONFIG0 | 0x80; tx[0] = ICM45686_GYRO_CONFIG0 | 0x80;
tx[1] = 0x00; 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)); status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Error reading GYRO_CONFIG0:%d\n", status); printf("Error reading GYRO_CONFIG0:%d\n", status);
@@ -180,9 +132,6 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
// power settings // power settings
tx[0] = ICM45686_PWR_MGMT0; tx[0] = ICM45686_PWR_MGMT0;
tx[1] = 0x0F; //0x10 | 0x03; 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)); status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Error in setting PWR_MGMT0:%d\n", status); printf("Error in setting PWR_MGMT0:%d\n", status);
@@ -192,31 +141,29 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
tx[0] = ICM45686_PWR_MGMT0 | 0x80; tx[0] = ICM45686_PWR_MGMT0 | 0x80;
tx[1] = 0x00; 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)); status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Error reading PWR_MGMT0:%d\n", status); printf("Error reading PWR_MGMT0:%d\n", status);
} else { } else {
printf("PWR_MGMT0 read: 0x%02X \n", rx[1]); printf("PWR_MGMT0 read: 0x%02X \n", rx[1]);
} }
osDelay(250);
} }
void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) { void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
HAL_StatusTypeDef status; HAL_StatusTypeDef status;
uint8_t raw_data[15]; 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}; uint8_t tx[15] = {0x00};
tx[0] = 0x00 | 0x80; tx[0] = 0x00 | 0x80;
for (int i = 1; i <= samples; i++) { for (int i = 1; i <= samples; i++) {
ulTaskNotifyTakeIndexed(ICM_NOTIFY_INT_DRDY, pdTRUE, portMAX_DELAY);
status = read_icm_dma(imu, tx, raw_data, sizeof(tx)); status = read_icm_dma(imu, tx, raw_data, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Calibration read ICM failed: %d\n", status); 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[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[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 sensor_data[2] += (int16_t)(raw_data[5] << 8 | raw_data[6]); // a_z
@@ -225,34 +172,41 @@ void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
sensor_data[5] += (int16_t)(raw_data[11] << 8 | raw_data[12]); // g_z 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 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->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;
imu->calibated = true; imu->calibated = true;
printf("Calibration finished of ICM45686\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",
printf("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[0], imu->imu_bias[1], imu->imu_bias[2],
imu->imu_bias[3], imu->imu_bias[4], imu->imu_bias[5], imu->imu_bias[3], imu->imu_bias[4], imu->imu_bias[5],
imu->imu_bias[6]); imu->imu_bias[6]);
} }
void enable_interrupt_icm(ICM45686_HandleTypeDef *imu) { void configure_and_enable_int_icm (ICM45686_HandleTypeDef *imu) {
uint8_t tx[2], rx[2] = {0x00, 0x00}; uint8_t tx[2], rx[2] = {0x00, 0x00};
tx[0] = ICM45686_INT1_CONFIG0;
tx[1] = 0x04;
printf("Enabling IMU INT pin\n");
// turn off int
tx[0] = ICM45686_INT1_CONFIG0;
tx[1] = 0x00;
HAL_StatusTypeDef status = write_icm(imu, tx, sizeof(tx)); HAL_StatusTypeDef status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Enabling of IMU INT failed: %d\n", status); printf("Enabling of IMU INT failed: %d\n", status);
@@ -262,19 +216,15 @@ void enable_interrupt_icm(ICM45686_HandleTypeDef *imu) {
tx[1] = 0x00; tx[1] = 0x00;
status = read_icm(imu, tx, rx, sizeof(tx)); status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Reading IMU INT configuration0 failed: %d\n", status); printf("Reading IMU INT1_CONFIG0 failed: %d\n", status);
} else { } else {
printf("INT1_CONFIG0 read: 0x%02X\n", rx[1]); 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[0] = ICM45686_INT1_CONFIG2;
tx[1] = 0x01; tx[1] = 0x01;
printf("Configuring IMU INT\n"); status = write_icm(imu, tx, sizeof(tx));
HAL_StatusTypeDef status = write_icm(imu, tx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Configuration of IMU INT failed: %d\n", status); printf("Configuration of IMU INT failed: %d\n", status);
} }
@@ -283,20 +233,35 @@ void configure_interrupt_icm (ICM45686_HandleTypeDef *imu) {
