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Lorentzo Donné 2025-07-24 22:34:17 +02:00
commit 79bfa20ac7
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/**
* @file FusionAhrs.h
* @author Seb Madgwick
* @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
* measurements into a single measurement of orientation relative to the Earth.
*/
#ifndef FUSION_AHRS_H
#define FUSION_AHRS_H
//------------------------------------------------------------------------------
// Includes
#include "FusionConvention.h"
#include "FusionMath.h"
#include <stdbool.h>
//------------------------------------------------------------------------------
// Definitions
/**
* @brief AHRS algorithm settings.
*/
typedef struct {
FusionConvention convention;
float gain;
float gyroscopeRange;
float accelerationRejection;
float magneticRejection;
unsigned int recoveryTriggerPeriod;
} FusionAhrsSettings;
/**
* @brief AHRS algorithm structure. Structure members are used internally and
* must not be accessed by the application.
*/
typedef struct {
FusionAhrsSettings settings;
FusionQuaternion quaternion;
FusionVector accelerometer;
bool initialising;
float rampedGain;
float rampedGainStep;
bool angularRateRecovery;
FusionVector halfAccelerometerFeedback;
FusionVector halfMagnetometerFeedback;
bool accelerometerIgnored;
int accelerationRecoveryTrigger;
int accelerationRecoveryTimeout;
bool magnetometerIgnored;
int magneticRecoveryTrigger;
int magneticRecoveryTimeout;
} FusionAhrs;
/**
* @brief AHRS algorithm internal states.
*/
typedef struct {
float accelerationError;
bool accelerometerIgnored;
float accelerationRecoveryTrigger;
float magneticError;
bool magnetometerIgnored;
float magneticRecoveryTrigger;
} FusionAhrsInternalStates;
/**
* @brief AHRS algorithm flags.
*/
typedef struct {
bool initialising;
bool angularRateRecovery;
bool accelerationRecovery;
bool magneticRecovery;
} FusionAhrsFlags;
//------------------------------------------------------------------------------
// Function declarations
void FusionAhrsInitialise(FusionAhrs *const ahrs);
void FusionAhrsReset(FusionAhrs *const ahrs);
void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings);
void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const FusionVector magnetometer, const float deltaTime);
void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float deltaTime);
void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float heading, const float deltaTime);
FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs);
void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion);
FusionVector FusionAhrsGetGravity(const FusionAhrs *const ahrs);
FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs);
FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs);
FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs);
FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs);
void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading);
#endif
//------------------------------------------------------------------------------
// End of file

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/**
* @file FusionConvention.h
* @author Seb Madgwick
* @brief Earth axes convention.
*/
#ifndef FUSION_CONVENTION_H
#define FUSION_CONVENTION_H
//------------------------------------------------------------------------------
// Definitions
/**
* @brief Earth axes convention.
*/
typedef enum {
FusionConventionNwu, /* North-West-Up */
FusionConventionEnu, /* East-North-Up */
FusionConventionNed, /* North-East-Down */
} FusionConvention;
#endif
//------------------------------------------------------------------------------
// End of file

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/**
* @file FusionMath.h
* @author Seb Madgwick
* @brief Math library.
*/
#ifndef FUSION_MATH_H
#define FUSION_MATH_H
//------------------------------------------------------------------------------
// Includes
#include <math.h>
#include <stdbool.h>
#include <stdint.h>
//------------------------------------------------------------------------------
// Definitions
/**
* @brief 3D vector.
*/
typedef union {
float array[3];
struct {
float x;
float y;
float z;
} axis;
} FusionVector;
/**
* @brief Quaternion.
*/
typedef union {
float array[4];
struct {
float w;
float x;
float y;
float z;
} element;
} FusionQuaternion;
/**
* @brief 3x3 matrix in row-major order.
* See http://en.wikipedia.org/wiki/Row-major_order
*/
typedef union {
float array[3][3];
struct {
float xx;
float xy;
float xz;
float yx;
float yy;
float yz;
float zx;
float zy;
float zz;
} element;
} FusionMatrix;
/**
* @brief Euler angles. Roll, pitch, and yaw correspond to rotations around
* X, Y, and Z respectively.
*/
typedef union {
float array[3];
struct {
float roll;
float pitch;
float yaw;
} angle;
} FusionEuler;
/**
* @brief Vector of zeros.
*/
#define FUSION_VECTOR_ZERO ((FusionVector){ .array = {0.0f, 0.0f, 0.0f} })
/**
* @brief Vector of ones.
*/
#define FUSION_VECTOR_ONES ((FusionVector){ .array = {1.0f, 1.0f, 1.0f} })
/**
* @brief Identity quaternion.
*/
#define FUSION_IDENTITY_QUATERNION ((FusionQuaternion){ .array = {1.0f, 0.0f, 0.0f, 0.0f} })
/**
* @brief Identity matrix.
*/
#define FUSION_IDENTITY_MATRIX ((FusionMatrix){ .array = {{1.0f, 0.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 0.0f, 1.0f}} })
/**
* @brief Euler angles of zero.
*/
#define FUSION_EULER_ZERO ((FusionEuler){ .array = {0.0f, 0.0f, 0.0f} })
/**
* @brief Pi. May not be defined in math.h.
*/
#ifndef M_PI
#define M_PI (3.14159265358979323846)
#endif
/**
* @brief Include this definition or add as a preprocessor definition to use
* normal square root operations.
*/
//#define FUSION_USE_NORMAL_SQRT
//------------------------------------------------------------------------------
// Inline functions - Degrees and radians conversion
/**
* @brief Converts degrees to radians.
* @param degrees Degrees.
* @return Radians.
*/
static inline float FusionDegreesToRadians(const float degrees) {
return degrees * ((float) M_PI / 180.0f);
}
/**
* @brief Converts radians to degrees.
* @param radians Radians.
* @return Degrees.
*/
static inline float FusionRadiansToDegrees(const float radians) {
return radians * (180.0f / (float) M_PI);
}
//------------------------------------------------------------------------------
// Inline functions - Arc sine
/**
* @brief Returns the arc sine of the value.
* @param value Value.
* @return Arc sine of the value.
*/
static inline float FusionAsin(const float value) {
if (value <= -1.0f) {
return (float) M_PI / -2.0f;
}
if (value >= 1.0f) {
return (float) M_PI / 2.0f;
}
return asinf(value);
}
//------------------------------------------------------------------------------
// Inline functions - Fast inverse square root
#ifndef FUSION_USE_NORMAL_SQRT
/**
* @brief Calculates the reciprocal of the square root.
* See https://pizer.wordpress.com/2008/10/12/fast-inverse-square-root/
* @param x Operand.
* @return Reciprocal of the square root of x.
*/
static inline float FusionFastInverseSqrt(const float x) {
typedef union {
float f;
int32_t i;
} Union32;
Union32 union32 = {.f = x};
union32.i = 0x5F1F1412 - (union32.i >> 1);
return union32.f * (1.69000231f - 0.714158168f * x * union32.f * union32.f);
}
#endif
//------------------------------------------------------------------------------
// Inline functions - Vector operations
/**
* @brief Returns true if the vector is zero.
* @param vector Vector.
* @return True if the vector is zero.
*/
static inline bool FusionVectorIsZero(const FusionVector vector) {
return (vector.axis.x == 0.0f) && (vector.axis.y == 0.0f) && (vector.axis.z == 0.0f);
}
/**
* @brief Returns the sum of two vectors.
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Sum of two vectors.
*/
static inline FusionVector FusionVectorAdd(const FusionVector vectorA, const FusionVector vectorB) {
const FusionVector result = {.axis = {
.x = vectorA.axis.x + vectorB.axis.x,
.y = vectorA.axis.y + vectorB.axis.y,
.z = vectorA.axis.z + vectorB.axis.z,
}};
return result;
}
/**
* @brief Returns vector B subtracted from vector A.
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Vector B subtracted from vector A.
*/
static inline FusionVector FusionVectorSubtract(const FusionVector vectorA, const FusionVector vectorB) {
const FusionVector result = {.axis = {
.x = vectorA.axis.x - vectorB.axis.x,
.y = vectorA.axis.y - vectorB.axis.y,
.z = vectorA.axis.z - vectorB.axis.z,
}};
return result;
}
/**
* @brief Returns the sum of the elements.
* @param vector Vector.
* @return Sum of the elements.
*/
static inline float FusionVectorSum(const FusionVector vector) {
return vector.axis.x + vector.axis.y + vector.axis.z;
}
/**
* @brief Returns the multiplication of a vector by a scalar.
* @param vector Vector.
* @param scalar Scalar.
* @return Multiplication of a vector by a scalar.
*/
static inline FusionVector FusionVectorMultiplyScalar(const FusionVector vector, const float scalar) {
const FusionVector result = {.axis = {
.x = vector.axis.x * scalar,
.y = vector.axis.y * scalar,
.z = vector.axis.z * scalar,
}};
return result;
}
/**
* @brief Calculates the Hadamard product (element-wise multiplication).
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Hadamard product.
*/
static inline FusionVector FusionVectorHadamardProduct(const FusionVector vectorA, const FusionVector vectorB) {
const FusionVector result = {.axis = {
.x = vectorA.axis.x * vectorB.axis.x,
.y = vectorA.axis.y * vectorB.axis.y,
.z = vectorA.axis.z * vectorB.axis.z,
}};
return result;
}
/**
* @brief Returns the cross product.
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Cross product.
*/
static inline FusionVector FusionVectorCrossProduct(const FusionVector vectorA, const FusionVector vectorB) {
#define A vectorA.axis
#define B vectorB.axis
const FusionVector result = {.axis = {
.x = A.y * B.z - A.z * B.y,
.y = A.z * B.x - A.x * B.z,
.z = A.x * B.y - A.y * B.x,
}};
return result;
#undef A
#undef B
}
/**
* @brief Returns the dot product.
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Dot product.
*/
static inline float FusionVectorDotProduct(const FusionVector vectorA, const FusionVector vectorB) {
return FusionVectorSum(FusionVectorHadamardProduct(vectorA, vectorB));
}
/**
* @brief Returns the vector magnitude squared.
* @param vector Vector.
* @return Vector magnitude squared.
*/
static inline float FusionVectorMagnitudeSquared(const FusionVector vector) {
return FusionVectorSum(FusionVectorHadamardProduct(vector, vector));
}
/**
* @brief Returns the vector magnitude.
* @param vector Vector.
* @return Vector magnitude.
*/
static inline float FusionVectorMagnitude(const FusionVector vector) {
return sqrtf(FusionVectorMagnitudeSquared(vector));
}
/**
* @brief Returns the normalised vector.
* @param vector Vector.
* @return Normalised vector.
*/
static inline FusionVector FusionVectorNormalise(const FusionVector vector) {
#ifdef FUSION_USE_NORMAL_SQRT
const float magnitudeReciprocal = 1.0f / sqrtf(FusionVectorMagnitudeSquared(vector));
#else
const float magnitudeReciprocal = FusionFastInverseSqrt(FusionVectorMagnitudeSquared(vector));
#endif
return FusionVectorMultiplyScalar(vector, magnitudeReciprocal);
}
//------------------------------------------------------------------------------
// Inline functions - Quaternion operations
/**
* @brief Returns the sum of two quaternions.
* @param quaternionA Quaternion A.
* @param quaternionB Quaternion B.
* @return Sum of two quaternions.
*/
static inline FusionQuaternion FusionQuaternionAdd(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB) {
const FusionQuaternion result = {.element = {
.w = quaternionA.element.w + quaternionB.element.w,
.x = quaternionA.element.x + quaternionB.element.x,
.y = quaternionA.element.y + quaternionB.element.y,
.z = quaternionA.element.z + quaternionB.element.z,
}};
return result;
}
/**
* @brief Returns the multiplication of two quaternions.
* @param quaternionA Quaternion A (to be post-multiplied).
* @param quaternionB Quaternion B (to be pre-multiplied).
* @return Multiplication of two quaternions.
*/
static inline FusionQuaternion FusionQuaternionMultiply(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB) {
#define A quaternionA.element
#define B quaternionB.element
const FusionQuaternion result = {.element = {
.w = A.w * B.w - A.x * B.x - A.y * B.y - A.z * B.z,
.x = A.w * B.x + A.x * B.w + A.y * B.z - A.z * B.y,
.y = A.w * B.y - A.x * B.z + A.y * B.w + A.z * B.x,
.z = A.w * B.z + A.x * B.y - A.y * B.x + A.z * B.w,
}};
return result;
#undef A
#undef B
}
/**
* @brief Returns the multiplication of a quaternion with a vector. This is a
* normal quaternion multiplication where the vector is treated a
* quaternion with a W element value of zero. The quaternion is post-
* multiplied by the vector.
* @param quaternion Quaternion.
* @param vector Vector.
* @return Multiplication of a quaternion with a vector.
*/
static inline FusionQuaternion FusionQuaternionMultiplyVector(const FusionQuaternion quaternion, const FusionVector vector) {
#define Q quaternion.element
#define V vector.axis
const FusionQuaternion result = {.element = {
.w = -Q.x * V.x - Q.y * V.y - Q.z * V.z,
.x = Q.w * V.x + Q.y * V.z - Q.z * V.y,
.y = Q.w * V.y - Q.x * V.z + Q.z * V.x,
.z = Q.w * V.z + Q.x * V.y - Q.y * V.x,
}};
return result;
#undef Q
#undef V
}
/**
* @brief Returns the normalised quaternion.
* @param quaternion Quaternion.
* @return Normalised quaternion.
*/
static inline FusionQuaternion FusionQuaternionNormalise(const FusionQuaternion quaternion) {
#define Q quaternion.element
#ifdef FUSION_USE_NORMAL_SQRT
const float magnitudeReciprocal = 1.0f / sqrtf(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
#else
const float magnitudeReciprocal = FusionFastInverseSqrt(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
#endif
const FusionQuaternion result = {.element = {
.w = Q.w * magnitudeReciprocal,
.x = Q.x * magnitudeReciprocal,
.y = Q.y * magnitudeReciprocal,
.z = Q.z * magnitudeReciprocal,
}};
return result;
#undef Q
}
//------------------------------------------------------------------------------
// Inline functions - Matrix operations
/**
* @brief Returns the multiplication of a matrix with a vector.
* @param matrix Matrix.
* @param vector Vector.
* @return Multiplication of a matrix with a vector.
*/
static inline FusionVector FusionMatrixMultiplyVector(const FusionMatrix matrix, const FusionVector vector) {
#define R matrix.element
const FusionVector result = {.axis = {
.x = R.xx * vector.axis.x + R.xy * vector.axis.y + R.xz * vector.axis.z,
.y = R.yx * vector.axis.x + R.yy * vector.axis.y + R.yz * vector.axis.z,
.z = R.zx * vector.axis.x + R.zy * vector.axis.y + R.zz * vector.axis.z,
}};
return result;
#undef R
}
//------------------------------------------------------------------------------
// Inline functions - Conversion operations
/**
* @brief Converts a quaternion to a rotation matrix.
* @param quaternion Quaternion.
* @return Rotation matrix.
*/
static inline FusionMatrix FusionQuaternionToMatrix(const FusionQuaternion quaternion) {
#define Q quaternion.element
const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
const float qwqx = Q.w * Q.x;
const float qwqy = Q.w * Q.y;
const float qwqz = Q.w * Q.z;
const float qxqy = Q.x * Q.y;
const float qxqz = Q.x * Q.z;
const float qyqz = Q.y * Q.z;
const FusionMatrix matrix = {.element = {
.xx = 2.0f * (qwqw - 0.5f + Q.x * Q.x),
.xy = 2.0f * (qxqy - qwqz),
.xz = 2.0f * (qxqz + qwqy),
.yx = 2.0f * (qxqy + qwqz),
.yy = 2.0f * (qwqw - 0.5f + Q.y * Q.y),
.yz = 2.0f * (qyqz - qwqx),
.zx = 2.0f * (qxqz - qwqy),
.zy = 2.0f * (qyqz + qwqx),
.zz = 2.0f * (qwqw - 0.5f + Q.z * Q.z),
}};
return matrix;
#undef Q
}
/**
* @brief Converts a quaternion to ZYX Euler angles in degrees.
* @param quaternion Quaternion.
* @return Euler angles in degrees.
*/
static inline FusionEuler FusionQuaternionToEuler(const FusionQuaternion quaternion) {
#define Q quaternion.element
const float halfMinusQySquared = 0.5f - Q.y * Q.y; // calculate common terms to avoid repeated operations
const FusionEuler euler = {.angle = {
.roll = FusionRadiansToDegrees(atan2f(Q.w * Q.x + Q.y * Q.z, halfMinusQySquared - Q.x * Q.x)),
.pitch = FusionRadiansToDegrees(FusionAsin(2.0f * (Q.w * Q.y - Q.z * Q.x))),
.yaw = FusionRadiansToDegrees(atan2f(Q.w * Q.z + Q.x * Q.y, halfMinusQySquared - Q.z * Q.z)),
}};
return euler;
#undef Q
}
#endif
//------------------------------------------------------------------------------
// End of file

