From 79bfa20ac724bfa24f0708ab8282b7799c5cc7eb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lorentzo=20Donn=C3=A9?= Date: Thu, 24 Jul 2025 22:34:17 +0200 Subject: [PATCH] Initial commit --- .cproject | 180 + .mxproject | 25 + .project | 32 + .settings/language.settings.xml | 25 + .settings/stm32cubeide.project.prefs | 4 + Core/Inc/FusionAhrs.h | 111 + Core/Inc/FusionConvention.h | 25 + Core/Inc/FusionMath.h | 481 + Core/Inc/icm20948.h | 9 + Core/Inc/lcd_i2c.h | 11 + Core/Inc/main.h | 93 + Core/Inc/moto_config.h | 155 + Core/Inc/stm32l4xx_hal_conf.h | 482 + Core/Inc/stm32l4xx_it.h | 66 + Core/Src/FusionAhrs.c | 510 + Core/Src/icm20948.c | 85 + Core/Src/lcd_i2c.c | 57 + Core/Src/main.c | 328 + Core/Src/moto_config.c | 196 + Core/Src/stm32l4xx_hal_msp.c | 237 + Core/Src/stm32l4xx_it.c | 203 + Core/Src/syscalls.c | 176 + Core/Src/sysmem.c | 79 + Core/Src/system_stm32l4xx.c | 332 + Core/Startup/startup_stm32l452retxp.s | 478 + Debug/Core/Src/FusionAhrs.cyclo | 37 + Debug/Core/Src/FusionAhrs.d | 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16082 +++++++++++ .../Device/ST/STM32L4xx/Include/stm32l4xx.h | 303 + .../ST/STM32L4xx/Include/system_stm32l4xx.h | 106 + Drivers/CMSIS/Device/ST/STM32L4xx/LICENSE.txt | 6 + Drivers/CMSIS/Device/ST/STM32L4xx/License.md | 83 + Drivers/CMSIS/Include/cmsis_armcc.h | 894 + Drivers/CMSIS/Include/cmsis_armclang.h | 1444 + Drivers/CMSIS/Include/cmsis_armclang_ltm.h | 1891 ++ Drivers/CMSIS/Include/cmsis_compiler.h | 283 + Drivers/CMSIS/Include/cmsis_gcc.h | 2168 ++ Drivers/CMSIS/Include/cmsis_iccarm.h | 964 + Drivers/CMSIS/Include/cmsis_version.h | 39 + Drivers/CMSIS/Include/core_armv81mml.h | 2968 ++ Drivers/CMSIS/Include/core_armv8mbl.h | 1921 ++ Drivers/CMSIS/Include/core_armv8mml.h | 2835 ++ Drivers/CMSIS/Include/core_cm0.h | 952 + Drivers/CMSIS/Include/core_cm0plus.h | 1085 + Drivers/CMSIS/Include/core_cm1.h | 979 + Drivers/CMSIS/Include/core_cm23.h | 1996 ++ Drivers/CMSIS/Include/core_cm3.h | 1937 ++ Drivers/CMSIS/Include/core_cm33.h | 2910 ++ Drivers/CMSIS/Include/core_cm35p.h | 2910 ++ Drivers/CMSIS/Include/core_cm4.h | 2124 ++ Drivers/CMSIS/Include/core_cm7.h | 2725 ++ Drivers/CMSIS/Include/core_sc000.h | 1025 + Drivers/CMSIS/Include/core_sc300.h | 1912 ++ Drivers/CMSIS/Include/mpu_armv7.h | 272 + Drivers/CMSIS/Include/mpu_armv8.h | 346 + Drivers/CMSIS/Include/tz_context.h | 70 + Drivers/CMSIS/LICENSE.txt | 201 + .../Inc/Legacy/stm32_hal_legacy.h | 4374 +++ .../STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h | 726 + .../Inc/stm32l4xx_hal_cortex.h | 422 + .../Inc/stm32l4xx_hal_def.h | 211 + .../Inc/stm32l4xx_hal_dma.h | 861 + .../Inc/stm32l4xx_hal_dma_ex.h | 284 + .../Inc/stm32l4xx_hal_exti.h | 858 + .../Inc/stm32l4xx_hal_flash.h | 1028 + .../Inc/stm32l4xx_hal_flash_ex.h | 125 + .../Inc/stm32l4xx_hal_flash_ramfunc.h | 74 + .../Inc/stm32l4xx_hal_gpio.h | 323 + .../Inc/stm32l4xx_hal_gpio_ex.h | 1060 + .../Inc/stm32l4xx_hal_i2c.h | 838 + .../Inc/stm32l4xx_hal_i2c_ex.h | 184 + .../Inc/stm32l4xx_hal_pwr.h | 411 + .../Inc/stm32l4xx_hal_pwr_ex.h | 929 + .../Inc/stm32l4xx_hal_rcc.h | 4883 ++++ .../Inc/stm32l4xx_hal_rcc_ex.h | 3045 ++ .../Inc/stm32l4xx_hal_uart.h | 1810 ++ .../Inc/stm32l4xx_hal_uart_ex.h | 748 + .../Inc/stm32l4xx_ll_bus.h | 1954 ++ .../Inc/stm32l4xx_ll_cortex.h | 637 + .../Inc/stm32l4xx_ll_crs.h | 785 + .../Inc/stm32l4xx_ll_dma.h | 2430 ++ .../Inc/stm32l4xx_ll_dmamux.h | 1981 ++ .../Inc/stm32l4xx_ll_exti.h | 1359 + .../Inc/stm32l4xx_ll_gpio.h | 1056 + .../Inc/stm32l4xx_ll_i2c.h | 2279 ++ .../Inc/stm32l4xx_ll_lpuart.h | 2892 ++ .../Inc/stm32l4xx_ll_pwr.h | 1675 ++ .../Inc/stm32l4xx_ll_rcc.h | 6233 +++++ .../Inc/stm32l4xx_ll_system.h | 1629 ++ .../Inc/stm32l4xx_ll_usart.h | 4699 ++++ .../Inc/stm32l4xx_ll_utils.h | 329 + Drivers/STM32L4xx_HAL_Driver/LICENSE.txt | 6 + .../STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c | 765 + .../Src/stm32l4xx_hal_cortex.c | 541 + .../Src/stm32l4xx_hal_dma.c | 1174 + .../Src/stm32l4xx_hal_dma_ex.c | 307 + .../Src/stm32l4xx_hal_exti.c | 638 + .../Src/stm32l4xx_hal_flash.c | 764 + .../Src/stm32l4xx_hal_flash_ex.c | 1316 + .../Src/stm32l4xx_hal_flash_ramfunc.c | 251 + .../Src/stm32l4xx_hal_gpio.c | 551 + .../Src/stm32l4xx_hal_i2c.c | 7548 +++++ .../Src/stm32l4xx_hal_i2c_ex.c | 368 + .../Src/stm32l4xx_hal_pwr.c | 658 + .../Src/stm32l4xx_hal_pwr_ex.c | 1474 + .../Src/stm32l4xx_hal_rcc.c | 1942 ++ .../Src/stm32l4xx_hal_rcc_ex.c | 3556 +++ .../Src/stm32l4xx_hal_uart.c | 4919 ++++ .../Src/stm32l4xx_hal_uart_ex.c | 1098 + LICENSE | 21 + STM32L452RETXP_FLASH.ld | 190 + STM32L452RETXP_RAM.ld | 190 + moto-perf.ioc | 226 + moto-perf.launch | 85 + 232 files changed, 170175 insertions(+) create mode 100644 .cproject create mode 100644 .mxproject create mode 100644 .project create mode 100644 .settings/language.settings.xml create mode 100644 .settings/stm32cubeide.project.prefs create mode 100644 Core/Inc/FusionAhrs.h create mode 100644 Core/Inc/FusionConvention.h create mode 100644 Core/Inc/FusionMath.h create mode 100644 Core/Inc/icm20948.h create mode 100644 Core/Inc/lcd_i2c.h create mode 100644 Core/Inc/main.h 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Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr_ex.c create mode 100644 Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c create mode 100644 Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc_ex.c create mode 100644 Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c create mode 100644 Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart_ex.c create mode 100644 LICENSE create mode 100644 STM32L452RETXP_FLASH.ld create mode 100644 STM32L452RETXP_RAM.ld create mode 100644 moto-perf.ioc create mode 100644 moto-perf.launch diff --git a/.cproject b/.cproject new file mode 100644 index 0000000..5a95396 --- /dev/null +++ b/.cproject @@ -0,0 +1,180 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.mxproject b/.mxproject new file mode 100644 index 0000000..9f10e21 --- /dev/null +++ b/.mxproject @@ -0,0 +1,25 @@ +[PreviousLibFiles] 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+ +[PreviousUsedCubeIDEFiles] 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+HeaderPath=Drivers\STM32L4xx_HAL_Driver\Inc;Drivers\STM32L4xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32L4xx\Include;Drivers\CMSIS\Include;Core\Inc; +CDefines=USE_HAL_DRIVER;STM32L452xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + +[PreviousGenFiles] +AdvancedFolderStructure=true +HeaderFileListSize=3 +HeaderFiles#0=..\Core\Inc\stm32l4xx_it.h +HeaderFiles#1=..\Core\Inc\stm32l4xx_hal_conf.h +HeaderFiles#2=..\Core\Inc\main.h +HeaderFolderListSize=1 +HeaderPath#0=..