tx[1] = 0x00; tx[1] = 0x00;
status = read_icm(imu, tx, rx, sizeof(tx)); status = read_icm(imu, tx, rx, sizeof(tx));
if (status != HAL_OK) { if (status != HAL_OK) {
printf("Reading IMU INT configuration2 failed: %d\n", status); printf("Reading IMU INT1_CONFIG2 failed: %d\n", status);
} else { } else {
printf("INT1_CONFIG2 read: 0x%02X\n", rx[1]); 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 // BMM350
void bmm_init_DWT(void){ void bmm_init_DWT(void){
// Enable trace and debug block (TRCENA) // Enable trace and debug block (TRCENA)
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
// Reset cycle counter // Reset cycle counter
DWT->CYCCNT = 0; DWT->CYCCNT = 0;
// Enable the cycle counter // Enable the cycle counter
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk; DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
} }
@@ -304,28 +269,20 @@ 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){ 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 // Extract I2C device address from intf_ptr
uint8_t device_addr = *(uint8_t*)intf_ptr; uint8_t device_addr = *(uint8_t*)intf_ptr;
// STM32 HAL: Write register address, then read data // STM32 HAL: Write register address, then read data
// Device address is left-shifted by 1 for STM32 HAL // 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 (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) {
return BMM350_INTF_RET_SUCCESS; // 0 return BMM350_INTF_RET_SUCCESS; // 0
} }
} }
return -1; // Communication failure 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){ 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 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_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 (ulTaskNotifyTakeIndexed(BMM_NOTIFY_DMA, pdTRUE, pdMS_TO_TICKS(10)) == pdTRUE) {
// if (rslt == HAL_OK) {
if (ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(10)) == pdTRUE) {
return BMM350_INTF_RET_SUCCESS; // 0 return BMM350_INTF_RET_SUCCESS; // 0
} }
} }
@@ -334,7 +291,6 @@ BMM350_INTF_RET_TYPE bmm350_i2c_write(uint8_t reg_addr, const uint8_t *reg_data,
void bmm350_delay(uint32_t period_us, void *intf_ptr){ void bmm350_delay(uint32_t period_us, void *intf_ptr){
(void)intf_ptr; // Unused (void)intf_ptr; // Unused
// For STM32, use DWT cycle counter for accurate microsecond delays // For STM32, use DWT cycle counter for accurate microsecond delays
uint32_t start = DWT->CYCCNT; uint32_t start = DWT->CYCCNT;
uint32_t cycles = period_us * (SystemCoreClock / 1000000); uint32_t cycles = period_us * (SystemCoreClock / 1000000);
@@ -355,8 +311,6 @@ int8_t init_bmm(struct bmm350_dev *dev) {
dev->delay_us = bmm350_delay; dev->delay_us = bmm350_delay;
dev->intf_ptr = &dev_addr; dev->intf_ptr = &dev_addr;
printf("Starting up and configuring BMM350\n");
// Initialize BMM350 driver // Initialize BMM350 driver
rslt = bmm350_init(dev); rslt = bmm350_init(dev);
if (rslt != BMM350_OK) if (rslt != BMM350_OK)
@@ -370,14 +324,8 @@ int8_t init_bmm(struct bmm350_dev *dev) {
// Set powermode, odr and avg // Set powermode, odr and avg
rslt = bmm350_set_powermode(BMM350_NORMAL_MODE, dev); rslt = bmm350_set_powermode(BMM350_NORMAL_MODE, dev);
printf("Powermode (%d): %d\n", BMM350_NORMAL_MODE, rslt); printf("Powermode (%d): %d\n", BMM350_NORMAL_MODE, rslt);
rslt = bmm350_set_odr_performance(BMM350_DATA_RATE_200HZ, BMM350_AVERAGING_2, 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_200HZ, BMM350_AVERAGING_2, rslt); 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; return BMM350_OK;
} }
@@ -385,9 +333,9 @@ int8_t init_bmm(struct bmm350_dev *dev) {
int8_t bmm_configure_interrupt (struct bmm350_dev *dev) { int8_t bmm_configure_interrupt (struct bmm350_dev *dev) {
int8_t rslt; int8_t rslt;
rslt = bmm350_enable_interrupt(BMM350_ENABLE_INTERRUPT, dev); 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); 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; return BMM350_OK;
} }
Core/Src/sensors.h
+12 -4
View File
@@ -10,10 +10,17 @@
// I2C Handle // I2C Handle
extern I2C_HandleTypeDef hi2c1; extern I2C_HandleTypeDef hi2c1;
extern osThreadId_t defaultTaskHandle; extern osThreadId_t defaultTaskHandle;
extern osThreadId_t xIMU_Task; extern volatile osThreadId_t xIMU_Task;