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#ifndef ICM20948_H
#define ICM20948_H
#include "stm32l4xx_hal.h"
void icm20948_init(void);
void icm20948_read_accel(float *ax, float *ay, float *az);
#endif

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#ifndef LCD_I2C_H
#define LCD_I2C_H
#include "stm32l4xx_hal.h"
void lcd_init(void);
void lcd_clear(void);
void lcd_set_cursor(uint8_t row, uint8_t col);
void lcd_print(const char *str);
#endif

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32l4xx_hal.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define B1_Pin GPIO_PIN_13
#define B1_GPIO_Port GPIOC
#define MCO_Pin GPIO_PIN_0
#define MCO_GPIO_Port GPIOH
#define USART_TX_Pin GPIO_PIN_2
#define USART_TX_GPIO_Port GPIOA
#define USART_RX_Pin GPIO_PIN_3
#define USART_RX_GPIO_Port GPIOA
#define SMPS_EN_Pin GPIO_PIN_4
#define SMPS_EN_GPIO_Port GPIOA
#define SMPS_V1_Pin GPIO_PIN_5
#define SMPS_V1_GPIO_Port GPIOA
#define SMPS_PG_Pin GPIO_PIN_6
#define SMPS_PG_GPIO_Port GPIOA
#define SMPS_SW_Pin GPIO_PIN_7
#define SMPS_SW_GPIO_Port GPIOA
#define LD4_Pin GPIO_PIN_13
#define LD4_GPIO_Port GPIOB
#define TMS_Pin GPIO_PIN_13
#define TMS_GPIO_Port GPIOA
#define TCK_Pin GPIO_PIN_14
#define TCK_GPIO_Port GPIOA
#define SWO_Pin GPIO_PIN_3
#define SWO_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */

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/*
* moto_config.h
*
* Created on: Jul 24, 2025
* Author: loren
*/
#ifndef INC_MOTO_CONFIG_H_
#define INC_MOTO_CONFIG_H_
#include <stdbool.h>
#include <stdint.h>
//------------------------------------------------------------------------------
// Constantes de configuration moto
//------------------------------------------------------------------------------
// Seuils d'alerte d'inclinaison (en degrés)
#define MOTO_ROLL_WARNING_THRESHOLD 20.0f // Avertissement inclinaison
#define MOTO_ROLL_DANGER_THRESHOLD 35.0f // Danger inclinaison
#define MOTO_PITCH_WHEELIE_THRESHOLD 25.0f // Détection wheelie
#define MOTO_PITCH_STOPPIE_THRESHOLD -25.0f // Détection stoppie
// Seuils de vitesse angulaire (degrés/s)
#define MOTO_GYRO_RAPID_TURN_THRESHOLD 100.0f // Virage rapide
#define MOTO_GYRO_CRASH_THRESHOLD 300.0f // Possible chute
// Filtrage et échantillonnage
#define MOTO_SAMPLE_RATE_HZ 100 // Fréquence d'échantillonnage
#define MOTO_SAMPLE_PERIOD (1.0f / MOTO_SAMPLE_RATE_HZ)
#define MOTO_MAG_FILTER_ALPHA 0.1f // Filtre magnétomètre
#define MOTO_ANGLE_FILTER_ALPHA 0.2f // Filtre angles affichés
// Calibration magnétomètre (à ajuster selon votre environnement)
#define MOTO_MAG_OFFSET_X 0.0f
#define MOTO_MAG_OFFSET_Y 0.0f
#define MOTO_MAG_OFFSET_Z 0.0f
#define MOTO_MAG_SCALE_X 1.0f
#define MOTO_MAG_SCALE_Y 1.0f
#define MOTO_MAG_SCALE_Z 1.0f
//------------------------------------------------------------------------------
// Types de données
//------------------------------------------------------------------------------
typedef enum {
MOTO_STATE_NORMAL = 0,
MOTO_STATE_WARNING,
MOTO_STATE_DANGER,
MOTO_STATE_WHEELIE,
MOTO_STATE_STOPPIE,
MOTO_STATE_RAPID_TURN,
MOTO_STATE_POSSIBLE_CRASH
} MotoState_t;
typedef struct {
float roll;
float pitch;
float yaw;
float roll_filtered;
float pitch_filtered;
float yaw_filtered;
MotoState_t state;
bool is_initializing;
uint32_t crash_detect_counter;
uint32_t last_update_time;
} MotoData_t;
typedef struct {
float max_roll;
float min_roll;
float max_pitch;
float min_pitch;
float max_gyro_x;
float max_gyro_y;
float max_gyro_z;
uint32_t total_samples;
uint32_t warning_count;
uint32_t danger_count;
} MotoStats_t;
//------------------------------------------------------------------------------
// Prototypes de fonctions
//------------------------------------------------------------------------------
/**
* @brief Initialise les données moto
* @param data Pointeur vers la structure de données moto
*/
void Moto_InitData(MotoData_t *data);
/**
* @brief Met à jour l'état de la moto basé sur les angles
* @param data Pointeur vers la structure de données moto
* @param roll Angle de roulis en degrés
* @param pitch Angle de tangage en degrés
* @param yaw Angle de lacet en degrés
* @param gyro_x Vitesse angulaire X en dps
* @param gyro_y Vitesse angulaire Y en dps
* @param gyro_z Vitesse angulaire Z en dps
*/
void Moto_UpdateState(MotoData_t *data, float roll, float pitch, float yaw,
float gyro_x, float gyro_y, float gyro_z);
/**
* @brief Applique un filtre passe-bas aux angles
* @param data Pointeur vers la structure de données moto
*/
void Moto_FilterAngles(MotoData_t *data);
/**
* @brief Retourne une chaîne décrivant l'état actuel
* @param state État de la moto
* @return Pointeur vers la chaîne de caractères
*/
const char* Moto_GetStateString(MotoState_t state);
/**
* @brief Met à jour les statistiques de conduite
* @param stats Pointeur vers la structure de statistiques
* @param data Pointeur vers les données actuelles
* @param gyro_x Vitesse angulaire X
* @param gyro_y Vitesse angulaire Y
* @param gyro_z Vitesse angulaire Z
*/
void Moto_UpdateStats(MotoStats_t *stats, const MotoData_t *data,
float gyro_x, float gyro_y, float gyro_z);
/**
* @brief Calibre les données du magnétomètre
* @param mx Pointeur vers la composante X
* @param my Pointeur vers la composante Y
* @param mz Pointeur vers la composante Z
*/
void Moto_CalibrateMagnetometer(float *mx, float *my, float *mz);
/**
* @brief Détecte une possible chute
* @param data Pointeur vers la structure de données moto
* @param gyro_magnitude Magnitude de la vitesse angulaire
* @return true si chute détectée
*/
bool Moto_DetectCrash(MotoData_t *data, float gyro_magnitude);
/**
* @brief Formate l'affichage pour l'écran LCD selon l'état
* @param data Pointeur vers les données moto
* @param line Numéro de ligne (0-3)
* @param buffer Buffer de sortie (21 caractères)
*/
void Moto_FormatDisplay(const MotoData_t *data, int line, char *buffer);
#endif /* INC_MOTO_CONFIG_H_ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32l4xx_hal_conf.h
* @author MCD Application Team
* @brief HAL configuration template file.
* This file should be copied to the application folder and renamed
* to stm32l4xx_hal_conf.h.
******************************************************************************
* @attention
*
* Copyright (c) 2017 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32L4xx_HAL_CONF_H
#define STM32L4xx_HAL_CONF_H
#ifdef __cplusplus
extern "C" {
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* ########################## Module Selection ############################## */
/**
* @brief This is the list of modules to be used in the HAL driver
*/
#define HAL_MODULE_ENABLED
/*#define HAL_ADC_MODULE_ENABLED */
/*#define HAL_CRYP_MODULE_ENABLED */
/*#define HAL_CAN_MODULE_ENABLED */
/*#define HAL_COMP_MODULE_ENABLED */
#define HAL_I2C_MODULE_ENABLED
/*#define HAL_CRC_MODULE_ENABLED */
/*#define HAL_CRYP_MODULE_ENABLED */
/*#define HAL_DAC_MODULE_ENABLED */
/*#define HAL_DCMI_MODULE_ENABLED */
/*#define HAL_DMA2D_MODULE_ENABLED */
/*#define HAL_DFSDM_MODULE_ENABLED */
/*#define HAL_DSI_MODULE_ENABLED */
/*#define HAL_FIREWALL_MODULE_ENABLED */
/*#define HAL_GFXMMU_MODULE_ENABLED */
/*#define HAL_HCD_MODULE_ENABLED */
/*#define HAL_HASH_MODULE_ENABLED */
/*#define HAL_I2S_MODULE_ENABLED */
/*#define HAL_IRDA_MODULE_ENABLED */
/*#define HAL_IWDG_MODULE_ENABLED */
/*#define HAL_LTDC_MODULE_ENABLED */
/*#define HAL_LCD_MODULE_ENABLED */
/*#define HAL_LPTIM_MODULE_ENABLED */
/*#define HAL_MMC_MODULE_ENABLED */
/*#define HAL_NAND_MODULE_ENABLED */
/*#define HAL_NOR_MODULE_ENABLED */
/*#define HAL_OPAMP_MODULE_ENABLED */
/*#define HAL_OSPI_MODULE_ENABLED */
/*#define HAL_OSPI_MODULE_ENABLED */
/*#define HAL_PCD_MODULE_ENABLED */
/*#define HAL_PKA_MODULE_ENABLED */
/*#define HAL_QSPI_MODULE_ENABLED */
/*#define HAL_QSPI_MODULE_ENABLED */
/*#define HAL_RNG_MODULE_ENABLED */
/*#define HAL_RTC_MODULE_ENABLED */
/*#define HAL_SAI_MODULE_ENABLED */
/*#define HAL_SD_MODULE_ENABLED */
/*#define HAL_SMBUS_MODULE_ENABLED */
/*#define HAL_SMARTCARD_MODULE_ENABLED */
/*#define HAL_SPI_MODULE_ENABLED */
/*#define HAL_SRAM_MODULE_ENABLED */
/*#define HAL_SWPMI_MODULE_ENABLED */
/*#define HAL_TIM_MODULE_ENABLED */
/*#define HAL_TSC_MODULE_ENABLED */
#define HAL_UART_MODULE_ENABLED
/*#define HAL_USART_MODULE_ENABLED */
/*#define HAL_WWDG_MODULE_ENABLED */
/*#define HAL_EXTI_MODULE_ENABLED */
/*#define HAL_PSSI_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED
#define HAL_FLASH_MODULE_ENABLED
#define HAL_PWR_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED
/* ########################## Oscillator Values adaptation ####################*/
/**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL).
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000U) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT ((uint32_t)100U) /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
* @brief Internal Multiple Speed oscillator (MSI) default value.
* This value is the default MSI range value after Reset.
*/
#if !defined (MSI_VALUE)
#define MSI_VALUE ((uint32_t)4000000U) /*!< Value of the Internal oscillator in Hz*/
#endif /* MSI_VALUE */
/**
* @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL).
*/
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)16000000U) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @brief Internal High Speed oscillator (HSI48) value for USB FS, SDMMC and RNG.
* This internal oscillator is mainly dedicated to provide a high precision clock to
* the USB peripheral by means of a special Clock Recovery System (CRS) circuitry.
* When the CRS is not used, the HSI48 RC oscillator runs on it default frequency
* which is subject to manufacturing process variations.
*/
#if !defined (HSI48_VALUE)
#define HSI48_VALUE ((uint32_t)48000000U) /*!< Value of the Internal High Speed oscillator for USB FS/SDMMC/RNG in Hz.
The real value my vary depending on manufacturing process variations.*/
#endif /* HSI48_VALUE */
/**
* @brief Internal Low Speed oscillator (LSI) value.
*/
#if !defined (LSI_VALUE)
#define LSI_VALUE 32000U /*!< LSI Typical Value in Hz*/
#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz
The real value may vary depending on the variations
in voltage and temperature.*/
/**
* @brief External Low Speed oscillator (LSE) value.
* This value is used by the UART, RTC HAL module to compute the system frequency
*/
#if !defined (LSE_VALUE)
#define LSE_VALUE 32768U /*!< Value of the External oscillator in Hz*/
#endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT 5000U /*!< Time out for LSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
* @brief External clock source for SAI1 peripheral
* This value is used by the RCC HAL module to compute the SAI1 & SAI2 clock source
* frequency.
*/
#if !defined (EXTERNAL_SAI1_CLOCK_VALUE)
#define EXTERNAL_SAI1_CLOCK_VALUE 2097000U /*!< Value of the SAI1 External clock source in Hz*/
#endif /* EXTERNAL_SAI1_CLOCK_VALUE */
/**
* @brief External clock source for SAI2 peripheral
* This value is used by the RCC HAL module to compute the SAI1 & SAI2 clock source
* frequency.
*/
#if !defined (EXTERNAL_SAI2_CLOCK_VALUE)
#define EXTERNAL_SAI2_CLOCK_VALUE 48000U /*!< Value of the SAI2 External clock source in Hz*/
#endif /* EXTERNAL_SAI2_CLOCK_VALUE */
/* Tip: To avoid modifying this file each time you need to use different HSE,
=== you can define the HSE value in your toolchain compiler preprocessor. */
/* ########################### System Configuration ######################### */
/**
* @brief This is the HAL system configuration section
*/
#define VDD_VALUE 3300U /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY 0U /*!< tick interrupt priority */
#define USE_RTOS 0U
#define PREFETCH_ENABLE 1U
#define INSTRUCTION_CACHE_ENABLE 1U
#define DATA_CACHE_ENABLE 1U
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1U */
/* ################## Register callback feature configuration ############### */
/**
* @brief Set below the peripheral configuration to "1U" to add the support
* of HAL callback registration/deregistration feature for the HAL
* driver(s). This allows user application to provide specific callback
* functions thanks to HAL_PPP_RegisterCallback() rather than overwriting
* the default weak callback functions (see each stm32l4xx_hal_ppp.h file
* for possible callback identifiers defined in HAL_PPP_CallbackIDTypeDef
* for each PPP peripheral).
*/
#define USE_HAL_ADC_REGISTER_CALLBACKS 0U
#define USE_HAL_CAN_REGISTER_CALLBACKS 0U
#define USE_HAL_COMP_REGISTER_CALLBACKS 0U
#define USE_HAL_CRYP_REGISTER_CALLBACKS 0U
#define USE_HAL_DAC_REGISTER_CALLBACKS 0U
#define USE_HAL_DCMI_REGISTER_CALLBACKS 0U
#define USE_HAL_DFSDM_REGISTER_CALLBACKS 0U
#define USE_HAL_DMA2D_REGISTER_CALLBACKS 0U
#define USE_HAL_DSI_REGISTER_CALLBACKS 0U
#define USE_HAL_GFXMMU_REGISTER_CALLBACKS 0U
#define USE_HAL_HASH_REGISTER_CALLBACKS 0U
#define USE_HAL_HCD_REGISTER_CALLBACKS 0U
#define USE_HAL_I2C_REGISTER_CALLBACKS 0U
#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U
#define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U
#define USE_HAL_LTDC_REGISTER_CALLBACKS 0U
#define USE_HAL_MMC_REGISTER_CALLBACKS 0U
#define USE_HAL_OPAMP_REGISTER_CALLBACKS 0U
#define USE_HAL_OSPI_REGISTER_CALLBACKS 0U
#define USE_HAL_PCD_REGISTER_CALLBACKS 0U
#define USE_HAL_QSPI_REGISTER_CALLBACKS 0U
#define USE_HAL_RNG_REGISTER_CALLBACKS 0U
#define USE_HAL_RTC_REGISTER_CALLBACKS 0U
#define USE_HAL_SAI_REGISTER_CALLBACKS 0U
#define USE_HAL_SD_REGISTER_CALLBACKS 0U
#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U
#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U
#define USE_HAL_SWPMI_REGISTER_CALLBACKS 0U
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U
#define USE_HAL_TSC_REGISTER_CALLBACKS 0U
#define USE_HAL_UART_REGISTER_CALLBACKS 0U
#define USE_HAL_USART_REGISTER_CALLBACKS 0U
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U
/* ################## SPI peripheral configuration ########################## */
/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
* Activated: CRC code is present inside driver
* Deactivated: CRC code cleaned from driver
*/
#define USE_SPI_CRC 0U
/* Includes ------------------------------------------------------------------*/
/**
* @brief Include module's header file
*/
#ifdef HAL_RCC_MODULE_ENABLED
#include "stm32l4xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32l4xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED
#include "stm32l4xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_DFSDM_MODULE_ENABLED
#include "stm32l4xx_hal_dfsdm.h"
#endif /* HAL_DFSDM_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32l4xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
#include "stm32l4xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_CAN_MODULE_ENABLED
#include "stm32l4xx_hal_can.h"
#endif /* HAL_CAN_MODULE_ENABLED */
#ifdef HAL_CAN_LEGACY_MODULE_ENABLED
#include "Legacy/stm32l4xx_hal_can_legacy.h"
#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */
#ifdef HAL_COMP_MODULE_ENABLED
#include "stm32l4xx_hal_comp.h"
#endif /* HAL_COMP_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED
#include "stm32l4xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_CRYP_MODULE_ENABLED
#include "stm32l4xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED
#include "stm32l4xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_DCMI_MODULE_ENABLED
#include "stm32l4xx_hal_dcmi.h"
#endif /* HAL_DCMI_MODULE_ENABLED */
#ifdef HAL_DMA2D_MODULE_ENABLED
#include "stm32l4xx_hal_dma2d.h"
#endif /* HAL_DMA2D_MODULE_ENABLED */
#ifdef HAL_DSI_MODULE_ENABLED
#include "stm32l4xx_hal_dsi.h"
#endif /* HAL_DSI_MODULE_ENABLED */
#ifdef HAL_EXTI_MODULE_ENABLED
#include "stm32l4xx_hal_exti.h"
#endif /* HAL_EXTI_MODULE_ENABLED */
#ifdef HAL_GFXMMU_MODULE_ENABLED
#include "stm32l4xx_hal_gfxmmu.h"
#endif /* HAL_GFXMMU_MODULE_ENABLED */
#ifdef HAL_FIREWALL_MODULE_ENABLED
#include "stm32l4xx_hal_firewall.h"
#endif /* HAL_FIREWALL_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32l4xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_HASH_MODULE_ENABLED
#include "stm32l4xx_hal_hash.h"
#endif /* HAL_HASH_MODULE_ENABLED */
#ifdef HAL_HCD_MODULE_ENABLED
#include "stm32l4xx_hal_hcd.h"
#endif /* HAL_HCD_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED
#include "stm32l4xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32l4xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32l4xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_LCD_MODULE_ENABLED
#include "stm32l4xx_hal_lcd.h"
#endif /* HAL_LCD_MODULE_ENABLED */
#ifdef HAL_LPTIM_MODULE_ENABLED
#include "stm32l4xx_hal_lptim.h"
#endif /* HAL_LPTIM_MODULE_ENABLED */
#ifdef HAL_LTDC_MODULE_ENABLED
#include "stm32l4xx_hal_ltdc.h"
#endif /* HAL_LTDC_MODULE_ENABLED */
#ifdef HAL_MMC_MODULE_ENABLED
#include "stm32l4xx_hal_mmc.h"
#endif /* HAL_MMC_MODULE_ENABLED */
#ifdef HAL_NAND_MODULE_ENABLED
#include "stm32l4xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED
#include "stm32l4xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_OPAMP_MODULE_ENABLED
#include "stm32l4xx_hal_opamp.h"
#endif /* HAL_OPAMP_MODULE_ENABLED */
#ifdef HAL_OSPI_MODULE_ENABLED
#include "stm32l4xx_hal_ospi.h"
#endif /* HAL_OSPI_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED
#include "stm32l4xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_PKA_MODULE_ENABLED
#include "stm32l4xx_hal_pka.h"
#endif /* HAL_PKA_MODULE_ENABLED */
#ifdef HAL_PSSI_MODULE_ENABLED
#include "stm32l4xx_hal_pssi.h"
#endif /* HAL_PSSI_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED
#include "stm32l4xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_QSPI_MODULE_ENABLED
#include "stm32l4xx_hal_qspi.h"
#endif /* HAL_QSPI_MODULE_ENABLED */
#ifdef HAL_RNG_MODULE_ENABLED
#include "stm32l4xx_hal_rng.h"
#endif /* HAL_RNG_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED
#include "stm32l4xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_SAI_MODULE_ENABLED
#include "stm32l4xx_hal_sai.h"
#endif /* HAL_SAI_MODULE_ENABLED */
#ifdef HAL_SD_MODULE_ENABLED
#include "stm32l4xx_hal_sd.h"
#endif /* HAL_SD_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32l4xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_SMBUS_MODULE_ENABLED
#include "stm32l4xx_hal_smbus.h"
#endif /* HAL_SMBUS_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32l4xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32l4xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_SWPMI_MODULE_ENABLED
#include "stm32l4xx_hal_swpmi.h"
#endif /* HAL_SWPMI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED
#include "stm32l4xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_TSC_MODULE_ENABLED
#include "stm32l4xx_hal_tsc.h"
#endif /* HAL_TSC_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED
#include "stm32l4xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED
#include "stm32l4xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32l4xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert_failed(uint8_t *file, uint32_t line);
#else
#define assert_param(expr) ((void)0U)
#endif /* USE_FULL_ASSERT */
#ifdef __cplusplus
}
#endif
#endif /* STM32L4xx_HAL_CONF_H */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32l4xx_it.h
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32L4xx_IT_H
#define __STM32L4xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
#ifdef __cplusplus
}
#endif
#endif /* __STM32L4xx_IT_H */