\Core\Inc +HeaderFiles=; +SourceFileListSize=3 +SourceFiles#0=..\Core\Src\stm32l4xx_it.c +SourceFiles#1=..\Core\Src\stm32l4xx_hal_msp.c +SourceFiles#2=..\Core\Src\main.c +SourceFolderListSize=1 +SourcePath#0=..\Core\Src +SourceFiles=; + diff --git a/.project b/.project new file mode 100644 index 0000000..7b43ead --- /dev/null +++ b/.project @@ -0,0 +1,32 @@ + + + moto-perf + + + + + + org.eclipse.cdt.managedbuilder.core.genmakebuilder + clean,full,incremental, + + + + + org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder + full,incremental, + + + + + + com.st.stm32cube.ide.mcu.MCUProjectNature + org.eclipse.cdt.core.cnature + com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature + com.st.stm32cube.ide.mcu.MCUCubeProjectNature + com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature + com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature + com.st.stm32cube.ide.mcu.MCURootProjectNature + org.eclipse.cdt.managedbuilder.core.managedBuildNature + org.eclipse.cdt.managedbuilder.core.ScannerConfigNature + + diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml new file mode 100644 index 0000000..2c41265 --- /dev/null +++ b/.settings/language.settings.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs new file mode 100644 index 0000000..b4a2e8c --- /dev/null +++ b/.settings/stm32cubeide.project.prefs @@ -0,0 +1,4 @@ +2F62501ED4689FB349E356AB974DBE57=99AE16276D6E011C9E8FF08295691A58 +8DF89ED150041C4CBC7CB9A9CAA90856=99AE16276D6E011C9E8FF08295691A58 +DC22A860405A8BF2F2C095E5B6529F12=EBA8649CFED034199289C3453F8ABAD1 +eclipse.preferences.version=1 diff --git a/Core/Inc/FusionAhrs.h b/Core/Inc/FusionAhrs.h new file mode 100644 index 0000000..fca2476 --- /dev/null +++ b/Core/Inc/FusionAhrs.h @@ -0,0 +1,111 @@ +/** + * @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 + +//------------------------------------------------------------------------------ +// 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 diff --git a/Core/Inc/FusionConvention.h b/Core/Inc/FusionConvention.h new file mode 100644 index 0000000..0b0d43a --- /dev/null +++ b/Core/Inc/FusionConvention.h @@ -0,0 +1,25 @@ +/** + * @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 diff --git a/Core/Inc/FusionMath.h b/Core/Inc/FusionMath.h new file mode 100644 index 0000000..5ee92b0 --- /dev/null +++ b/Core/Inc/FusionMath.h @@ -0,0 +1,481 @@ +/** + * @file FusionMath.h + * @author Seb Madgwick + * @brief Math library. + */ + +#ifndef FUSION_MATH_H +#define FUSION_MATH_H + +//------------------------------------------------------------------------------ +// Includes + +#include +#include +#include + +//------------------------------------------------------------------------------ +// 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 diff --git a/Core/Inc/icm20948.h b/Core/Inc/icm20948.h new file mode 100644 index 0000000..7cdd7d4 --- /dev/null +++ b/Core/Inc/icm20948.h @@ -0,0 +1,9 @@ +#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 \ No newline at end of file diff --git a/Core/Inc/lcd_i2c.h b/Core/Inc/lcd_i2c.h new file mode 100644 index 0000000..0faefa9 --- /dev/null +++ b/Core/Inc/lcd_i2c.h @@ -0,0 +1,11 @@ +#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 \ No newline at end of file diff --git a/Core/Inc/main.h b/Core/Inc/main.h new file mode 100644 index 0000000..519702b --- /dev/null +++ b/Core/Inc/main.h @@ -0,0 +1,93 @@ +/* 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 */ diff --git a/Core/Inc/moto_config.h b/Core/Inc/moto_config.h new file mode 100644 index 0000000..c9fed02 --- /dev/null +++ b/Core/Inc/moto_config.h @@ -0,0 +1,155 @@ +/* + * moto_config.h + * + * Created on: Jul 24, 2025 + * Author: loren + */ + +#ifndef INC_MOTO_CONFIG_H_ +#define INC_MOTO_CONFIG_H_ + + +#include +#include + +//------------------------------------------------------------------------------ +// Constantes de configuration moto +//------------------------------------------------------------------------------ + +// Seuils d'alerte d'inclinaison (en degrĂ©s) +#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 // DĂ©tection wheelie +#define MOTO_PITCH_STOPPIE_THRESHOLD -25.0f // DĂ©tection stoppie + +// Seuils de vitesse angulaire (degrĂ©s/s) +#define MOTO_GYRO_RAPID_TURN_THRESHOLD 100.0f // Virage rapide +#define MOTO_GYRO_CRASH_THRESHOLD 300.0f // Possible chute + +// Filtrage et Ă©chantillonnage +#define MOTO_SAMPLE_RATE_HZ 100 // FrĂ©quence d'Ă©chantillonnage +#define MOTO_SAMPLE_PERIOD (1.0f / MOTO_SAMPLE_RATE_HZ) +#define MOTO_MAG_FILTER_ALPHA 0.1f // Filtre magnĂ©tomètre +#define MOTO_ANGLE_FILTER_ALPHA 0.2f // Filtre angles affichĂ©s + +// Calibration magnĂ©tomètre (Ă  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 donnĂ©es +//------------------------------------------------------------------------------ + +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 donnĂ©es moto + * @param data Pointeur vers la structure de donnĂ©es moto + */ +void Moto_InitData(MotoData_t *data); + +/** + * @brief Met Ă  jour l'Ă©tat de la moto basĂ© sur les angles + * @param data Pointeur vers la structure de donnĂ©es moto + * @param roll Angle de roulis en degrĂ©s + * @param pitch Angle de tangage en degrĂ©s + * @param yaw Angle de lacet en degrĂ©s + * @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 donnĂ©es moto + */ +void Moto_FilterAngles(MotoData_t *data); + +/** + * @brief Retourne une chaĂ®ne dĂ©crivant l'Ă©tat actuel + * @param state État de la moto + * @return Pointeur vers la chaĂ®ne de caractères + */ +const char* Moto_GetStateString(MotoState_t state); + +/** + * @brief Met Ă  jour les statistiques de conduite + * @param stats Pointeur vers la structure de statistiques + * @param data Pointeur vers les donnĂ©es 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 donnĂ©es du magnĂ©tomètre + * @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 DĂ©tecte une possible chute + * @param data Pointeur vers la structure de donnĂ©es moto + * @param gyro_magnitude Magnitude de la vitesse angulaire + * @return true si chute dĂ©tectĂ©e + */ +bool Moto_DetectCrash(MotoData_t *data, float gyro_magnitude); + +/** + * @brief Formate l'affichage pour l'Ă©cran LCD selon l'Ă©tat + * @param data Pointeur vers les donnĂ©es moto + * @param line NumĂ©ro 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_ */ diff --git a/Core/Inc/stm32l4xx_hal_conf.h b/Core/Inc/stm32l4xx_hal_conf.h new file mode 100644 index 0000000..8080ee6 --- /dev/null +++ b/Core/Inc/stm32l4xx_hal_conf.h @@ -0,0 +1,482 @@ +/* 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 */ diff --git a/Core/Inc/stm32l4xx_it.h b/Core/Inc/stm32l4xx_it.h new file mode 100644 index 0000000..b9bfcf8 --- /dev/null +++ b/Core/Inc/stm32l4xx_it.h @@ -0,0 +1,66 @@ +/* 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 */ diff --git a/Core/Src/FusionAhrs.c b/Core/Src/FusionAhrs.c new file mode 100644 index 0000000..52272df --- /dev/null +++ b/Core/Src/FusionAhrs.c @@ -0,0 +1,510 @@ +/** + * @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 +#include "FusionAhrs.h" +#include + +//------------------------------------------------------------------------------ +// 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 diff --git a/Core/Src/icm20948.c b/Core/Src/icm20948.c new file mode 100644 index 0000000..00a127c --- /dev/null +++ b/Core/Src/icm20948.c @@ -0,0 +1,85 @@ +#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; // sensibilitĂ© 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 maĂ®tre I2C (ex : 400 kHz) + write_register(0x01, 0x07); // I2C_MST_CTRL, 400 kHz + // Configure la lecture du magnĂ©to 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 magnĂ©to via I2C Master + // Par dĂ©faut les donnĂ©es du magnĂ©tomètre sont relayĂ©es en registres USER_MAG_DATA_X/Y/Z + // ou on doit lire via I2C Master + // Exemple simplifiĂ© : + HAL_I2C_Mem_Read(&hi2c1, ICM20948_ADDR, 0x31, 1, data, 6, HAL_MAX_DELAY); + int16_t x = (data[1] << 8) | data[0]; // Attention Ă  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; +} diff --git a/Core/Src/lcd_i2c.c b/Core/Src/lcd_i2c.c new file mode 100644 index 0000000..5e14bd4 --- /dev/null +++ b/Core/Src/lcd_i2c.c @@ -0,0 +1,57 @@ +#include "lcd_i2c.h" +#include + +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); +} \ No newline at end of file diff --git a/Core/Src/main.c b/Core/Src/main.c new file mode 100644 index 0000000..23ebfe2 --- /dev/null +++ b/Core/Src/main.c @@ -0,0 +1,328 @@ +#include +#include +#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 magnĂ©tomètre +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'Ă©cran + 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 vĂ©hicule + .gain = 0.75f, // Gain plus Ă©levĂ© pour rĂ©activitĂ© sur moto + .gyroscopeRange = 2000.0f, // Range du gyroscope en dps + .accelerationRejection = 15.0f, // Rejet modĂ©rĂ© (vibrations moto) + .magneticRejection = 30.0f, // Rejet Ă©levĂ© (interfĂ©rences mĂ©talliques) + .recoveryTriggerPeriod = (int)(2.0f / MOTO_SAMPLE_PERIOD) // 2 secondes + }; + FusionAhrsSetSettings(&ahrs, &settings); + + // Initialisation des donnĂ©es 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; // AccĂ©lĂ©romètre + float gx, gy, gz; // Gyroscope + float mx, my, mz; // MagnĂ©tomètre + + // 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 magnĂ©tomètre + 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; + + // PrĂ©paration des donnĂ©es pour Fusion + FusionVector gyroscope = {gx, gy, gz}; + FusionVector accelerometer = {ax, ay, az}; + FusionVector magnetometer = {mx_filtered, my_filtered, mz_filtered}; + + // Mise Ă  jour AHRS + FusionAhrsUpdate(&ahrs, gyroscope, accelerometer, magnetometer, dt); + + // RĂ©cupĂ©ration des angles d'Euler + FusionEuler euler = FusionQuaternionToEuler(FusionAhrsGetQuaternion(&ahrs)); + float roll = euler.angle.roll; + float pitch = euler.angle.pitch; + float yaw = euler.angle.yaw; + + // VĂ©rification de la phase d'initialisation + FusionAhrsFlags flags = FusionAhrsGetFlags(&ahrs); + moto_data.is_initializing = flags.initialising; + + // Mise Ă  jour de l'Ă©tat 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 Ă  jour de l'affichage (toutes les 5 itĂ©rations = ~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'Ă©tat + 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 itĂ©rations = ~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 Ă  jour du timestamp + moto_data.last_update_time = current_time; + last_time = current_time; + } + + // Petite pause pour Ă©viter 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 */ diff --git a/Core/Src/moto_config.c b/Core/Src/moto_config.c new file mode 100644 index 0000000..6fb2551 --- /dev/null +++ b/Core/Src/moto_config.c @@ -0,0 +1,196 @@ +/** + * @file moto_config.c + * @brief ImplĂ©mentation des fonctions utilitaires pour système IMU moto + */ + +#include "moto_config.h" +#include +#include +#include + +//------------------------------------------------------------------------------ +// 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 Ă  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); + + // DĂ©tection d'Ă©tat prioritaire : crash possible + if (Moto_DetectCrash(data, gyro_magnitude)) { + data->state = MOTO_STATE_POSSIBLE_CRASH; + return; + } + + // DĂ©tection 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; + } + // DĂ©tection de virage rapide + else if (fabsf(gyro_z) > MOTO_GYRO_RAPID_TURN_THRESHOLD) { + data->state = MOTO_STATE_RAPID_TURN; + } + // DĂ©tection d'inclinaison dangereuse + else if (fabsf(roll) > MOTO_ROLL_DANGER_THRESHOLD) { + data->state = MOTO_STATE_DANGER; + } + // DĂ©tection 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 Ă  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 Ă  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 Ă©tats 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'Ă©chelle + *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 dĂ©passĂ© pendant plusieurs Ă©chantillons + if (data->crash_detect_counter > 5) { // ~50ms Ă  100Hz + return true; + } + } else { + // DĂ©crĂ©mente 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 privĂ©es +//------------------------------------------------------------------------------ + +// Ajouter ici d'autres fonctions utilitaires si nĂ©cessaire diff --git a/Core/Src/stm32l4xx_hal_msp.c b/Core/Src/stm32l4xx_hal_msp.c new file mode 100644 index 0000000..de2c118 --- /dev/null +++ b/Core/Src/stm32l4xx_hal_msp.c @@ -0,0 +1,237 @@ +/* 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 */ diff --git a/Core/Src/stm32l4xx_it.c b/Core/Src/stm32l4xx_it.c new file mode 100644 index 0000000..e5f6b96 --- /dev/null +++ b/Core/Src/stm32l4xx_it.c @@ -0,0 +1,203 @@ +/* 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 */ diff --git a/Core/Src/syscalls.c b/Core/Src/syscalls.c new file mode 100644 index 0000000..8884b5a --- /dev/null +++ b/Core/Src/syscalls.c @@ -0,0 +1,176 @@ +/** + ****************************************************************************** + * @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 +#include +#include +#include +#include +#include +#include +#include + + +/* 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; +} diff --git a/Core/Src/sysmem.c b/Core/Src/sysmem.c new file mode 100644 index 0000000..5d9f7e6 --- /dev/null +++ b/Core/Src/sysmem.c @@ -0,0 +1,79 @@ +/** + ****************************************************************************** + * @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 +#include + +/** + * 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; +} diff --git a/Core/Src/system_stm32l4xx.c b/Core/Src/system_stm32l4xx.c new file mode 100644 index 0000000..be9cfee --- /dev/null +++ b/Core/Src/system_stm32l4xx.c @@ -0,0 +1,332 @@ +/** + ****************************************************************************** + * @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****/ diff --git a/Core/Startup/startup_stm32l452retxp.s b/Core/Startup/startup_stm32l452retxp.s new file mode 100644 index 0000000..6447a0d --- /dev/null +++ b/Core/Startup/startup_stm32l452retxp.s @@ -0,0 +1,478 @@ +/** + ****************************************************************************** + * @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 + diff --git a/Debug/Core/Src/FusionAhrs.cyclo b/Debug/Core/Src/FusionAhrs.cyclo new file mode 100644 index 0000000..5ae7cc6 --- /dev/null +++ b/Debug/Core/Src/FusionAhrs.cyclo @@ -0,0 +1,37 @@ +../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 diff --git a/Debug/Core/Src/FusionAhrs.d b/Debug/Core/Src/FusionAhrs.d new file mode 100644 index 0000000..8a42b6f --- /dev/null +++ b/Debug/Core/Src/FusionAhrs.d @@ -0,0 +1,5 @@ +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: diff --git a/Debug/Core/Src/FusionAhrs.o b/Debug/Core/Src/FusionAhrs.o new file mode 100644 index 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b/Debug/Core/Src/FusionAhrs.su new file mode 100644 index 0000000..241b6e0 --- /dev/null +++ b/Debug/Core/Src/FusionAhrs.su @@ -0,0 +1,37 @@ +../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 diff --git a/Debug/Core/Src/icm20948.cyclo b/Debug/Core/Src/icm20948.cyclo new file mode 100644 index 0000000..949211a --- /dev/null +++ b/Debug/Core/Src/icm20948.cyclo @@ -0,0 +1,8 @@ +../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 diff --git a/Debug/Core/Src/icm20948.d b/Debug/Core/Src/icm20948.d new file mode 100644 index 0000000..a05122e --- /dev/null +++ b/Debug/Core/Src/icm20948.d @@ -0,0 +1,58 @@ +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 \ + ../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/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: +../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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b/Debug/Core/Src/icm20948.su @@ -0,0 +1,8 @@ +../Core/Src/icm20948.c:6:9:read_register 40 static +../Core/Src/icm20948.c:12:6:write_register 32 static +../Core/Src/icm20948.c:16:6:icm20948_select_bank 16 static +../Core/Src/icm20948.c:20:6:icm20948_init 8 static +../Core/Src/icm20948.c:33:6:icm20948_read_accel 56 static +../Core/Src/icm20948.c:48:6:icm20948_read_gyro 56 static +../Core/Src/icm20948.c:62:6:icm20948_mag_init 8 static +../Core/Src/icm20948.c:72:6:icm20948_read_mag 56 static diff --git a/Debug/Core/Src/lcd_i2c.cyclo b/Debug/Core/Src/lcd_i2c.cyclo new file mode 100644 index 0000000..885dd59 --- /dev/null +++ b/Debug/Core/Src/lcd_i2c.cyclo @@ -0,0 +1,7 @@ +../Core/Src/lcd_i2c.c:13:6:lcd_init 1 +../Core/Src/lcd_i2c.c:24:6:lcd_clear 1 +../Core/Src/lcd_i2c.c:29:6:lcd_set_cursor 1 +../Core/Src/lcd_i2c.c:34:6:lcd_print 2 +../Core/Src/lcd_i2c.c:40:6:lcd_send_cmd 1 +../Core/Src/lcd_i2c.c:44:6:lcd_send_data 1 +../Core/Src/lcd_i2c.c:48:6:lcd_send 1 diff --git a/Debug/Core/Src/lcd_i2c.d b/Debug/Core/Src/lcd_i2c.d new file mode 100644 index 0000000..230bf75 --- /dev/null +++ b/Debug/Core/Src/lcd_i2c.d @@ -0,0 +1,58 @@ +Core/Src/lcd_i2c.o: ../Core/Src/lcd_i2c.c ../Core/Inc/lcd_i2c.