extern osThreadId_t xMagn_Task; extern volatile osThreadId_t xMagn_Task;
//extern osThreadId_t xData_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 // ICM45686
typedef struct { typedef struct {
SPI_HandleTypeDef *hspi; SPI_HandleTypeDef *hspi;
@@ -66,7 +73,8 @@ typedef enum {
ICM45686_FIFO_COUNT = 0x12, ICM45686_FIFO_COUNT = 0x12,
ICM45686_FIFO_DATA = 0x14, ICM45686_FIFO_DATA = 0x14,
ICM45686_INT1_CONFIG2 = 0x18, ICM45686_INT1_CONFIG2 = 0x18,
ICM45686_INT1_CONFIG0 = 0x16 ICM45686_INT1_CONFIG0 = 0x16,
ICM45686_INT1_STATUS0 = 0x19
} ICM45686_registers; } ICM45686_registers;
typedef enum { 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); HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint16_t len_tx);
void calibrate_icm (ICM45686_HandleTypeDef * imu, int samples); void calibrate_icm (ICM45686_HandleTypeDef * imu, int samples);
void enable_interrupt_icm(ICM45686_HandleTypeDef *imu); 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 // BMM350 - Declarations of read/write/delay functions for the BMM350 API
void bmm_init_DWT(void); 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.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL; 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; GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB8);
__HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB9);
/* Peripheral clock enable */ /* Peripheral clock enable */
__HAL_RCC_I2C1_CLK_ENABLE(); __HAL_RCC_I2C1_CLK_ENABLE();
Core/Src/trinity_helperlib.c
+8
View File
@@ -1,4 +1,12 @@
#include "trinity_helperlib.h" #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 @@
/* #define DEG2RAD 0.01745329252f
* 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_ */
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:42:6:MadgwickAHRS_init 1
../Core/Src/MadgwickAHRS.c:55:6:MadgwickAHRS_update 7 ../Core/Src/MadgwickAHRS.c:55:6:MadgwickAHRS_update 8
../Core/Src/MadgwickAHRS.c:161:6:MadgwickAHRS_update_IMU 4 ../Core/Src/MadgwickAHRS.c:169:6:MadgwickAHRS_update_IMU 5
../Core/Src/MadgwickAHRS.c:240:7:invSqrt 1 ../Core/Src/MadgwickAHRS.c:257:7:invSqrt 1
Debug/Core/Src/MadgwickAHRS.o
BIN
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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:42:6:MadgwickAHRS_init 24 static
../Core/Src/MadgwickAHRS.c:55:6:MadgwickAHRS_update 208 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:169:6:MadgwickAHRS_update_IMU 152 static
../Core/Src/MadgwickAHRS.c:240:7:invSqrt 32 static ../Core/Src/MadgwickAHRS.c:257:7:invSqrt 32 static
Debug/Core/Src/app_debug.o
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Debug/Core/Src/app_entry.o
BIN
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Debug/Core/Src/app_freertos.cyclo
+1
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@@ -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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Core/Inc/main.h ../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_hal.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Core/Inc/main.h: ../Core/Inc/main.h:
Debug/Core/Src/app_freertos.o
BIN
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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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Utilities/lpm/tiny_lpm/stm32_lpm.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Utilities/lpm/tiny_lpm/stm32_lpm.h: ../Utilities/lpm/tiny_lpm/stm32_lpm.h:
Debug/Core/Src/freertos_port.o
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Debug/Core/Src/hw_timerserver.o
BIN
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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: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_bus.h:539:22:LL_AHB2_GRP1_EnableClock 1
../Drivers/STM32WBxx_HAL_Driver/Inc/stm32wbxx_ll_hsem.h:233:26:LL_HSEM_1StepLock 2 ../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:139:5:_write 2
../Core/Src/main.c:145:5:main 2 ../Core/Src/main.c:152:5:main 2
../Core/Src/main.c:260:6:SystemClock_Config 3 ../Core/Src/main.c:267:6:SystemClock_Config 3
../Core/Src/main.c:326:6:PeriphCommonClock_Config 2 ../Core/Src/main.c:333:6:PeriphCommonClock_Config 2