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/**
* @file FusionAhrs.c
* @author Seb Madgwick
* @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
* measurements into a single measurement of orientation relative to the Earth.
*/
//------------------------------------------------------------------------------
// Includes
#include <float.h>
#include "FusionAhrs.h"
#include <math.h>
//------------------------------------------------------------------------------
// Definitions
/**
* @brief Initial gain used during the initialisation.
*/
#define INITIAL_GAIN (10.0f)
/**
* @brief Initialisation period in seconds.
*/
#define INITIALISATION_PERIOD (3.0f)
//------------------------------------------------------------------------------
// Function declarations
static inline FusionVector HalfGravity(const FusionAhrs *const ahrs);
static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs);
static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference);
static inline int Clamp(const int value, const int min, const int max);
//------------------------------------------------------------------------------
// Functions
/**
* @brief Initialises the AHRS algorithm² structure.
* @param ahrs AHRS algorithm structure.
*/
void FusionAhrsInitialise(FusionAhrs *const ahrs) {
const FusionAhrsSettings settings = {
.convention = FusionConventionNwu,
.gain = 0.5f,
.gyroscopeRange = 0.0f,
.accelerationRejection = 90.0f,
.magneticRejection = 90.0f,
.recoveryTriggerPeriod = 0,
};
FusionAhrsSetSettings(ahrs, &settings);
FusionAhrsReset(ahrs);
}
/**
* @brief Resets the AHRS algorithm. This is equivalent to reinitialising the
* algorithm while maintaining the current settings.
* @param ahrs AHRS algorithm structure.
*/
void FusionAhrsReset(FusionAhrs *const ahrs) {
ahrs->quaternion = FUSION_IDENTITY_QUATERNION;
ahrs->accelerometer = FUSION_VECTOR_ZERO;
ahrs->initialising = true;
ahrs->rampedGain = INITIAL_GAIN;
ahrs->angularRateRecovery = false;
ahrs->halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
ahrs->halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
ahrs->accelerometerIgnored = false;
ahrs->accelerationRecoveryTrigger = 0;
ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
ahrs->magnetometerIgnored = false;
ahrs->magneticRecoveryTrigger = 0;
ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
}
/**
* @brief Sets the AHRS algorithm settings.
* @param ahrs AHRS algorithm structure.
* @param settings Settings.
*/
void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings) {
ahrs->settings.convention = settings->convention;
ahrs->settings.gain = settings->gain;
ahrs->settings.gyroscopeRange = settings->gyroscopeRange == 0.0f ? FLT_MAX : 0.98f * settings->gyroscopeRange;
ahrs->settings.accelerationRejection = settings->accelerationRejection == 0.0f ? FLT_MAX : powf(0.5f * sinf(FusionDegreesToRadians(settings->accelerationRejection)), 2);
ahrs->settings.magneticRejection = settings->magneticRejection == 0.0f ? FLT_MAX : powf(0.5f * sinf(FusionDegreesToRadians(settings->magneticRejection)), 2);
ahrs->settings.recoveryTriggerPeriod = settings->recoveryTriggerPeriod;
ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
if ((settings->gain == 0.0f) || (settings->recoveryTriggerPeriod == 0)) { // disable acceleration and magnetic rejection features if gain is zero
ahrs->settings.accelerationRejection = FLT_MAX;
ahrs->settings.magneticRejection = FLT_MAX;
}
if (ahrs->initialising == false) {
ahrs->rampedGain = ahrs->settings.gain;
}
ahrs->rampedGainStep = (INITIAL_GAIN - ahrs->settings.gain) / INITIALISATION_PERIOD;
}
/**
* @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
* magnetometer measurements.
* @param ahrs AHRS algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @param accelerometer Accelerometer measurement in g.
* @param magnetometer Magnetometer measurement in arbitrary units.
* @param deltaTime Delta time in seconds.
*/
void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const FusionVector magnetometer, const float deltaTime) {
#define Q ahrs->quaternion.element
// Store accelerometer
ahrs->accelerometer = accelerometer;
// Reinitialise if gyroscope range exceeded
if ((fabsf(gyroscope.axis.x) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.y) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.z) > ahrs->settings.gyroscopeRange)) {
const FusionQuaternion quaternion = ahrs->quaternion;
FusionAhrsReset(ahrs);
ahrs->quaternion = quaternion;
ahrs->angularRateRecovery = true;
}
// Ramp down gain during initialisation
if (ahrs->initialising) {
ahrs->rampedGain -= ahrs->rampedGainStep * deltaTime;
if ((ahrs->rampedGain < ahrs->settings.gain) || (ahrs->settings.gain == 0.0f)) {
ahrs->rampedGain = ahrs->settings.gain;
ahrs->initialising = false;
ahrs->angularRateRecovery = false;
}
}
// Calculate direction of gravity indicated by algorithm
const FusionVector halfGravity = HalfGravity(ahrs);
// Calculate accelerometer feedback
FusionVector halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
ahrs->accelerometerIgnored = true;
if (FusionVectorIsZero(accelerometer) == false) {
// Calculate accelerometer feedback scaled by 0.5
ahrs->halfAccelerometerFeedback = Feedback(FusionVectorNormalise(accelerometer), halfGravity);
// Don't ignore accelerometer if acceleration error below threshold
if (ahrs->initialising || ((FusionVectorMagnitudeSquared(ahrs->halfAccelerometerFeedback) <= ahrs->settings.accelerationRejection))) {
ahrs->accelerometerIgnored = false;
ahrs->accelerationRecoveryTrigger -= 9;
} else {
ahrs->accelerationRecoveryTrigger += 1;
}
// Don't ignore accelerometer during acceleration recovery
if (ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout) {
ahrs->accelerationRecoveryTimeout = 0;
ahrs->accelerometerIgnored = false;
} else {
ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
}
ahrs->accelerationRecoveryTrigger = Clamp(ahrs->accelerationRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
// Apply accelerometer feedback
if (ahrs->accelerometerIgnored == false) {
halfAccelerometerFeedback = ahrs->halfAccelerometerFeedback;
}
}
// Calculate magnetometer feedback
FusionVector halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
ahrs->magnetometerIgnored = true;
if (FusionVectorIsZero(magnetometer) == false) {
// Calculate direction of magnetic field indicated by algorithm
const FusionVector halfMagnetic = HalfMagnetic(ahrs);
// Calculate magnetometer feedback scaled by 0.5
ahrs->halfMagnetometerFeedback = Feedback(FusionVectorNormalise(FusionVectorCrossProduct(halfGravity, magnetometer)), halfMagnetic);
// Don't ignore magnetometer if magnetic error below threshold
if (ahrs->initialising || ((FusionVectorMagnitudeSquared(ahrs->halfMagnetometerFeedback) <= ahrs->settings.magneticRejection))) {
ahrs->magnetometerIgnored = false;
ahrs->magneticRecoveryTrigger -= 9;
} else {
ahrs->magneticRecoveryTrigger += 1;
}
// Don't ignore magnetometer during magnetic recovery
if (ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout) {
ahrs->magneticRecoveryTimeout = 0;
ahrs->magnetometerIgnored = false;
} else {
ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
}
ahrs->magneticRecoveryTrigger = Clamp(ahrs->magneticRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
// Apply magnetometer feedback
if (ahrs->magnetometerIgnored == false) {
halfMagnetometerFeedback = ahrs->halfMagnetometerFeedback;
}
}
// Convert gyroscope to radians per second scaled by 0.5
const FusionVector halfGyroscope = FusionVectorMultiplyScalar(gyroscope, FusionDegreesToRadians(0.5f));
// Apply feedback to gyroscope
const FusionVector adjustedHalfGyroscope = FusionVectorAdd(halfGyroscope, FusionVectorMultiplyScalar(FusionVectorAdd(halfAccelerometerFeedback, halfMagnetometerFeedback), ahrs->rampedGain));
// Integrate rate of change of quaternion
ahrs->quaternion = FusionQuaternionAdd(ahrs->quaternion, FusionQuaternionMultiplyVector(ahrs->quaternion, FusionVectorMultiplyScalar(adjustedHalfGyroscope, deltaTime)));
// Normalise quaternion
ahrs->quaternion = FusionQuaternionNormalise(ahrs->quaternion);
#undef Q
}
/**
* @brief Returns the direction of gravity scaled by 0.5.
* @param ahrs AHRS algorithm structure.
* @return Direction of gravity scaled by 0.5.
*/
static inline FusionVector HalfGravity(const FusionAhrs *const ahrs) {
#define Q ahrs->quaternion.element
switch (ahrs->settings.convention) {
case FusionConventionNwu:
case FusionConventionEnu: {
const FusionVector halfGravity = {.axis = {
.x = Q.x * Q.z - Q.w * Q.y,
.y = Q.y * Q.z + Q.w * Q.x,
.z = Q.w * Q.w - 0.5f + Q.z * Q.z,
}}; // third column of transposed rotation matrix scaled by 0.5
return halfGravity;
}
case FusionConventionNed: {
const FusionVector halfGravity = {.axis = {
.x = Q.w * Q.y - Q.x * Q.z,
.y = -1.0f * (Q.y * Q.z + Q.w * Q.x),
.z = 0.5f - Q.w * Q.w - Q.z * Q.z,
}}; // third column of transposed rotation matrix scaled by -0.5
return halfGravity;
}
}
return FUSION_VECTOR_ZERO; // avoid compiler warning
#undef Q
}
/**
* @brief Returns the direction of the magnetic field scaled by 0.5.
* @param ahrs AHRS algorithm structure.
* @return Direction of the magnetic field scaled by 0.5.
*/
static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs) {
#define Q ahrs->quaternion.element
switch (ahrs->settings.convention) {
case FusionConventionNwu: {
const FusionVector halfMagnetic = {.axis = {
.x = Q.x * Q.y + Q.w * Q.z,
.y = Q.w * Q.w - 0.5f + Q.y * Q.y,
.z = Q.y * Q.z - Q.w * Q.x,
}}; // second column of transposed rotation matrix scaled by 0.5
return halfMagnetic;
}
case FusionConventionEnu: {
const FusionVector halfMagnetic = {.axis = {
.x = 0.5f - Q.w * Q.w - Q.x * Q.x,
.y = Q.w * Q.z - Q.x * Q.y,
.z = -1.0f * (Q.x * Q.z + Q.w * Q.y),
}}; // first column of transposed rotation matrix scaled by -0.5
return halfMagnetic;
}
case FusionConventionNed: {
const FusionVector halfMagnetic = {.axis = {
.x = -1.0f * (Q.x * Q.y + Q.w * Q.z),
.y = 0.5f - Q.w * Q.w - Q.y * Q.y,
.z = Q.w * Q.x - Q.y * Q.z,
}}; // second column of transposed rotation matrix scaled by -0.5
return halfMagnetic;
}
}
return FUSION_VECTOR_ZERO; // avoid compiler warning
#undef Q
}
/**
* @brief Returns the feedback.
* @param sensor Sensor.
* @param reference Reference.
* @return Feedback.
*/
static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference) {
if (FusionVectorDotProduct(sensor, reference) < 0.0f) { // if error is >90 degrees
return FusionVectorNormalise(FusionVectorCrossProduct(sensor, reference));
}
return FusionVectorCrossProduct(sensor, reference);
}
/**
* @brief Returns a value limited to maximum and minimum.
* @param value Value.
* @param min Minimum value.
* @param max Maximum value.
* @return Value limited to maximum and minimum.
*/
static inline int Clamp(const int value, const int min, const int max) {
if (value < min) {
return min;
}
if (value > max) {
return max;
}
return value;
}
/**
* @brief Updates the AHRS algorithm using the gyroscope and accelerometer
* measurements only.
* @param ahrs AHRS algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @param accelerometer Accelerometer measurement in g.
* @param deltaTime Delta time in seconds.
*/
void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float deltaTime) {
// Update AHRS algorithm
FusionAhrsUpdate(ahrs, gyroscope, accelerometer, FUSION_VECTOR_ZERO, deltaTime);
// Zero heading during initialisation
if (ahrs->initialising) {
FusionAhrsSetHeading(ahrs, 0.0f);
}
}
/**
* @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
* heading measurements.
* @param ahrs AHRS algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @param accelerometer Accelerometer measurement in g.
* @param heading Heading measurement in degrees.
* @param deltaTime Delta time in seconds.
*/
void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float heading, const float deltaTime) {
#define Q ahrs->quaternion.element
// Calculate roll
const float roll = atan2f(Q.w * Q.x + Q.y * Q.z, 0.5f - Q.y * Q.y - Q.x * Q.x);
// Calculate magnetometer
const float headingRadians = FusionDegreesToRadians(heading);
const float sinHeadingRadians = sinf(headingRadians);
const FusionVector magnetometer = {.axis = {
.x = cosf(headingRadians),
.y = -1.0f * cosf(roll) * sinHeadingRadians,
.z = sinHeadingRadians * sinf(roll),
}};
// Update AHRS algorithm
FusionAhrsUpdate(ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
#undef Q
}
/**
* @brief Returns the quaternion describing the sensor relative to the Earth.
* @param ahrs AHRS algorithm structure.
* @return Quaternion describing the sensor relative to the Earth.
*/
FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs) {
return ahrs->quaternion;
}
/**
* @brief Sets the quaternion describing the sensor relative to the Earth.
* @param ahrs AHRS algorithm structure.
* @param quaternion Quaternion describing the sensor relative to the Earth.
*/
void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion) {
ahrs->quaternion = quaternion;
}
/**
* @brief Returns the direction of gravity in the sensor coordinate frame.
* @param ahrs AHRS algorithm structure.
* @return Direction of gravity in the sensor coordinate frame.
*/
FusionVector FusionAhrsGetGravity(const FusionAhrs *const ahrs) {
#define Q ahrs->quaternion.element
const FusionVector gravity = {.axis = {
.x = 2.0f * (Q.x * Q.z - Q.w * Q.y),
.y = 2.0f * (Q.y * Q.z + Q.w * Q.x),
.z = 2.0f * (Q.w * Q.w - 0.5f + Q.z * Q.z),
}}; // third column of transposed rotation matrix
return gravity;
#undef Q
}
/**
* @brief Returns the linear acceleration measurement equal to the accelerometer
* measurement with gravity removed.
* @param ahrs AHRS algorithm structure.
* @return Linear acceleration measurement in g.
*/
FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs) {
switch (ahrs->settings.convention) {
case FusionConventionNwu:
case FusionConventionEnu: {
return FusionVectorSubtract(ahrs->accelerometer, FusionAhrsGetGravity(ahrs));
}
case FusionConventionNed: {
return FusionVectorAdd(ahrs->accelerometer, FusionAhrsGetGravity(ahrs));
}
}
return FUSION_VECTOR_ZERO; // avoid compiler warning
}
/**
* @brief Returns the Earth acceleration measurement equal to accelerometer
* measurement in the Earth coordinate frame with gravity removed.
* @param ahrs AHRS algorithm structure.
* @return Earth acceleration measurement in g.
*/
FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs) {
#define Q ahrs->quaternion.element
#define A ahrs->accelerometer.axis
// Calculate accelerometer measurement in the Earth coordinate frame
const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
const float qwqx = Q.w * Q.x;
const float qwqy = Q.w * Q.y;
const float qwqz = Q.w * Q.z;
const float qxqy = Q.x * Q.y;
const float qxqz = Q.x * Q.z;
const float qyqz = Q.y * Q.z;
FusionVector accelerometer = {.axis = {
.x = 2.0f * ((qwqw - 0.5f + Q.x * Q.x) * A.x + (qxqy - qwqz) * A.y + (qxqz + qwqy) * A.z),
.y = 2.0f * ((qxqy + qwqz) * A.x + (qwqw - 0.5f + Q.y * Q.y) * A.y + (qyqz - qwqx) * A.z),
.z = 2.0f * ((qxqz - qwqy) * A.x + (qyqz + qwqx) * A.y + (qwqw - 0.5f + Q.z * Q.z) * A.z),
}}; // rotation matrix multiplied with the accelerometer
// Remove gravity from accelerometer measurement
switch (ahrs->settings.convention) {
case FusionConventionNwu:
case FusionConventionEnu:
accelerometer.axis.z -= 1.0f;
break;
case FusionConventionNed:
accelerometer.axis.z += 1.0f;
break;
}
return accelerometer;
#undef Q
#undef A
}
/**
* @brief Returns the AHRS algorithm internal states.
* @param ahrs AHRS algorithm structure.
* @return AHRS algorithm internal states.
*/
FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs) {
const FusionAhrsInternalStates internalStates = {
.accelerationError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfAccelerometerFeedback))),
.accelerometerIgnored = ahrs->accelerometerIgnored,
.accelerationRecoveryTrigger = ahrs->settings.recoveryTriggerPeriod == 0 ? 0.0f : (float) ahrs->accelerationRecoveryTrigger / (float) ahrs->settings.recoveryTriggerPeriod,
.magneticError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfMagnetometerFeedback))),
.magnetometerIgnored = ahrs->magnetometerIgnored,
.magneticRecoveryTrigger = ahrs->settings.recoveryTriggerPeriod == 0 ? 0.0f : (float) ahrs->magneticRecoveryTrigger / (float) ahrs->settings.recoveryTriggerPeriod,
};
return internalStates;
}
/**
* @brief Returns the AHRS algorithm flags.
* @param ahrs AHRS algorithm structure.
* @return AHRS algorithm flags.
*/
FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs) {
const FusionAhrsFlags flags = {
.initialising = ahrs->initialising,
.angularRateRecovery = ahrs->angularRateRecovery,
.accelerationRecovery = ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout,
.magneticRecovery= ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout,
};
return flags;
}
/**
* @brief Sets the heading of the orientation measurement provided by the AHRS
* algorithm. This function can be used to reset drift in heading when the AHRS
* algorithm is being used without a magnetometer.
* @param ahrs AHRS algorithm structure.
* @param heading Heading angle in degrees.
*/
void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading) {
#define Q ahrs->quaternion.element
const float yaw = atan2f(Q.w * Q.z + Q.x * Q.y, 0.5f - Q.y * Q.y - Q.z * Q.z);
const float halfYawMinusHeading = 0.5f * (yaw - FusionDegreesToRadians(heading));
const FusionQuaternion rotation = {.element = {
.w = cosf(halfYawMinusHeading),
.x = 0.0f,
.y = 0.0f,
.z = -1.0f * sinf(halfYawMinusHeading),
}};
ahrs->quaternion = FusionQuaternionMultiply(rotation, ahrs->quaternion);
#undef Q
}
//------------------------------------------------------------------------------
// End of file