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 \ + 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b/Debug/Core/Src/lcd_i2c.su new file mode 100644 index 0000000..a749463 --- /dev/null +++ b/Debug/Core/Src/lcd_i2c.su @@ -0,0 +1,7 @@ +../Core/Src/lcd_i2c.c:13:6:lcd_init 8 static +../Core/Src/lcd_i2c.c:24:6:lcd_clear 8 static +../Core/Src/lcd_i2c.c:29:6:lcd_set_cursor 24 static +../Core/Src/lcd_i2c.c:34:6:lcd_print 16 static +../Core/Src/lcd_i2c.c:40:6:lcd_send_cmd 16 static +../Core/Src/lcd_i2c.c:44:6:lcd_send_data 16 static +../Core/Src/lcd_i2c.c:48:6:lcd_send 32 static diff --git a/Debug/Core/Src/main.cyclo b/Debug/Core/Src/main.cyclo new file mode 100644 index 0000000..166d08f --- /dev/null +++ b/Debug/Core/Src/main.cyclo @@ -0,0 +1,10 @@ +../Core/Inc/FusionMath.h:136:21:FusionRadiansToDegrees 1 +../Core/Inc/FusionMath.h:148:21:FusionAsin 3 +../Core/Inc/FusionMath.h:466:27:FusionQuaternionToEuler 1 +../Core/Src/main.c:21:5:__io_putchar 1 +../Core/Src/main.c:29:5:main 10 +../Core/Src/main.c:179:6:SystemClock_Config 4 +../Core/Src/main.c:224:13:MX_I2C1_Init 4 +../Core/Src/main.c:251:13:MX_USART2_UART_Init 2 +../Core/Src/main.c:269:13:MX_GPIO_Init 1 +../Core/Src/main.c:312:6:Error_Handler 1 diff --git a/Debug/Core/Src/main.d b/Debug/Core/Src/main.d new file mode 100644 index 0000000..d151ed4 --- /dev/null +++ b/Debug/Core/Src/main.d @@ -0,0 +1,67 @@ +Core/Src/main.o: ../Core/Src/main.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/lcd_i2c.h ../Core/Inc/icm20948.h ../Core/Inc/FusionAhrs.h \ + ../Core/Inc/FusionConvention.h ../Core/Inc/FusionMath.h \ + ../Core/Inc/moto_config.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: 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+../Core/Src/moto_config.c:22:6:Moto_UpdateState 48 static +../Core/Src/moto_config.c:64:6:Moto_FilterAngles 16 static +../Core/Src/moto_config.c:76:13:Moto_GetStateString 16 static +../Core/Src/moto_config.c:89:6:Moto_UpdateStats 32 static +../Core/Src/moto_config.c:111:6:Moto_CalibrateMagnetometer 24 static +../Core/Src/moto_config.c:118:6:Moto_DetectCrash 16 static +../Core/Src/moto_config.c:136:6:Moto_FormatDisplay 48 static diff --git a/Debug/Core/Src/stm32l4xx_hal_msp.cyclo b/Debug/Core/Src/stm32l4xx_hal_msp.cyclo new file mode 100644 index 0000000..abbed1e --- /dev/null +++ b/Debug/Core/Src/stm32l4xx_hal_msp.cyclo @@ -0,0 +1,5 @@ +../Core/Src/stm32l4xx_hal_msp.c:63:6:HAL_MspInit 1 +../Core/Src/stm32l4xx_hal_msp.c:86:6:HAL_I2C_MspInit 3 +../Core/Src/stm32l4xx_hal_msp.c:133:6:HAL_I2C_MspDeInit 2 +../Core/Src/stm32l4xx_hal_msp.c:164:6:HAL_UART_MspInit 3 +../Core/Src/stm32l4xx_hal_msp.c:212:6:HAL_UART_MspDeInit 2 diff --git a/Debug/Core/Src/stm32l4xx_hal_msp.d b/Debug/Core/Src/stm32l4xx_hal_msp.d new file mode 100644 index 0000000..a64260b --- /dev/null +++ b/Debug/Core/Src/stm32l4xx_hal_msp.d @@ -0,0 +1,58 @@ +Core/Src/stm32l4xx_hal_msp.o: ../Core/Src/stm32l4xx_hal_msp.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 \ + 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