../Core/Src/main.c:351:13:MX_I2C1_Init 4 ../Core/Src/main.c:358:13:MX_I2C1_Init 4
../Core/Src/main.c:399:13:MX_IPCC_Init 2 ../Core/Src/main.c:406:13:MX_IPCC_Init 2
../Core/Src/main.c:425:13:MX_RF_Init 1 ../Core/Src/main.c:432:13:MX_RF_Init 1
../Core/Src/main.c:446:13:MX_RTC_Init 3 ../Core/Src/main.c:453:13:MX_RTC_Init 3
../Core/Src/main.c:489:13:MX_SPI1_Init 2 ../Core/Src/main.c:496:13:MX_SPI1_Init 2
../Core/Src/main.c:529:13:MX_SPI2_Init 2 ../Core/Src/main.c:536:13:MX_SPI2_Init 2
../Core/Src/main.c:569:13:MX_TIM2_Init 6 ../Core/Src/main.c:576:13:MX_TIM2_Init 6
../Core/Src/main.c:624:13:MX_DMA_Init 1 ../Core/Src/main.c:631:13:MX_DMA_Init 1
../Core/Src/main.c:652:13:MX_GPIO_Init 1 ../Core/Src/main.c:659:13:MX_GPIO_Init 1
../Core/Src/main.c:719:6:Start_DataAnalysis 1 ../Core/Src/main.c:726:6:Start_DataAnalysis 1
../Core/Src/main.c:802:6:Start_ICM45686 3 ../Core/Src/main.c:824:6:Start_ICM45686 4
../Core/Src/main.c:881:6:Start_BMM350 4 ../Core/Src/main.c:904:6:Start_BMM350 4
../Core/Src/main.c:934:6:HAL_TIM_PeriodElapsedCallback 2 ../Core/Src/main.c:945:6:HAL_TIM_PeriodElapsedCallback 2
../Core/Src/main.c:952:6:Error_Handler 1 ../Core/Src/main.c:963:6:Error_Handler 1
Debug/Core/Src/main.d
+4 -1
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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../USB_Device/App/usb_device.h \ ../USB_Device/App/usb_device.h \
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h \ ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h \
../USB_Device/Target/usbd_conf.h ../Core/Src/MadgwickAHRS.h \ ../USB_Device/Target/usbd_conf.h ../Core/Src/MadgwickAHRS.h \
@@ -75,7 +76,7 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Core/Src/bmm350_oor.h \ ../Core/Src/bmm350_oor.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.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/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_ioreq.h \
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h \ ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../USB_Device/App/usb_device.h: ../USB_Device/App/usb_device.h:
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h: ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h:
../USB_Device/Target/usbd_conf.h: ../USB_Device/Target/usbd_conf.h:
@@ -165,6 +167,7 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Core/Src/bmm350_oor.h: ../Core/Src/bmm350_oor.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/task.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Core/Src/trinity_helperlib.h:
../USB_Device/App/usbd_cdc_if.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/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_ioreq.h:
Debug/Core/Src/main.o
BIN
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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: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_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 ../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:139:5:_write 32 static
../Core/Src/main.c:145:5:main 8 static ../Core/Src/main.c:152:5:main 8 static
../Core/Src/main.c:260:6:SystemClock_Config 112 static ../Core/Src/main.c:267:6:SystemClock_Config 112 static
../Core/Src/main.c:326:6:PeriphCommonClock_Config 88 static ../Core/Src/main.c:333:6:PeriphCommonClock_Config 88 static
../Core/Src/main.c:351:13:MX_I2C1_Init 8 static ../Core/Src/main.c:358:13:MX_I2C1_Init 8 static
../Core/Src/main.c:399:13:MX_IPCC_Init 8 static ../Core/Src/main.c:406:13:MX_IPCC_Init 8 static
../Core/Src/main.c:425:13:MX_RF_Init 4 static ../Core/Src/main.c:432:13:MX_RF_Init 4 static
../Core/Src/main.c:446:13:MX_RTC_Init 8 static ../Core/Src/main.c:453:13:MX_RTC_Init 8 static
../Core/Src/main.c:489:13:MX_SPI1_Init 8 static ../Core/Src/main.c:496:13:MX_SPI1_Init 8 static
../Core/Src/main.c:529:13:MX_SPI2_Init 8 static ../Core/Src/main.c:536:13:MX_SPI2_Init 8 static
../Core/Src/main.c:569:13:MX_TIM2_Init 48 static ../Core/Src/main.c:576:13:MX_TIM2_Init 48 static
../Core/Src/main.c:624:13:MX_DMA_Init 8 static ../Core/Src/main.c:631:13:MX_DMA_Init 8 static
../Core/Src/main.c:652:13:MX_GPIO_Init 32 static ../Core/Src/main.c:659:13:MX_GPIO_Init 32 static