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#include "icm20948.h"
extern I2C_HandleTypeDef hi2c1;
#define ICM20948_ADDR (0x69 << 1)
uint8_t read_register(uint8_t reg) {
uint8_t val;
HAL_I2C_Mem_Read(&hi2c1, ICM20948_ADDR, reg, 1, &val, 1, HAL_MAX_DELAY);
return val;
}
void write_register(uint8_t reg, uint8_t val) {
HAL_I2C_Mem_Write(&hi2c1, ICM20948_ADDR, reg, 1, &val, 1, HAL_MAX_DELAY);
}
void icm20948_select_bank(uint8_t bank) {
write_register(0x7F, bank << 4); // REG_BANK_SEL (0x7F)
}
void icm20948_init(void) {
icm20948_select_bank(0); // BANK 0
write_register(0x06, 0x01); // PWR_MGMT_1: reset
HAL_Delay(10);
write_register(0x06, 0x01); // Clock source auto
icm20948_select_bank(2); // BANK 2
// write_register(0x14, 0x00); // ACCEL_CONFIG: ±2g
write_register(0x14, 0x04); // ACCEL_CONFIG : ±8g (bits 2:1 = 10)
icm20948_select_bank(0); // Revenir en BANK 0 pour lecture
}
void icm20948_read_accel(float *ax, float *ay, float *az) {
uint8_t data[6];
HAL_I2C_Mem_Read(&hi2c1, ICM20948_ADDR, 0x2D, 1, data, 6, HAL_MAX_DELAY);
int16_t x = (data[0] << 8) | data[1];
int16_t y = (data[2] << 8) | data[3];
int16_t z = (data[4] << 8) | data[5];
//*ax = (float)x / 16384.0f;
//*ay = (float)y / 16384.0f;
//*az = (float)z / 16384.0f;
*ax = (float)x / 4096.0f;
*ay = (float)y / 4096.0f;
*az = (float)z / 4096.0f;
}
void icm20948_read_gyro(float *gx, float *gy, float *gz) {
uint8_t data[6];
icm20948_select_bank(0);
HAL_I2C_Mem_Read(&hi2c1, ICM20948_ADDR, 0x33, 1, data, 6, HAL_MAX_DELAY);
int16_t x = (data[0] << 8) | data[1];
int16_t y = (data[2] << 8) | data[3];
int16_t z = (data[4] << 8) | data[5];
*gx = (float)x / 131.0f; // sensibilité typique ±250 dps
*gy = (float)y / 131.0f;
*gz = (float)z / 131.0f;
}
void icm20948_mag_init(void) {
icm20948_select_bank(3);
// Configurer le bus maître I2C (ex : 400 kHz)
write_register(0x01, 0x07); // I2C_MST_CTRL, 400 kHz
// Configure la lecture du magnéto via I2C Master
// Exemples de setup (registres slave 0, adresse, etc.)
// ...
icm20948_select_bank(0);
}
void icm20948_read_mag(float *mx, float *my, float *mz) {
uint8_t data[6];
// Lecture des registres magnéto via I2C Master
// Par défaut les données du magnétomètre sont relayées en registres USER_MAG_DATA_X/Y/Z
// ou on doit lire via I2C Master
// Exemple simplifié :
HAL_I2C_Mem_Read(&hi2c1, ICM20948_ADDR, 0x31, 1, data, 6, HAL_MAX_DELAY);
int16_t x = (data[1] << 8) | data[0]; // Attention à l’ordre des octets pour AK09916
int16_t y = (data[3] << 8) | data[2];
int16_t z = (data[5] << 8) | data[4];
*mx = (float)x * 0.15f; // conversion en µT (selon datasheet)
*my = (float)y * 0.15f;
*mz = (float)z * 0.15f;
}

