Initial commit
This commit is contained in:
@@ -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 <stdbool.h>
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Definitions
|
||||
|
||||
/**
|
||||
* @brief AHRS algorithm settings.
|
||||
*/
|
||||
typedef struct {
|
||||
FusionConvention convention;
|
||||
float gain;
|
||||
float gyroscopeRange;
|
||||
float accelerationRejection;
|
||||
float magneticRejection;
|
||||
unsigned int recoveryTriggerPeriod;
|
||||
} FusionAhrsSettings;
|
||||
|
||||
/**
|
||||
* @brief AHRS algorithm structure. Structure members are used internally and
|
||||
* must not be accessed by the application.
|
||||
*/
|
||||
typedef struct {
|
||||
FusionAhrsSettings settings;
|
||||
FusionQuaternion quaternion;
|
||||
FusionVector accelerometer;
|
||||
bool initialising;
|
||||
float rampedGain;
|
||||
float rampedGainStep;
|
||||
bool angularRateRecovery;
|
||||
FusionVector halfAccelerometerFeedback;
|
||||
FusionVector halfMagnetometerFeedback;
|
||||
bool accelerometerIgnored;
|
||||
int accelerationRecoveryTrigger;
|
||||
int accelerationRecoveryTimeout;
|
||||
bool magnetometerIgnored;
|
||||
int magneticRecoveryTrigger;
|
||||
int magneticRecoveryTimeout;
|
||||
} FusionAhrs;
|
||||
|
||||
/**
|
||||
* @brief AHRS algorithm internal states.
|
||||
*/
|
||||
typedef struct {
|
||||
float accelerationError;
|
||||
bool accelerometerIgnored;
|
||||
float accelerationRecoveryTrigger;
|
||||
float magneticError;
|
||||
bool magnetometerIgnored;
|
||||
float magneticRecoveryTrigger;
|
||||
} FusionAhrsInternalStates;
|
||||
|
||||
/**
|
||||
* @brief AHRS algorithm flags.
|
||||
*/
|
||||
typedef struct {
|
||||
bool initialising;
|
||||
bool angularRateRecovery;
|
||||
bool accelerationRecovery;
|
||||
bool magneticRecovery;
|
||||
} FusionAhrsFlags;
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Function declarations
|
||||
|
||||
void FusionAhrsInitialise(FusionAhrs *const ahrs);
|
||||
|
||||
void FusionAhrsReset(FusionAhrs *const ahrs);
|
||||
|
||||
void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings);
|
||||
|
||||
void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const FusionVector magnetometer, const float deltaTime);
|
||||
|
||||
void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float deltaTime);
|
||||
|
||||
void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float heading, const float deltaTime);
|
||||
|
||||
FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs);
|
||||
|
||||
void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion);
|
||||
|
||||
FusionVector FusionAhrsGetGravity(const FusionAhrs *const ahrs);
|
||||
|
||||
FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs);
|
||||
|
||||
FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs);
|
||||
|
||||
FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs);
|
||||
|
||||
FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs);
|
||||
|
||||
void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading);
|
||||
|
||||
#endif
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// End of file
|
||||
@@ -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
|
||||
@@ -0,0 +1,481 @@
|
||||
/**
|
||||
* @file FusionMath.h
|
||||
* @author Seb Madgwick
|
||||
* @brief Math library.
|
||||
*/
|
||||
|
||||
#ifndef FUSION_MATH_H
|
||||
#define FUSION_MATH_H
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Includes
|
||||
|
||||
#include <math.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Definitions
|
||||
|
||||
/**
|
||||
* @brief 3D vector.
|
||||
*/
|
||||
typedef union {
|
||||
float array[3];
|
||||
|
||||
struct {
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
} axis;
|
||||
} FusionVector;
|
||||
|
||||
/**
|
||||
* @brief Quaternion.
|
||||
*/
|
||||
typedef union {
|
||||
float array[4];
|
||||
|
||||
struct {
|
||||
float w;
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
} element;
|
||||
} FusionQuaternion;
|
||||
|
||||
/**
|
||||
* @brief 3x3 matrix in row-major order.
|
||||
* See http://en.wikipedia.org/wiki/Row-major_order
|
||||
*/
|
||||
typedef union {
|
||||
float array[3][3];
|
||||
|
||||
struct {
|
||||
float xx;
|
||||
float xy;
|
||||
float xz;
|
||||
float yx;
|
||||
float yy;
|
||||
float yz;
|
||||
float zx;
|
||||
float zy;
|
||||
float zz;
|
||||
} element;
|
||||
} FusionMatrix;
|
||||
|
||||
/**
|
||||
* @brief Euler angles. Roll, pitch, and yaw correspond to rotations around
|
||||
* X, Y, and Z respectively.