../Core/Src/main.c:719:6:Start_DataAnalysis 208 static ../Core/Src/main.c:726:6:Start_DataAnalysis 80 static
../Core/Src/main.c:802:6:Start_ICM45686 152 static ../Core/Src/main.c:824:6:Start_ICM45686 152 static
../Core/Src/main.c:881:6:Start_BMM350 216 static ../Core/Src/main.c:904:6:Start_BMM350 216 static
../Core/Src/main.c:934:6:HAL_TIM_PeriodElapsedCallback 16 static ../Core/Src/main.c:945:6:HAL_TIM_PeriodElapsedCallback 16 static
../Core/Src/main.c:952:6:Error_Handler 4 static,ignoring_inline_asm ../Core/Src/main.c:963:6:Error_Handler 4 static,ignoring_inline_asm
Debug/Core/Src/sensors.cyclo
+17 -18
View File
@@ -1,18 +1,17 @@
../Core/Src/sensors.c:18:6:HAL_SPI_TxRxCpltCallback 3 ../Core/Src/sensors.c:15:6:HAL_SPI_TxRxCpltCallback 4
../Core/Src/sensors.c:29:6:HAL_I2C_MemRxCpltCallback 3 ../Core/Src/sensors.c:24:6:HAL_I2C_MemRxCpltCallback 4
../Core/Src/sensors.c:38:6:HAL_I2C_MemTxCpltCallback 3 ../Core/Src/sensors.c:33:6:HAL_I2C_MemTxCpltCallback 4
../Core/Src/sensors.c:47:6:HAL_I2C_ErrorCallback 3 ../Core/Src/sensors.c:41:6:HAL_I2C_ErrorCallback 4
../Core/Src/sensors.c:56:6:HAL_GPIO_EXTI_Callback 4 ../Core/Src/sensors.c:50:6:HAL_GPIO_EXTI_Callback 6
../Core/Src/sensors.c:75:19:read_icm 1 ../Core/Src/sensors.c:62:19:read_icm 1
../Core/Src/sensors.c:82:19:read_icm_dma 1 ../Core/Src/sensors.c:69:19:read_icm_dma 1
../Core/Src/sensors.c:88:19:write_icm 1 ../Core/Src/sensors.c:75:19:write_icm 1
../Core/Src/sensors.c:95:6:init_icm 8 ../Core/Src/sensors.c:82:6:init_icm 8
../Core/Src/sensors.c:208:6:calibrate_icm 3 ../Core/Src/sensors.c:152:6:calibrate_icm 4
../Core/Src/sensors.c:250:6:enable_interrupt_icm 3 ../Core/Src/sensors.c:204:6:configure_and_enable_int_icm 7
../Core/Src/sensors.c:271:6:configure_interrupt_icm 3 ../Core/Src/sensors.c:260:6:bmm_init_DWT 1
../Core/Src/sensors.c:293:6:bmm_init_DWT 1 ../Core/Src/sensors.c:269:22:bmm350_i2c_read 3
../Core/Src/sensors.c:304:22:bmm350_i2c_read 3 ../Core/Src/sensors.c:282:22:bmm350_i2c_write 3
../Core/Src/sensors.c:320:22:bmm350_i2c_write 3 ../Core/Src/sensors.c:292:6:bmm350_delay 2
../Core/Src/sensors.c:335:6:bmm350_delay 2 ../Core/Src/sensors.c:302:8:init_bmm 2
../Core/Src/sensors.c:346:8:init_bmm 2 ../Core/Src/sensors.c:333:8:bmm_configure_interrupt 1
../Core/Src/sensors.c:385:8:bmm_configure_interrupt 1
Debug/Core/Src/sensors.d
+4
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@@ -68,7 +68,9 @@ 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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Drivers/CMSIS/RTOS2/Include/cmsis_os2.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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
../Core/Inc/main.h: ../Core/Inc/main.h:
@@ -147,6 +149,8 @@ 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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Drivers/CMSIS/RTOS2/Include/cmsis_os2.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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
Debug/Core/Src/sensors.o
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Debug/Core/Src/sensors.su
+17 -18
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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:15:6: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:24:6: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:33:6: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:41:6: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:50:6:HAL_GPIO_EXTI_Callback 24 static,ignoring_inline_asm
../Core/Src/sensors.c:75:19:read_icm 40 static ../Core/Src/sensors.c:62:19:read_icm 40 static
../Core/Src/sensors.c:82:19:read_icm_dma 32 static ../Core/Src/sensors.c:69:19:read_icm_dma 32 static
../Core/Src/sensors.c:88:19:write_icm 32 static ../Core/Src/sensors.c:75:19:write_icm 32 static
../Core/Src/sensors.c:95:6:init_icm 24 static ../Core/Src/sensors.c:82:6:init_icm 24 static
../Core/Src/sensors.c:208:6:calibrate_icm 168 static ../Core/Src/sensors.c:152:6:calibrate_icm 208 static
../Core/Src/sensors.c:250:6:enable_interrupt_icm 24 static ../Core/Src/sensors.c:204:6:configure_and_enable_int_icm 24 static
../Core/Src/sensors.c:271:6:configure_interrupt_icm 24 static ../Core/Src/sensors.c:260:6:bmm_init_DWT 4 static