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#include "lcd_i2c.h"
#include <string.h>
extern I2C_HandleTypeDef hi2c1;
#define LCD_ADDR (0x27 << 1)
#define LCD_BACKLIGHT 0x08
#define LCD_ENABLE 0x04
void lcd_send_cmd(uint8_t cmd);
void lcd_send_data(uint8_t data);
void lcd_send(uint8_t data, uint8_t mode);
void lcd_init(void) {
HAL_Delay(50);
lcd_send_cmd(0x33);
lcd_send_cmd(0x32);
lcd_send_cmd(0x28);
lcd_send_cmd(0x0C);
lcd_send_cmd(0x06);
lcd_send_cmd(0x01);
HAL_Delay(5);
}
void lcd_clear(void) {
lcd_send_cmd(0x01);
HAL_Delay(2);
}
void lcd_set_cursor(uint8_t row, uint8_t col) {
const uint8_t row_offsets[] = {0x00, 0x40, 0x14, 0x54};
lcd_send_cmd(0x80 | (col + row_offsets[row]));
}
void lcd_print(const char *str) {
while (*str) {
lcd_send_data((uint8_t)(*str++));
}
}
void lcd_send_cmd(uint8_t cmd) {
lcd_send(cmd, 0);
}
void lcd_send_data(uint8_t data) {
lcd_send(data, 1);
}
void lcd_send(uint8_t data, uint8_t mode) {
uint8_t high = (data & 0xF0) | LCD_BACKLIGHT | (mode ? 0x01 : 0);
uint8_t low = ((data << 4) & 0xF0) | LCD_BACKLIGHT | (mode ? 0x01 : 0);
uint8_t data_arr[4] = {
high | LCD_ENABLE, high,
low | LCD_ENABLE, low
};
HAL_I2C_Master_Transmit(&hi2c1, LCD_ADDR, data_arr, 4, HAL_MAX_DELAY);
}

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#include <stdio.h>
#include <math.h>
#include "main.h"
#include "lcd_i2c.h"
#include "icm20948.h"
#include "FusionAhrs.h"
#include "moto_config.h"
I2C_HandleTypeDef hi2c1;
UART_HandleTypeDef huart2;
FusionAhrs ahrs;
MotoData_t moto_data;
MotoStats_t moto_stats = {0};
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART2_UART_Init(void);
int __io_putchar(int ch) {
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
return ch;
}
// Variables pour le filtrage du magnétomètre
float mx_filtered = 0.0f, my_filtered = 0.0f, mz_filtered = 0.0f;
int main(void) {
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART2_UART_Init();
// Initialisation de l'écran
lcd_init();
lcd_clear();
lcd_set_cursor(0, 0);
lcd_print("MOTO IMU SYSTEM");
HAL_Delay(1000);
// Initialisation de l'IMU
icm20948_init();
// Initialisation de la fusion AHRS
FusionAhrsInitialise(&ahrs);
FusionAhrsSettings settings = {
.convention = FusionConventionNed, // North-East-Down pour véhicule
.gain = 0.75f, // Gain plus élevé pour réactivité sur moto
.gyroscopeRange = 2000.0f, // Range du gyroscope en dps
.accelerationRejection = 15.0f, // Rejet modéré (vibrations moto)
.magneticRejection = 30.0f, // Rejet élevé (interférences métalliques)
.recoveryTriggerPeriod = (int)(2.0f / MOTO_SAMPLE_PERIOD) // 2 secondes
};
FusionAhrsSetSettings(&ahrs, &settings);
// Initialisation des données moto
Moto_InitData(&moto_data);
uint32_t last_time = HAL_GetTick();
uint32_t init_start_time = last_time;
uint32_t display_update_counter = 0;
while (1) {
uint32_t current_time = HAL_GetTick();
float dt = (current_time - last_time) / 1000.0f;
if (dt >= MOTO_SAMPLE_PERIOD) {
float ax, ay, az; // Accéléromètre
float gx, gy, gz; // Gyroscope
float mx, my, mz; // Magnétomètre
// Lecture des capteurs
icm20948_read_accel(&ax, &ay, &az);
icm20948_read_gyro(&gx, &gy, &gz);
icm20948_read_mag(&mx, &my, &mz);
// Calibration et filtrage du magnétomètre
Moto_CalibrateMagnetometer(&mx, &my, &mz);
mx_filtered = MOTO_MAG_FILTER_ALPHA * mx + (1.0f - MOTO_MAG_FILTER_ALPHA) * mx_filtered;
my_filtered = MOTO_MAG_FILTER_ALPHA * my + (1.0f - MOTO_MAG_FILTER_ALPHA) * my_filtered;
mz_filtered = MOTO_MAG_FILTER_ALPHA * mz + (1.0f - MOTO_MAG_FILTER_ALPHA) * mz_filtered;
// Préparation des données pour Fusion
FusionVector gyroscope = {gx, gy, gz};
FusionVector accelerometer = {ax, ay, az};
FusionVector magnetometer = {mx_filtered, my_filtered, mz_filtered};
// Mise à jour AHRS
FusionAhrsUpdate(&ahrs, gyroscope, accelerometer, magnetometer, dt);
// Récupération des angles d'Euler
FusionEuler euler = FusionQuaternionToEuler(FusionAhrsGetQuaternion(&ahrs));
float roll = euler.angle.roll;
float pitch = euler.angle.pitch;
float yaw = euler.angle.yaw;
// Vérification de la phase d'initialisation
FusionAhrsFlags flags = FusionAhrsGetFlags(&ahrs);
moto_data.is_initializing = flags.initialising;
// Mise à jour de l'état de la moto
Moto_UpdateState(&moto_data, roll, pitch, yaw, gx, gy, gz);
Moto_FilterAngles(&moto_data);
Moto_UpdateStats(&moto_stats, &moto_data, gx, gy, gz);
// Mise à jour de l'affichage (toutes les 5 itérations = ~50ms)
display_update_counter++;
if (display_update_counter >= 5) {
char buffer[21];
for (int line = 0; line < 4; line++) {
Moto_FormatDisplay(&moto_data, line, buffer);
lcd_set_cursor(line, 0);
lcd_print(buffer);
}
display_update_counter = 0;
}
// LED d'état
switch (moto_data.state) {
case MOTO_STATE_NORMAL:
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
break;
case MOTO_STATE_WARNING:
case MOTO_STATE_RAPID_TURN:
// Clignotement lent
if ((current_time / 500) % 2) {
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
} else {
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
}
break;
case MOTO_STATE_DANGER:
case MOTO_STATE_POSSIBLE_CRASH:
// Clignotement rapide
if ((current_time / 100) % 2) {
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
} else {
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
}
break;
default:
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
break;
}
// Debug UART (toutes les 50 itérations = ~500ms)
static uint32_t uart_counter = 0;
uart_counter++;
if (uart_counter >= 50) {
FusionAhrsInternalStates states = FusionAhrsGetInternalStates(&ahrs);
printf("R:%.1f P:%.1f Y:%.1f | St:%s | AE:%.1f ME:%.1f | AI:%d MI:%d | Smp:%lu\r\n",
roll, pitch, yaw,
Moto_GetStateString(moto_data.state),
states.accelerationError, states.magneticError,
states.accelerometerIgnored, states.magnetometerIgnored,
moto_stats.total_samples);
uart_counter = 0;
}
// Mise à jour du timestamp
moto_data.last_update_time = current_time;
last_time = current_time;
}
// Petite pause pour éviter la surcharge du processeur
HAL_Delay(20);
}
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
{
Error_Handler();
}
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 64;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 1;
RCC_OscInitStruct.PLL.PLLN = 10;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
{
Error_Handler();
}
}
static void MX_I2C1_Init(void)
{
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x10D19CE4;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
{
Error_Handler();
}
}
static void MX_USART2_UART_Init(void)
{
huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
Error_Handler();
}
}
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : SMPS_EN_Pin SMPS_V1_Pin SMPS_SW_Pin */
GPIO_InitStruct.Pin = SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SMPS_PG_Pin */
GPIO_InitStruct.Pin = SMPS_PG_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(SMPS_PG_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : LD4_Pin */
GPIO_InitStruct.Pin = LD4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD4_GPIO_Port, &GPIO_InitStruct);
}
void Error_Handler(void)
{
__disable_irq();
while (1)
{
}
}
#ifdef USE_FULL_ASSERT
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