../Core/Src/sensors.c:293:6:bmm_init_DWT 4 static ../Core/Src/sensors.c:269:22:bmm350_i2c_read 40 static
../Core/Src/sensors.c:304:22:bmm350_i2c_read 40 static ../Core/Src/sensors.c:282:22:bmm350_i2c_write 40 static
../Core/Src/sensors.c:320:22:bmm350_i2c_write 40 static ../Core/Src/sensors.c:292:6:bmm350_delay 24 static
../Core/Src/sensors.c:335:6:bmm350_delay 24 static ../Core/Src/sensors.c:302:8:init_bmm 24 static
../Core/Src/sensors.c:346:8:init_bmm 24 static ../Core/Src/sensors.c:333:8:bmm_configure_interrupt 32 static
../Core/Src/sensors.c:385:8:bmm_configure_interrupt 32 static
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: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: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_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:71:6:HAL_MspInit 1
../Core/Src/stm32wbxx_hal_msp.c:101:6:HAL_I2C_MspInit 5 ../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:193:6:HAL_I2C_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:227:6:HAL_IPCC_MspInit 2 ../Core/Src/stm32wbxx_hal_msp.c:231:6:HAL_IPCC_MspInit 2
../Core/Src/stm32wbxx_hal_msp.c:255:6:HAL_IPCC_MspDeInit 2 ../Core/Src/stm32wbxx_hal_msp.c:259:6:HAL_IPCC_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:281:6:HAL_RTC_MspInit 3 ../Core/Src/stm32wbxx_hal_msp.c:285:6:HAL_RTC_MspInit 3
../Core/Src/stm32wbxx_hal_msp.c:323:6:HAL_RTC_MspDeInit 2 ../Core/Src/stm32wbxx_hal_msp.c:327:6:HAL_RTC_MspDeInit 2
../Core/Src/stm32wbxx_hal_msp.c:349:6:HAL_SPI_MspInit 5 ../Core/Src/stm32wbxx_hal_msp.c:353:6:HAL_SPI_MspInit 5
../Core/Src/stm32wbxx_hal_msp.c:461:6:HAL_SPI_MspDeInit 3 ../Core/Src/stm32wbxx_hal_msp.c:465:6:HAL_SPI_MspDeInit 3
../Core/Src/stm32wbxx_hal_msp.c:515:6:HAL_TIM_PWM_MspInit 2 ../Core/Src/stm32wbxx_hal_msp.c:519:6:HAL_TIM_PWM_MspInit 2
../Core/Src/stm32wbxx_hal_msp.c:532:6:HAL_TIM_MspPostInit 2 ../Core/Src/stm32wbxx_hal_msp.c:536:6:HAL_TIM_MspPostInit 2
../Core/Src/stm32wbxx_hal_msp.c:566:6:HAL_TIM_PWM_MspDeInit 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: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: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_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: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: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:193:6:HAL_I2C_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:227:6:HAL_IPCC_MspInit 16 static ../Core/Src/stm32wbxx_hal_msp.c:231:6:HAL_IPCC_MspInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:255:6:HAL_IPCC_MspDeInit 16 static ../Core/Src/stm32wbxx_hal_msp.c:259:6:HAL_IPCC_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:281:6:HAL_RTC_MspInit 96 static ../Core/Src/stm32wbxx_hal_msp.c:285:6:HAL_RTC_MspInit 96 static
../Core/Src/stm32wbxx_hal_msp.c:323:6:HAL_RTC_MspDeInit 16 static ../Core/Src/stm32wbxx_hal_msp.c:327:6:HAL_RTC_MspDeInit 16 static
../Core/Src/stm32wbxx_hal_msp.c:349:6:HAL_SPI_MspInit 40 static ../Core/Src/stm32wbxx_hal_msp.c:353:6:HAL_SPI_MspInit 40 static
../Core/Src/stm32wbxx_hal_msp.c:461:6:HAL_SPI_MspDeInit 16 static ../Core/Src/stm32wbxx_hal_msp.c:465:6: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:519:6: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:536:6: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:570:6:HAL_TIM_PWM_MspDeInit 16 static
Debug/Core/Src/stm32wbxx_it.o
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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/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: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: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: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:2934:13:vApplicationGetIdleTaskMemory 1
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2948:13:vApplicationGetTimerTaskMemory 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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.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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@@ -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: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: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: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:2934:13:vApplicationGetIdleTaskMemory 24 static