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/**
* @file moto_config.c
* @brief Implémentation des fonctions utilitaires pour système IMU moto
*/
#include "moto_config.h"
#include <math.h>
#include <string.h>
#include <stdio.h>
//------------------------------------------------------------------------------
// Fonctions publiques
//------------------------------------------------------------------------------
void Moto_InitData(MotoData_t *data) {
memset(data, 0, sizeof(MotoData_t));
data->state = MOTO_STATE_NORMAL;
data->is_initializing = true;
data->last_update_time = 0;
}
void Moto_UpdateState(MotoData_t *data, float roll, float pitch, float yaw,
float gyro_x, float gyro_y, float gyro_z) {
// Mise à jour des angles bruts
data->roll = roll;
data->pitch = pitch;
data->yaw = yaw;
// Calcul de la magnitude de la vitesse angulaire
float gyro_magnitude = sqrtf(gyro_x*gyro_x + gyro_y*gyro_y + gyro_z*gyro_z);
// Détection d'état prioritaire : crash possible
if (Moto_DetectCrash(data, gyro_magnitude)) {
data->state = MOTO_STATE_POSSIBLE_CRASH;
return;
}
// Détection de wheelie/stoppie
if (pitch > MOTO_PITCH_WHEELIE_THRESHOLD) {
data->state = MOTO_STATE_WHEELIE;
} else if (pitch < MOTO_PITCH_STOPPIE_THRESHOLD) {
data->state = MOTO_STATE_STOPPIE;
}
// Détection de virage rapide
else if (fabsf(gyro_z) > MOTO_GYRO_RAPID_TURN_THRESHOLD) {
data->state = MOTO_STATE_RAPID_TURN;
}
// Détection d'inclinaison dangereuse
else if (fabsf(roll) > MOTO_ROLL_DANGER_THRESHOLD) {
data->state = MOTO_STATE_DANGER;
}
// Détection d'inclinaison d'avertissement
else if (fabsf(roll) > MOTO_ROLL_WARNING_THRESHOLD) {
data->state = MOTO_STATE_WARNING;
}
// État normal
else {
data->state = MOTO_STATE_NORMAL;
data->crash_detect_counter = 0; // Reset compteur crash
}
}
void Moto_FilterAngles(MotoData_t *data) {
// Filtre passe-bas simple pour lisser l'affichage
data->roll_filtered = MOTO_ANGLE_FILTER_ALPHA * data->roll +
(1.0f - MOTO_ANGLE_FILTER_ALPHA) * data->roll_filtered;
data->pitch_filtered = MOTO_ANGLE_FILTER_ALPHA * data->pitch +
(1.0f - MOTO_ANGLE_FILTER_ALPHA) * data->pitch_filtered;
data->yaw_filtered = MOTO_ANGLE_FILTER_ALPHA * data->yaw +
(1.0f - MOTO_ANGLE_FILTER_ALPHA) * data->yaw_filtered;
}
const char* Moto_GetStateString(MotoState_t state) {
switch (state) {
case MOTO_STATE_NORMAL: return "NORMAL";
case MOTO_STATE_WARNING: return "ATTENTION";
case MOTO_STATE_DANGER: return "DANGER";
case MOTO_STATE_WHEELIE: return "WHEELIE";
case MOTO_STATE_STOPPIE: return "STOPPIE";
case MOTO_STATE_RAPID_TURN: return "VIRAGE RAPIDE";
case MOTO_STATE_POSSIBLE_CRASH: return "CHUTE POSSIBLE";
default: return "INCONNU";
}
}
void Moto_UpdateStats(MotoStats_t *stats, const MotoData_t *data,
float gyro_x, float gyro_y, float gyro_z) {
stats->total_samples++;
// Mise à jour des extremums d'angles
if (data->roll > stats->max_roll) stats->max_roll = data->roll;
if (data->roll < stats->min_roll) stats->min_roll = data->roll;
if (data->pitch > stats->max_pitch) stats->max_pitch = data->pitch;
if (data->pitch < stats->min_pitch) stats->min_pitch = data->pitch;
// Mise à jour des extremums de vitesse angulaire
if (fabsf(gyro_x) > stats->max_gyro_x) stats->max_gyro_x = fabsf(gyro_x);
if (fabsf(gyro_y) > stats->max_gyro_y) stats->max_gyro_y = fabsf(gyro_y);
if (fabsf(gyro_z) > stats->max_gyro_z) stats->max_gyro_z = fabsf(gyro_z);
// Comptage des états d'alerte
if (data->state == MOTO_STATE_WARNING) stats->warning_count++;
if (data->state == MOTO_STATE_DANGER ||
data->state == MOTO_STATE_POSSIBLE_CRASH) stats->danger_count++;
}
void Moto_CalibrateMagnetometer(float *mx, float *my, float *mz) {
// Application des offsets et facteurs d'échelle
*mx = (*mx - MOTO_MAG_OFFSET_X) * MOTO_MAG_SCALE_X;
*my = (*my - MOTO_MAG_OFFSET_Y) * MOTO_MAG_SCALE_Y;
*mz = (*mz - MOTO_MAG_OFFSET_Z) * MOTO_MAG_SCALE_Z;
}
bool Moto_DetectCrash(MotoData_t *data, float gyro_magnitude) {
if (gyro_magnitude > MOTO_GYRO_CRASH_THRESHOLD) {
data->crash_detect_counter++;
// Confirme la chute si seuil dépassé pendant plusieurs échantillons
if (data->crash_detect_counter > 5) { // ~50ms à 100Hz
return true;
}
} else {
// Décrémente progressivement le compteur
if (data->crash_detect_counter > 0) {
data->crash_detect_counter--;
}
}
return false;
}
void Moto_FormatDisplay(const MotoData_t *data, int line, char *buffer) {
switch (line) {
case 0:
snprintf(buffer, 21, "R:%5.1f P:%5.1f",
data->roll_filtered, data->pitch_filtered);
break;
case 1:
snprintf(buffer, 21, "Yaw: %6.1f deg", data->yaw_filtered);
break;
case 2:
snprintf(buffer, 21, "Etat: %s", Moto_GetStateString(data->state));
break;
case 3:
if (data->is_initializing) {
snprintf(buffer, 21, "--- INIT EN COURS ---");
} else {
switch (data->state) {
case MOTO_STATE_NORMAL:
snprintf(buffer, 21, "--- EQUILIBRE ---");
break;
case MOTO_STATE_WARNING:
if (data->roll > 0) {
snprintf(buffer, 21, "INCLIN. DROITE >>>");
} else {
snprintf(buffer, 21, "<<< INCLIN. GAUCHE");
}
break;
case MOTO_STATE_DANGER:
case MOTO_STATE_POSSIBLE_CRASH:
snprintf(buffer, 21, "!!! ATTENTION !!!");
break;
case MOTO_STATE_WHEELIE:
snprintf(buffer, 21, "^^^ WHEELIE ^^^");
break;
case MOTO_STATE_STOPPIE:
snprintf(buffer, 21, "vvv STOPPIE vvv");
break;
case MOTO_STATE_RAPID_TURN:
snprintf(buffer, 21, ">>> VIRAGE <<<");
break;
default:
snprintf(buffer, 21, "--- INCONNU ---");
break;
}
}
break;
default:
snprintf(buffer, 21, "Ligne invalide");
break;
}
}
//------------------------------------------------------------------------------
// Fonctions utilitaires privées
//------------------------------------------------------------------------------
// Ajouter ici d'autres fonctions utilitaires si nécessaire

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32l4xx_hal_msp.c
* @brief This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN Define */
/* USER CODE END Define */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN Macro */
/* USER CODE END Macro */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* External functions --------------------------------------------------------*/
/* USER CODE BEGIN ExternalFunctions */
/* USER CODE END ExternalFunctions */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
__HAL_RCC_SYSCFG_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
/**
* @brief I2C MSP Initialization
* This function configures the hardware resources used in this example
* @param hi2c: I2C handle pointer
* @retval None
*/
void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(hi2c->Instance==I2C1)
{
/* USER CODE BEGIN I2C1_MspInit 0 */
/* USER CODE END I2C1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**I2C1 GPIO Configuration
PB8 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Peripheral clock enable */
__HAL_RCC_I2C1_CLK_ENABLE();
/* USER CODE BEGIN I2C1_MspInit 1 */
/* USER CODE END I2C1_MspInit 1 */
}
}
/**
* @brief I2C MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hi2c: I2C handle pointer
* @retval None
*/
void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
{
if(hi2c->Instance==I2C1)
{
/* USER CODE BEGIN I2C1_MspDeInit 0 */
/* USER CODE END I2C1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_I2C1_CLK_DISABLE();
/**I2C1 GPIO Configuration
PB8 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
/* USER CODE BEGIN I2C1_MspDeInit 1 */
/* USER CODE END I2C1_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspInit 0 */
/* USER CODE END USART2_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/* Peripheral clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
GPIO_InitStruct.Pin = USART_TX_Pin|USART_RX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
}
}
/**
* @brief UART MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
{
if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspDeInit 0 */
/* USER CODE END USART2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART2_CLK_DISABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
HAL_GPIO_DeInit(GPIOA, USART_TX_Pin|USART_RX_Pin);
/* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32l4xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32l4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Prefetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32L4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32l4xx.s). */
/******************************************************************************/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/**
******************************************************************************
* @file syscalls.c
* @author Auto-generated by STM32CubeIDE
* @brief STM32CubeIDE Minimal System calls file
*
* For more information about which c-functions
* need which of these lowlevel functions
* please consult the Newlib libc-manual
******************************************************************************
* @attention
*
* Copyright (c) 2020-2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes */
#include <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/times.h>
/* Variables */
extern int __io_putchar(int ch) __attribute__((weak));
extern int __io_getchar(void) __attribute__((weak));
char *__env[1] = { 0 };
char **environ = __env;
/* Functions */
void initialise_monitor_handles()
{
}
int _getpid(void)
{
return 1;
}
int _kill(int pid, int sig)
{
(void)pid;
(void)sig;
errno = EINVAL;
return -1;
}
void _exit (int status)
{
_kill(status, -1);
while (1) {} /* Make sure we hang here */
}
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
*ptr++ = __io_getchar();
}
return len;
}
__attribute__((weak)) int _write(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
}
int _close(int file)
{
(void)file;
return -1;
}
int _fstat(int file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _isatty(int file)
{
(void)file;
return 1;
}
int _lseek(int file, int ptr, int dir)
{
(void)file;
(void)ptr;
(void)dir;
return 0;
}
int _open(char *path, int flags, ...)
{
(void)path;
(void)flags;
/* Pretend like we always fail */
return -1;
}
int _wait(int *status)
{
(void)status;
errno = ECHILD;
return -1;
}
int _unlink(char *name)
{
(void)name;
errno = ENOENT;
return -1;
}
int _times(struct tms *buf)
{
(void)buf;
return -1;
}
int _stat(char *file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _link(char *old, char *new)
{
(void)old;
(void)new;
errno = EMLINK;
return -1;
}
int _fork(void)
{
errno = EAGAIN;
return -1;
}
int _execve(char *name, char **argv, char **env)
{
(void)name;
(void)argv;
(void)env;
errno = ENOMEM;
return -1;
}

79
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/**
******************************************************************************
* @file sysmem.c
* @author Generated by STM32CubeIDE
* @brief STM32CubeIDE System Memory calls file
*
* For more information about which C functions
* need which of these lowlevel functions
* please consult the newlib libc manual
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes */
#include <errno.h>
#include <stdint.h>
/**
* Pointer to the current high watermark of the heap usage
*/
static uint8_t *__sbrk_heap_end = NULL;
/**
* @brief _sbrk() allocates memory to the newlib heap and is used by malloc
* and others from the C library
*
* @verbatim
* ############################################################################
* # .data # .bss # newlib heap # MSP stack #
* # # # # Reserved by _Min_Stack_Size #
* ############################################################################
* ^-- RAM start ^-- _end _estack, RAM end --^
* @endverbatim
*
* This implementation starts allocating at the '_end' linker symbol
* The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
* The implementation considers '_estack' linker symbol to be RAM end
* NOTE: If the MSP stack, at any point during execution, grows larger than the
* reserved size, please increase the '_Min_Stack_Size'.
*
* @param incr Memory size
* @return Pointer to allocated memory
*/
void *_sbrk(ptrdiff_t incr)
{
extern uint8_t _end; /* Symbol defined in the linker script */
extern uint8_t _estack; /* Symbol defined in the linker script */
extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
const uint8_t *max_heap = (uint8_t *)stack_limit;
uint8_t *prev_heap_end;
/* Initialize heap end at first call */
if (NULL == __sbrk_heap_end)
{
__sbrk_heap_end = &_end;
}
/* Protect heap from growing into the reserved MSP stack */
if (__sbrk_heap_end + incr > max_heap)
{
errno = ENOMEM;
return (void *)-1;
}
prev_heap_end = __sbrk_heap_end;
__sbrk_heap_end += incr;
return (void *)prev_heap_end;
}

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/**
******************************************************************************
* @file system_stm32l4xx.c
* @author MCD Application Team
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File
*
* This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32l4xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* After each device reset the MSI (4 MHz) is used as system clock source.
* Then SystemInit() function is called, in "startup_stm32l4xx.s" file, to
* configure the system clock before to branch to main program.
*
* This file configures the system clock as follows:
*=============================================================================
*-----------------------------------------------------------------------------
* System Clock source | MSI
*-----------------------------------------------------------------------------
* SYSCLK(Hz) | 4000000
*-----------------------------------------------------------------------------
* HCLK(Hz) | 4000000
*-----------------------------------------------------------------------------
* AHB Prescaler | 1
*-----------------------------------------------------------------------------
* APB1 Prescaler | 1
*-----------------------------------------------------------------------------
* APB2 Prescaler | 1
*-----------------------------------------------------------------------------
* PLL_M | 1
*-----------------------------------------------------------------------------
* PLL_N | 8
*-----------------------------------------------------------------------------
* PLL_P | 7
*-----------------------------------------------------------------------------
* PLL_Q | 2
*-----------------------------------------------------------------------------
* PLL_R | 2
*-----------------------------------------------------------------------------
* PLLSAI1_P | NA
*-----------------------------------------------------------------------------
* PLLSAI1_Q | NA
*-----------------------------------------------------------------------------
* PLLSAI1_R | NA
*-----------------------------------------------------------------------------
* PLLSAI2_P | NA
*-----------------------------------------------------------------------------
* PLLSAI2_Q | NA
*-----------------------------------------------------------------------------
* PLLSAI2_R | NA
*-----------------------------------------------------------------------------
* Require 48MHz for USB OTG FS, | Disabled
* SDIO and RNG clock |
*-----------------------------------------------------------------------------
*=============================================================================
******************************************************************************
* @attention
*
* Copyright (c) 2017 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32l4xx_system
* @{
*/
/** @addtogroup STM32L4xx_System_Private_Includes
* @{
*/
#include "stm32l4xx.h"
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_Defines
* @{
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE 8000000U /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (MSI_VALUE)
#define MSI_VALUE 4000000U /*!< Value of the Internal oscillator in Hz*/
#endif /* MSI_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE 16000000U /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/* Note: Following vector table addresses must be defined in line with linker
configuration. */
/*!< Uncomment the following line if you need to relocate the vector table
anywhere in Flash or Sram, else the vector table is kept at the automatic
remap of boot address selected */
/* #define USER_VECT_TAB_ADDRESS */
#if defined(USER_VECT_TAB_ADDRESS)
/*!< Uncomment the following line if you need to relocate your vector Table
in Sram else user remap will be done in Flash. */
/* #define VECT_TAB_SRAM */
#if defined(VECT_TAB_SRAM)
#define VECT_TAB_BASE_ADDRESS SRAM1_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#else
#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#endif /* VECT_TAB_SRAM */
#endif /* USER_VECT_TAB_ADDRESS */
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_Variables
* @{
*/
/* The SystemCoreClock variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetHCLKFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
uint32_t SystemCoreClock = 4000000U;
const uint8_t AHBPrescTable[16] = {0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U, 6U, 7U, 8U, 9U};
const uint8_t APBPrescTable[8] = {0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U};
const uint32_t MSIRangeTable[12] = {100000U, 200000U, 400000U, 800000U, 1000000U, 2000000U, \
4000000U, 8000000U, 16000000U, 24000000U, 32000000U, 48000000U};
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_FunctionPrototypes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system.
* @retval None
*/
void SystemInit(void)
{
#if defined(USER_VECT_TAB_ADDRESS)
/* Configure the Vector Table location -------------------------------------*/
SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET;
#endif
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << 20U)|(3UL << 22U)); /* set CP10 and CP11 Full Access */
#endif
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is MSI, SystemCoreClock will contain the MSI_VALUE(*)
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(**)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(***)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(***)
* or HSI_VALUE(*) or MSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) MSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value
* 4 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (***) HSE_VALUE is a constant defined in stm32l4xx_hal.h file (default value
* 8 MHz), user has to ensure that HSE_VALUE is same as the real
* frequency of the crystal used. Otherwise, this function may
* have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @retval None
*/
void SystemCoreClockUpdate(void)
{
uint32_t tmp, msirange, pllvco, pllsource, pllm, pllr;
/* Get MSI Range frequency--------------------------------------------------*/
if ((RCC->CR & RCC_CR_MSIRGSEL) == 0U)
{ /* MSISRANGE from RCC_CSR applies */
msirange = (RCC->CSR & RCC_CSR_MSISRANGE) >> 8U;
}
else
{ /* MSIRANGE from RCC_CR applies */
msirange = (RCC->CR & RCC_CR_MSIRANGE) >> 4U;
}
/*MSI frequency range in HZ*/
msirange = MSIRangeTable[msirange];
/* Get SYSCLK source -------------------------------------------------------*/
switch (RCC->CFGR & RCC_CFGR_SWS)
{
case 0x00: /* MSI used as system clock source */
SystemCoreClock = msirange;
break;
case 0x04: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x08: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x0C: /* PLL used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE or MSI_VALUE/ PLLM) * PLLN
SYSCLK = PLL_VCO / PLLR
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC);
pllm = ((RCC->PLLCFGR & RCC_PLLCFGR_PLLM) >> 4U) + 1U ;
switch (pllsource)
{
case 0x02: /* HSI used as PLL clock source */
pllvco = (HSI_VALUE / pllm);
break;
case 0x03: /* HSE used as PLL clock source */
pllvco = (HSE_VALUE / pllm);
break;
default: /* MSI used as PLL clock source */
pllvco = (msirange / pllm);
break;
}
pllvco = pllvco * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 8U);
pllr = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 25U) + 1U) * 2U;
SystemCoreClock = pllvco/pllr;
break;
default:
SystemCoreClock = msirange;
break;
}
/* Compute HCLK clock frequency --------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)];
/* HCLK clock frequency */
SystemCoreClock >>= tmp;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