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c:2948:13:vApplicationGetTimerTaskMemory 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
Vendored
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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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/croutine.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/croutine.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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/timers.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/timers.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/timers.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/event_groups.o
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Debug/Middlewares/Third_Party/FreeRTOS/Source/list.d
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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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/mpu_wrappers.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h:
../Core/Inc/FreeRTOSConfig.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/mpu_wrappers.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/list.o
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Debug/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.d
Vendored
+2
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@@ -7,6 +7,7 @@ Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.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/portable/GCC/ARM_CM4F/portmacro.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h:
@@ -16,5 +17,6 @@ Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.o: \
../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.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/portable/GCC/ARM_CM4F/portmacro.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
Debug/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.o
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Debug/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.d
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+2
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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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/queue.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/queue.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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.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:2550:17:uxTaskGetSystemState 4
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:2677:12:xTaskCatchUpTicks 2 ../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: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:3144:6:vTaskPlaceOnEventList 2
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3169:6:vTaskPlaceOnUnorderedEventList 3 ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3169:6:vTaskPlaceOnUnorderedEventList 3
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3197:10:vTaskPlaceOnEventListRestricted 3 ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3197:10:vTaskPlaceOnEventListRestricted 3
Debug/Middlewares/Third_Party/FreeRTOS/Source/tasks.d
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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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/timers.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/timers.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: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: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: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: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:3169:6:vTaskPlaceOnUnorderedEventList 40 static,ignoring_inline_asm
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c:3197:10:vTaskPlaceOnEventListRestricted 32 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
Vendored
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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/include/deprecated_definitions.h \
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \ ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h \
../Middlewares/Third_Party/FreeRTOS/Source/include/queue.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/include/deprecated_definitions.h:
../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.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/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/task.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/list.h: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h:
../Middlewares/Third_Party/FreeRTOS/Source/include/queue.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
+49638 -48341
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Debug/Trinity_Devboard_V2.map
+2569 -2452
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Debug/USB_Device/Target/usbd_conf.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.SyncRequestNumber=1
Dma.SPI1_TX.0.SyncSignalID=NONE Dma.SPI1_TX.0.SyncSignalID=NONE
FREERTOS.FootprintOK=true 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.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.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.configMINIMAL_STACK_SIZE=512
FREERTOS.configTOTAL_HEAP_SIZE=64000 FREERTOS.configTOTAL_HEAP_SIZE=64000
FREERTOS.configUSE_NEWLIB_REENTRANT=1
File.Version=6 File.Version=6
GPIO.groupedBy=Group By Peripherals GPIO.groupedBy=Group By Peripherals
I2C1.IPParameters=Timing I2C1.I2C_Speed_Mode=I2C_Fast
I2C1.Timing=0x10B17DB5 I2C1.IPParameters=Timing,I2C_Speed_Mode
I2C1.Timing=0x00C12166
KeepUserPlacement=false KeepUserPlacement=false
MMTAppReg1.MEMORYMAP.AppRegionName=RAM MMTAppReg1.MEMORYMAP.AppRegionName=RAM
MMTAppReg1.MEMORYMAP.ContextName=Cortex-M4NS MMTAppReg1.MEMORYMAP.ContextName=Cortex-M4NS
@@ -229,12 +232,17 @@ PA1.GPIOParameters=GPIO_Label
PA1.GPIO_Label=GPIO_STATUS_LED PA1.GPIO_Label=GPIO_STATUS_LED
PA1.Locked=true PA1.Locked=true
PA1.Signal=S_TIM2_CH2 PA1.Signal=S_TIM2_CH2
PA10.GPIOParameters=GPIO_Label PA10.GPIOParameters=GPIO_PuPd,GPIO_Label
PA10.GPIO_Label=GPIO_IMU_INT PA10.GPIO_Label=GPIO_IMU_INT
PA10.GPIO_PuPd=GPIO_NOPULL
PA10.Locked=true PA10.Locked=true
PA10.Signal=GPXTI10 PA10.Signal=GPXTI10
PA11.GPIOParameters=GPIO_Speed
PA11.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PA11.Mode=Device PA11.Mode=Device
PA11.Signal=USB_DM PA11.Signal=USB_DM
PA12.GPIOParameters=GPIO_Speed
PA12.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PA12.Mode=Device PA12.Mode=Device
PA12.Signal=USB_DP PA12.Signal=USB_DP
PA13.Mode=Trace_Asynchronous_SW PA13.Mode=Trace_Asynchronous_SW
@@ -272,8 +280,14 @@ PA9.Mode=Full_Duplex_Master
PA9.Signal=SPI2_SCK PA9.Signal=SPI2_SCK
PB3.Mode=Trace_Asynchronous_SW PB3.Mode=Trace_Asynchronous_SW
PB3.Signal=SYS_JTDO-SWO 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.Mode=I2C
PB8.Signal=I2C1_SCL 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.Mode=I2C
PB9.Signal=I2C1_SDA PB9.Signal=I2C1_SDA
PC1.GPIOParameters=GPIO_Speed,GPIO_Label 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_CH2.ConfNb=1
SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3 SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
SH.S_TIM2_CH3.ConfNb=1 SH.S_TIM2_CH3.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
SPI1.CLKPhase=SPI_PHASE_2EDGE SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=1000.0 KBits/s SPI1.CalculateBaudRate=16.0 MBits/s
SPI1.DataSize=SPI_DATASIZE_8BIT SPI1.DataSize=SPI_DATASIZE_8BIT
SPI1.Direction=SPI_DIRECTION_2LINES SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase,CLKPolarity SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase,CLKPolarity
@@ -441,7 +455,8 @@ SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER SPI2.VirtualType=VM_MASTER
STM32_WPAN.BT_SIG_HEART_RATE_SENSOR=Disabled STM32_WPAN.BT_SIG_HEART_RATE_SENSOR=Disabled
STM32_WPAN.CFG_BONDING_MODE=0 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\ Generation1\ CH1=TIM_CHANNEL_1
TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
USB_Device/Target/usbd_conf.c
+1 -1
View File
@@ -103,7 +103,7 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12; GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; 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; GPIO_InitStruct.Alternate = GPIO_AF10_USB;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);