478
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/**
******************************************************************************
* @file startup_stm32l452xx.s
* @author MCD Application Team
* @brief STM32L452xx devices vector table for GCC toolchain.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address,
* - Configure the clock system
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M4 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* Copyright (c) 2017 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m4
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
.equ BootRAM, 0xF1E0F85F
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr sp, =_estack /* Set stack pointer */
/* Call the clock system initialization function.*/
bl SystemInit
/* Copy the data segment initializers from flash to SRAM */
ldr r0, =_sdata
ldr r1, =_edata
ldr r2, =_sidata
movs r3, #0
b LoopCopyDataInit
CopyDataInit:
ldr r4, [r2, r3]
str r4, [r0, r3]
adds r3, r3, #4
LoopCopyDataInit:
adds r4, r0, r3
cmp r4, r1
bcc CopyDataInit
/* Zero fill the bss segment. */
ldr r2, =_sbss
ldr r4, =_ebss
movs r3, #0
b LoopFillZerobss
FillZerobss:
str r3, [r2]
adds r2, r2, #4
LoopFillZerobss:
cmp r2, r4
bcc FillZerobss
/* Call static constructors */
bl __libc_init_array
/* Call the application's entry point.*/
bl main
LoopForever:
b LoopForever
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
*
* @param None
* @retval : None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex-M4. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
.word WWDG_IRQHandler
.word PVD_PVM_IRQHandler
.word TAMP_STAMP_IRQHandler
.word RTC_WKUP_IRQHandler
.word FLASH_IRQHandler
.word RCC_IRQHandler
.word EXTI0_IRQHandler
.word EXTI1_IRQHandler
.word EXTI2_IRQHandler
.word EXTI3_IRQHandler
.word EXTI4_IRQHandler
.word DMA1_Channel1_IRQHandler
.word DMA1_Channel2_IRQHandler
.word DMA1_Channel3_IRQHandler
.word DMA1_Channel4_IRQHandler
.word DMA1_Channel5_IRQHandler
.word DMA1_Channel6_IRQHandler
.word DMA1_Channel7_IRQHandler
.word ADC1_IRQHandler
.word CAN1_TX_IRQHandler
.word CAN1_RX0_IRQHandler
.word CAN1_RX1_IRQHandler
.word CAN1_SCE_IRQHandler
.word EXTI9_5_IRQHandler
.word TIM1_BRK_TIM15_IRQHandler
.word TIM1_UP_TIM16_IRQHandler
.word TIM1_TRG_COM_IRQHandler
.word TIM1_CC_IRQHandler
.word TIM2_IRQHandler
.word TIM3_IRQHandler
.word 0
.word I2C1_EV_IRQHandler
.word I2C1_ER_IRQHandler
.word I2C2_EV_IRQHandler
.word I2C2_ER_IRQHandler
.word SPI1_IRQHandler
.word SPI2_IRQHandler
.word USART1_IRQHandler
.word USART2_IRQHandler
.word USART3_IRQHandler
.word EXTI15_10_IRQHandler
.word RTC_Alarm_IRQHandler
.word 0
.word 0
.word 0
.word 0
.word 0
.word 0
.word 0
.word SDMMC1_IRQHandler
.word 0
.word SPI3_IRQHandler
.word UART4_IRQHandler
.word 0
.word TIM6_DAC_IRQHandler
.word 0
.word DMA2_Channel1_IRQHandler
.word DMA2_Channel2_IRQHandler
.word DMA2_Channel3_IRQHandler
.word DMA2_Channel4_IRQHandler
.word DMA2_Channel5_IRQHandler
.word DFSDM1_FLT0_IRQHandler
.word DFSDM1_FLT1_IRQHandler
.word 0
.word COMP_IRQHandler
.word LPTIM1_IRQHandler
.word LPTIM2_IRQHandler
.word USB_IRQHandler
.word DMA2_Channel6_IRQHandler
.word DMA2_Channel7_IRQHandler
.word LPUART1_IRQHandler
.word QUADSPI_IRQHandler
.word I2C3_EV_IRQHandler
.word I2C3_ER_IRQHandler
.word SAI1_IRQHandler
.word 0
.word 0
.word TSC_IRQHandler
.word 0
.word 0
.word RNG_IRQHandler
.word FPU_IRQHandler
.word CRS_IRQHandler
.word I2C4_EV_IRQHandler
.word I2C4_ER_IRQHandler
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_PVM_IRQHandler
.thumb_set PVD_PVM_IRQHandler,Default_Handler
.weak TAMP_STAMP_IRQHandler
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Channel1_IRQHandler
.thumb_set DMA1_Channel1_IRQHandler,Default_Handler
.weak DMA1_Channel2_IRQHandler
.thumb_set DMA1_Channel2_IRQHandler,Default_Handler
.weak DMA1_Channel3_IRQHandler
.thumb_set DMA1_Channel3_IRQHandler,Default_Handler
.weak DMA1_Channel4_IRQHandler
.thumb_set DMA1_Channel4_IRQHandler,Default_Handler
.weak DMA1_Channel5_IRQHandler
.thumb_set DMA1_Channel5_IRQHandler,Default_Handler
.weak DMA1_Channel6_IRQHandler
.thumb_set DMA1_Channel6_IRQHandler,Default_Handler
.weak DMA1_Channel7_IRQHandler
.thumb_set DMA1_Channel7_IRQHandler,Default_Handler
.weak ADC1_IRQHandler
.thumb_set ADC1_IRQHandler,Default_Handler
.weak CAN1_TX_IRQHandler
.thumb_set CAN1_TX_IRQHandler,Default_Handler
.weak CAN1_RX0_IRQHandler
.thumb_set CAN1_RX0_IRQHandler,Default_Handler
.weak CAN1_RX1_IRQHandler
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
.weak CAN1_SCE_IRQHandler
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_TIM15_IRQHandler
.thumb_set TIM1_BRK_TIM15_IRQHandler,Default_Handler
.weak TIM1_UP_TIM16_IRQHandler
.thumb_set TIM1_UP_TIM16_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_IRQHandler
.thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak SDMMC1_IRQHandler
.thumb_set SDMMC1_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
.weak TIM6_DAC_IRQHandler
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
.weak DMA2_Channel1_IRQHandler
.thumb_set DMA2_Channel1_IRQHandler,Default_Handler
.weak DMA2_Channel2_IRQHandler
.thumb_set DMA2_Channel2_IRQHandler,Default_Handler
.weak DMA2_Channel3_IRQHandler
.thumb_set DMA2_Channel3_IRQHandler,Default_Handler
.weak DMA2_Channel4_IRQHandler
.thumb_set DMA2_Channel4_IRQHandler,Default_Handler
.weak DMA2_Channel5_IRQHandler
.thumb_set DMA2_Channel5_IRQHandler,Default_Handler
.weak DFSDM1_FLT0_IRQHandler
.thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler
.weak DFSDM1_FLT1_IRQHandler
.thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler
.weak COMP_IRQHandler
.thumb_set COMP_IRQHandler,Default_Handler
.weak LPTIM1_IRQHandler
.thumb_set LPTIM1_IRQHandler,Default_Handler
.weak LPTIM2_IRQHandler
.thumb_set LPTIM2_IRQHandler,Default_Handler
.weak USB_IRQHandler
.thumb_set USB_IRQHandler,Default_Handler
.weak DMA2_Channel6_IRQHandler
.thumb_set DMA2_Channel6_IRQHandler,Default_Handler
.weak DMA2_Channel7_IRQHandler
.thumb_set DMA2_Channel7_IRQHandler,Default_Handler
.weak LPUART1_IRQHandler
.thumb_set LPUART1_IRQHandler,Default_Handler
.weak QUADSPI_IRQHandler
.thumb_set QUADSPI_IRQHandler,Default_Handler
.weak I2C3_EV_IRQHandler
.thumb_set I2C3_EV_IRQHandler,Default_Handler
.weak I2C3_ER_IRQHandler
.thumb_set I2C3_ER_IRQHandler,Default_Handler
.weak SAI1_IRQHandler
.thumb_set SAI1_IRQHandler,Default_Handler
.weak TSC_IRQHandler
.thumb_set TSC_IRQHandler,Default_Handler
.weak RNG_IRQHandler
.thumb_set RNG_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler
.weak CRS_IRQHandler
.thumb_set CRS_IRQHandler,Default_Handler
.weak I2C4_EV_IRQHandler
.thumb_set I2C4_EV_IRQHandler,Default_Handler
.weak I2C4_ER_IRQHandler
.thumb_set I2C4_ER_IRQHandler,Default_Handler

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../Core/Inc/FusionMath.h:127:21:FusionDegreesToRadians 1
../Core/Inc/FusionMath.h:136:21:FusionRadiansToDegrees 1
../Core/Inc/FusionMath.h:148:21:FusionAsin 3
../Core/Inc/FusionMath.h:169:21:FusionFastInverseSqrt 1
../Core/Inc/FusionMath.h:191:20:FusionVectorIsZero 4
../Core/Inc/FusionMath.h:201:28:FusionVectorAdd 1
../Core/Inc/FusionMath.h:216:28:FusionVectorSubtract 1
../Core/Inc/FusionMath.h:230:21:FusionVectorSum 1
../Core/Inc/FusionMath.h:240:28:FusionVectorMultiplyScalar 1
../Core/Inc/FusionMath.h:255:28:FusionVectorHadamardProduct 1
../Core/Inc/FusionMath.h:270:28:FusionVectorCrossProduct 1
../Core/Inc/FusionMath.h:289:21:FusionVectorDotProduct 1
../Core/Inc/FusionMath.h:298:21:FusionVectorMagnitudeSquared 1
../Core/Inc/FusionMath.h:307:21:FusionVectorMagnitude 1
../Core/Inc/FusionMath.h:316:28:FusionVectorNormalise 1
../Core/Inc/FusionMath.h:334:32:FusionQuaternionAdd 1
../Core/Inc/FusionMath.h:350:32:FusionQuaternionMultiply 1
../Core/Inc/FusionMath.h:373:32:FusionQuaternionMultiplyVector 1
../Core/Inc/FusionMath.h:392:32:FusionQuaternionNormalise 1
../Core/Src/FusionAhrs.c:46:6:FusionAhrsInitialise 1
../Core/Src/FusionAhrs.c:64:6:FusionAhrsReset 1
../Core/Src/FusionAhrs.c:85:6:FusionAhrsSetSettings 7
../Core/Src/FusionAhrs.c:113:6:FusionAhrsUpdate 17
../Core/Src/FusionAhrs.c:224:28:HalfGravity 4
../Core/Src/FusionAhrs.c:254:28:HalfMagnetic 5
../Core/Src/FusionAhrs.c:292:28:Feedback 2
../Core/Src/FusionAhrs.c:306:19:Clamp 3
../Core/Src/FusionAhrs.c:324:6:FusionAhrsUpdateNoMagnetometer 2
../Core/Src/FusionAhrs.c:344:6:FusionAhrsUpdateExternalHeading 1
../Core/Src/FusionAhrs.c:369:18:FusionAhrsGetQuaternion 1
../Core/Src/FusionAhrs.c:378:6:FusionAhrsSetQuaternion 1
../Core/Src/FusionAhrs.c:387:14:FusionAhrsGetGravity 1
../Core/Src/FusionAhrs.c:404:14:FusionAhrsGetLinearAcceleration 4
../Core/Src/FusionAhrs.c:423:14:FusionAhrsGetEarthAcceleration 4
../Core/Src/FusionAhrs.c:461:26:FusionAhrsGetInternalStates 3
../Core/Src/FusionAhrs.c:478:17:FusionAhrsGetFlags 1
../Core/Src/FusionAhrs.c:495:6:FusionAhrsSetHeading 1

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Core/Src/FusionAhrs.o: ../Core/Src/FusionAhrs.c ../Core/Inc/FusionAhrs.h \
../Core/Inc/FusionConvention.h ../Core/Inc/FusionMath.h
../Core/Inc/FusionAhrs.h:
../Core/Inc/FusionConvention.h:
../Core/Inc/FusionMath.h:

BIN
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37
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../Core/Inc/FusionMath.h:127:21:FusionDegreesToRadians 16 static
../Core/Inc/FusionMath.h:136:21:FusionRadiansToDegrees 16 static
../Core/Inc/FusionMath.h:148:21:FusionAsin 16 static
../Core/Inc/FusionMath.h:169:21:FusionFastInverseSqrt 24 static
../Core/Inc/FusionMath.h:191:20:FusionVectorIsZero 24 static
../Core/Inc/FusionMath.h:201:28:FusionVectorAdd 72 static
../Core/Inc/FusionMath.h:216:28:FusionVectorSubtract 72 static
../Core/Inc/FusionMath.h:230:21:FusionVectorSum 24 static
../Core/Inc/FusionMath.h:240:28:FusionVectorMultiplyScalar 64 static
../Core/Inc/FusionMath.h:255:28:FusionVectorHadamardProduct 72 static
../Core/Inc/FusionMath.h:270:28:FusionVectorCrossProduct 72 static
../Core/Inc/FusionMath.h:289:21:FusionVectorDotProduct 48 static
../Core/Inc/FusionMath.h:298:21:FusionVectorMagnitudeSquared 40 static
../Core/Inc/FusionMath.h:307:21:FusionVectorMagnitude 24 static
../Core/Inc/FusionMath.h:316:28:FusionVectorNormalise 56 static
../Core/Inc/FusionMath.h:334:32:FusionQuaternionAdd 88 static
../Core/Inc/FusionMath.h:350:32:FusionQuaternionMultiply 88 static
../Core/Inc/FusionMath.h:373:32:FusionQuaternionMultiplyVector 88 static
../Core/Inc/FusionMath.h:392:32:FusionQuaternionNormalise 88 static
../Core/Src/FusionAhrs.c:46:6:FusionAhrsInitialise 48 static
../Core/Src/FusionAhrs.c:64:6:FusionAhrsReset 72 static
../Core/Src/FusionAhrs.c:85:6:FusionAhrsSetSettings 16 static
../Core/Src/FusionAhrs.c:113:6:FusionAhrsUpdate 264 static
../Core/Src/FusionAhrs.c:224:28:HalfGravity 80 static
../Core/Src/FusionAhrs.c:254:28:HalfMagnetic 96 static
../Core/Src/FusionAhrs.c:292:28:Feedback 72 static
../Core/Src/FusionAhrs.c:306:19:Clamp 24 static
../Core/Src/FusionAhrs.c:324:6:FusionAhrsUpdateNoMagnetometer 56 static
../Core/Src/FusionAhrs.c:344:6:FusionAhrsUpdateExternalHeading 72 static
../Core/Src/FusionAhrs.c:369:18:FusionAhrsGetQuaternion 48 static
../Core/Src/FusionAhrs.c:378:6:FusionAhrsSetQuaternion 32 static
../Core/Src/FusionAhrs.c:387:14:FusionAhrsGetGravity 56 static
../Core/Src/FusionAhrs.c:404:14:FusionAhrsGetLinearAcceleration 80 static
../Core/Src/FusionAhrs.c:423:14:FusionAhrsGetEarthAcceleration 88 static
../Core/Src/FusionAhrs.c:461:26:FusionAhrsGetInternalStates 48 static
../Core/Src/FusionAhrs.c:478:17:FusionAhrsGetFlags 24 static
../Core/Src/FusionAhrs.c:495:6:FusionAhrsSetHeading 48 static

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../Core/Src/icm20948.c:6:9:read_register 1
../Core/Src/icm20948.c:12:6:write_register 1
../Core/Src/icm20948.c:16:6:icm20948_select_bank 1
../Core/Src/icm20948.c:20:6:icm20948_init 1
../Core/Src/icm20948.c:33:6:icm20948_read_accel 1
../Core/Src/icm20948.c:48:6:icm20948_read_gyro 1
../Core/Src/icm20948.c:62:6:icm20948_mag_init 1
../Core/Src/icm20948.c:72:6:icm20948_read_mag 1

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Core/Src/icm20948.o: ../Core/Src/icm20948.c ../Core/Inc/icm20948.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h \
../Core/Inc/stm32l4xx_hal_conf.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h \
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l452xx.h \
../Drivers/CMSIS/Include/core_cm4.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
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../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l452xx.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/system_stm32l4xx.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_dma.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_cortex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_exti.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ramfunc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h:

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../Core/Src/stm32l4xx_hal_msp.c:63:6:HAL_MspInit 16 static
../Core/Src/stm32l4xx_hal_msp.c:86:6:HAL_I2C_MspInit 152 static
../Core/Src/stm32l4xx_hal_msp.c:133:6:HAL_I2C_MspDeInit 16 static
../Core/Src/stm32l4xx_hal_msp.c:164:6:HAL_UART_MspInit 152 static
../Core/Src/stm32l4xx_hal_msp.c:212:6:HAL_UART_MspDeInit 16 static

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@ -0,0 +1,9 @@
../Core/Src/stm32l4xx_it.c:69:6:NMI_Handler 1
../Core/Src/stm32l4xx_it.c:84:6:HardFault_Handler 1
../Core/Src/stm32l4xx_it.c:99:6:MemManage_Handler 1
../Core/Src/stm32l4xx_it.c:114:6:BusFault_Handler 1
../Core/Src/stm32l4xx_it.c:129:6:UsageFault_Handler 1
../Core/Src/stm32l4xx_it.c:144:6:SVC_Handler 1
../Core/Src/stm32l4xx_it.c:157:6:DebugMon_Handler 1
../Core/Src/stm32l4xx_it.c:170:6:PendSV_Handler 1
../Core/Src/stm32l4xx_it.c:183:6:SysTick_Handler 1

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@ -0,0 +1,60 @@
Core/Src/stm32l4xx_it.o: ../Core/Src/stm32l4xx_it.c ../Core/Inc/main.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h \
../Core/Inc/stm32l4xx_hal_conf.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h \
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l452xx.h \
../Drivers/CMSIS/Include/core_cm4.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/system_stm32l4xx.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_dma.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_cortex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_exti.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ramfunc.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h \
../Core/Inc/stm32l4xx_it.h
../Core/Inc/main.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h:
../Core/Inc/stm32l4xx_hal_conf.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l452xx.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/system_stm32l4xx.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_dma.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_cortex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_exti.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ramfunc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h:
../Core/Inc/stm32l4xx_it.h:

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Debug/Core/Src/stm32l4xx_it.su Normal file
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../Core/Src/stm32l4xx_it.c:69:6:NMI_Handler 4 static
../Core/Src/stm32l4xx_it.c:84:6:HardFault_Handler 4 static
../Core/Src/stm32l4xx_it.c:99:6:MemManage_Handler 4 static
../Core/Src/stm32l4xx_it.c:114:6:BusFault_Handler 4 static
../Core/Src/stm32l4xx_it.c:129:6:UsageFault_Handler 4 static
../Core/Src/stm32l4xx_it.c:144:6:SVC_Handler 4 static
../Core/Src/stm32l4xx_it.c:157:6:DebugMon_Handler 4 static
../Core/Src/stm32l4xx_it.c:170:6:PendSV_Handler 4 static
../Core/Src/stm32l4xx_it.c:183:6:SysTick_Handler 8 static

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################################################################################
# Automatically-generated file. Do not edit!
# Toolchain: GNU Tools for STM32 (13.3.rel1)
################################################################################
# Add inputs and outputs from these tool invocations to the build variables
C_SRCS += \
../Core/Src/FusionAhrs.c \
../Core/Src/icm20948.c \
../Core/Src/lcd_i2c.c \
../Core/Src/main.c \
../Core/Src/moto_config.c \
../Core/Src/stm32l4xx_hal_msp.c \
../Core/Src/stm32l4xx_it.c \
../Core/Src/syscalls.c \
../Core/Src/sysmem.c \
../Core/Src/system_stm32l4xx.c
OBJS += \
./Core/Src/FusionAhrs.o \
./Core/Src/icm20948.o \
./Core/Src/lcd_i2c.o \
./Core/Src/main.o \
./Core/Src/moto_config.o \
./Core/Src/stm32l4xx_hal_msp.o \
./Core/Src/stm32l4xx_it.o \
./Core/Src/syscalls.o \
./Core/Src/sysmem.o \
./Core/Src/system_stm32l4xx.o
C_DEPS += \
./Core/Src/FusionAhrs.d \
./Core/Src/icm20948.d \
./Core/Src/lcd_i2c.d \
./Core/Src/main.d \
./Core/Src/moto_config.d \
./Core/Src/stm32l4xx_hal_msp.d \
./Core/Src/stm32l4xx_it.d \
./Core/Src/syscalls.d \
./Core/Src/sysmem.d \
./Core/Src/system_stm32l4xx.d
# Each subdirectory must supply rules for building sources it contributes
Core/Src/%.o Core/Src/%.su Core/Src/%.cyclo: ../Core/Src/%.c Core/Src/subdir.mk
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32L452xx -c -I../Core/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
clean: clean-Core-2f-Src
clean-Core-2f-Src:
-$(RM) ./Core/Src/FusionAhrs.cyclo ./Core/Src/FusionAhrs.d ./Core/Src/FusionAhrs.o ./Core/Src/FusionAhrs.su ./Core/Src/icm20948.cyclo ./Core/Src/icm20948.d ./Core/Src/icm20948.o ./Core/Src/icm20948.su ./Core/Src/lcd_i2c.cyclo ./Core/Src/lcd_i2c.d ./Core/Src/lcd_i2c.o ./Core/Src/lcd_i2c.su ./Core/Src/main.cyclo ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/moto_config.cyclo ./Core/Src/moto_config.d ./Core/Src/moto_config.o ./Core/Src/moto_config.su ./Core/Src/stm32l4xx_hal_msp.cyclo ./Core/Src/stm32l4xx_hal_msp.d ./Core/Src/stm32l4xx_hal_msp.o ./Core/Src/stm32l4xx_hal_msp.su ./Core/Src/stm32l4xx_it.cyclo ./Core/Src/stm32l4xx_it.d ./Core/Src/stm32l4xx_it.o ./Core/Src/stm32l4xx_it.su ./Core/Src/syscalls.cyclo ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.cyclo ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32l4xx.cyclo ./Core/Src/system_stm32l4xx.d ./Core/Src/system_stm32l4xx.o ./Core/Src/system_stm32l4xx.su
.PHONY: clean-Core-2f-Src

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../Core/Src/syscalls.c:44:6:initialise_monitor_handles 1
../Core/Src/syscalls.c:48:5:_getpid 1
../Core/Src/syscalls.c:53:5:_kill 1
../Core/Src/syscalls.c:61:6:_exit 1
../Core/Src/syscalls.c:67:27:_read 2
../Core/Src/syscalls.c:80:27:_write 2
../Core/Src/syscalls.c:92:5:_close 1
../Core/Src/syscalls.c:99:5:_fstat 1
../Core/Src/syscalls.c:106:5:_isatty 1
../Core/Src/syscalls.c:112:5:_lseek 1
../Core/Src/syscalls.c:120:5:_open 1
../Core/Src/syscalls.c:128:5:_wait 1
../Core/Src/syscalls.c:135:5:_unlink 1
../Core/Src/syscalls.c:142:5:_times 1
../Core/Src/syscalls.c:148:5:_stat 1
../Core/Src/syscalls.c:155:5:_link 1
../Core/Src/syscalls.c:163:5:_fork 1
../Core/Src/syscalls.c:169:5:_execve 1

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Core/Src/syscalls.o: ../Core/Src/syscalls.c

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../Core/Src/syscalls.c:44:6:initialise_monitor_handles 4 static
../Core/Src/syscalls.c:48:5:_getpid 4 static
../Core/Src/syscalls.c:53:5:_kill 16 static
../Core/Src/syscalls.c:61:6:_exit 16 static
../Core/Src/syscalls.c:67:27:_read 32 static
../Core/Src/syscalls.c:80:27:_write 32 static
../Core/Src/syscalls.c:92:5:_close 16 static
../Core/Src/syscalls.c:99:5:_fstat 16 static
../Core/Src/syscalls.c:106:5:_isatty 16 static
../Core/Src/syscalls.c:112:5:_lseek 24 static
../Core/Src/syscalls.c:120:5:_open 12 static
../Core/Src/syscalls.c:128:5:_wait 16 static
../Core/Src/syscalls.c:135:5:_unlink 16 static
../Core/Src/syscalls.c:142:5:_times 16 static
../Core/Src/syscalls.c:148:5:_stat 16 static
../Core/Src/syscalls.c:155:5:_link 16 static
../Core/Src/syscalls.c:163:5:_fork 8 static
../Core/Src/syscalls.c:169:5:_execve 24 static

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../Core/Src/sysmem.c:53:7:_sbrk 3

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Core/Src/sysmem.o: ../Core/Src/sysmem.c

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../Core/Src/sysmem.c:53:7:_sbrk 32 static

2
Debug/Core/Src/system_stm32l4xx.cyclo Normal file
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../Core/Src/system_stm32l4xx.c:197:6:SystemInit 1
../Core/Src/system_stm32l4xx.c:251:6:SystemCoreClockUpdate 8

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Core/Src/system_stm32l4xx.o: ../Core/Src/system_stm32l4xx.c \
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h \
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l452xx.h \
../Drivers/CMSIS/Include/core_cm4.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/system_stm32l4xx.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h \
../Core/Inc/stm32l4xx_hal_conf.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_def.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_dma.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_cortex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_exti.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ramfunc.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l452xx.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/system_stm32l4xx.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h:
../Core/Inc/stm32l4xx_hal_conf.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_def.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_dma.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_cortex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_exti.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ramfunc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h:

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Debug/Core/Src/system_stm32l4xx.su Normal file
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../Core/Src/system_stm32l4xx.c:197:6:SystemInit 4 static
../Core/Src/system_stm32l4xx.c:251:6:SystemCoreClockUpdate 32 static

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Core/Startup/startup_stm32l452retxp.o: \
../Core/Startup/startup_stm32l452retxp.s

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################################################################################
# Automatically-generated file. Do not edit!
# Toolchain: GNU Tools for STM32 (13.3.rel1)
################################################################################
# Add inputs and outputs from these tool invocations to the build variables
S_SRCS += \
../Core/Startup/startup_stm32l452retxp.s
OBJS += \
./Core/Startup/startup_stm32l452retxp.o
S_DEPS += \
./Core/Startup/startup_stm32l452retxp.d
# Each subdirectory must supply rules for building sources it contributes
Core/Startup/%.o: ../Core/Startup/%.s Core/Startup/subdir.mk
arm-none-eabi-gcc -mcpu=cortex-m4 -g3 -DDEBUG -c -x assembler-with-cpp -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@" "$<"
clean: clean-Core-2f-Startup
clean-Core-2f-Startup:
-$(RM) ./Core/Startup/startup_stm32l452retxp.d ./Core/Startup/startup_stm32l452retxp.o
.PHONY: clean-Core-2f-Startup

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Debug/Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.cyclo Normal file
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../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c:152:19:HAL_Init 2
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../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c:698:19:HAL_SYSCFG_EnableVREFBUF 3
../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c:724:6:HAL_SYSCFG_DisableVREFBUF 1
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Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.o: \
../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h \
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../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/system_stm32l4xx.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio_ex.h \
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../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ramfunc.h \
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../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h:
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../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_def.h:
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../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_dma.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_cortex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_exti.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ramfunc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c_ex.h:
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../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr_ex.h:
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../Drivers/CMSIS/Include/core_cm4.h:1648:22:__NVIC_SetPriorityGrouping 1
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Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_cortex.o: \
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../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ramfunc.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr_ex.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h \
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h:
../Core/Inc/stm32l4xx_hal_conf.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l452xx.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32L4xx/Include/system_stm32l4xx.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_gpio_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_dma.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_cortex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_exti.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_flash_ramfunc.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_i2c_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_pwr_ex.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h:
../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h:

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