|
||||
*/
|
||||
typedef union {
|
||||
float array[3];
|
||||
|
||||
struct {
|
||||
float roll;
|
||||
float pitch;
|
||||
float yaw;
|
||||
} angle;
|
||||
} FusionEuler;
|
||||
|
||||
/**
|
||||
* @brief Vector of zeros.
|
||||
*/
|
||||
#define FUSION_VECTOR_ZERO ((FusionVector){ .array = {0.0f, 0.0f, 0.0f} })
|
||||
|
||||
/**
|
||||
* @brief Vector of ones.
|
||||
*/
|
||||
#define FUSION_VECTOR_ONES ((FusionVector){ .array = {1.0f, 1.0f, 1.0f} })
|
||||
|
||||
/**
|
||||
* @brief Identity quaternion.
|
||||
*/
|
||||
#define FUSION_IDENTITY_QUATERNION ((FusionQuaternion){ .array = {1.0f, 0.0f, 0.0f, 0.0f} })
|
||||
|
||||
/**
|
||||
* @brief Identity matrix.
|
||||
*/
|
||||
#define FUSION_IDENTITY_MATRIX ((FusionMatrix){ .array = {{1.0f, 0.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 0.0f, 1.0f}} })
|
||||
|
||||
/**
|
||||
* @brief Euler angles of zero.
|
||||
*/
|
||||
#define FUSION_EULER_ZERO ((FusionEuler){ .array = {0.0f, 0.0f, 0.0f} })
|
||||
|
||||
/**
|
||||
* @brief Pi. May not be defined in math.h.
|
||||
*/
|
||||
#ifndef M_PI
|
||||
#define M_PI (3.14159265358979323846)
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Include this definition or add as a preprocessor definition to use
|
||||
* normal square root operations.
|
||||
*/
|
||||
//#define FUSION_USE_NORMAL_SQRT
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Inline functions - Degrees and radians conversion
|
||||
|
||||
/**
|
||||
* @brief Converts degrees to radians.
|
||||
* @param degrees Degrees.
|
||||
* @return Radians.
|
||||
*/
|
||||
static inline float FusionDegreesToRadians(const float degrees) {
|
||||
return degrees * ((float) M_PI / 180.0f);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Converts radians to degrees.
|
||||
* @param radians Radians.
|
||||
* @return Degrees.
|
||||
*/
|
||||
static inline float FusionRadiansToDegrees(const float radians) {
|
||||
return radians * (180.0f / (float) M_PI);
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Inline functions - Arc sine
|
||||
|
||||
/**
|
||||
* @brief Returns the arc sine of the value.
|
||||
* @param value Value.
|
||||
* @return Arc sine of the value.
|
||||
*/
|
||||
static inline float FusionAsin(const float value) {
|
||||
if (value <= -1.0f) {
|
||||
return (float) M_PI / -2.0f;
|
||||
}
|
||||
if (value >= 1.0f) {
|
||||
return (float) M_PI / 2.0f;
|
||||
}
|
||||
return asinf(value);
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Inline functions - Fast inverse square root
|
||||
|
||||
#ifndef FUSION_USE_NORMAL_SQRT
|
||||
|
||||
/**
|
||||
* @brief Calculates the reciprocal of the square root.
|
||||
* See https://pizer.wordpress.com/2008/10/12/fast-inverse-square-root/
|
||||
* @param x Operand.
|
||||
* @return Reciprocal of the square root of x.
|
||||
*/
|
||||
static inline float FusionFastInverseSqrt(const float x) {
|
||||
|
||||
typedef union {
|
||||
float f;
|
||||
int32_t i;
|
||||
} Union32;
|
||||
|
||||
Union32 union32 = {.f = x};
|
||||
union32.i = 0x5F1F1412 - (union32.i >> 1);
|
||||
return union32.f * (1.69000231f - 0.714158168f * x * union32.f * union32.f);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Inline functions - Vector operations
|
||||
|
||||
/**
|
||||
* @brief Returns true if the vector is zero.
|
||||
* @param vector Vector.
|
||||
* @return True if the vector is zero.
|
||||
*/
|
||||
static inline bool FusionVectorIsZero(const FusionVector vector) {
|
||||
return (vector.axis.x == 0.0f) && (vector.axis.y == 0.0f) && (vector.axis.z == 0.0f);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the sum of two vectors.
|
||||
* @param vectorA Vector A.
|
||||
* @param vectorB Vector B.
|
||||
* @return Sum of two vectors.
|
||||
*/
|
||||
static inline FusionVector FusionVectorAdd(const FusionVector vectorA, const FusionVector vectorB) {
|
||||
const FusionVector result = {.axis = {
|
||||
.x = vectorA.axis.x + vectorB.axis.x,
|
||||
.y = vectorA.axis.y + vectorB.axis.y,
|
||||
.z = vectorA.axis.z + vectorB.axis.z,
|
||||
}};
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns vector B subtracted from vector A.
|
||||
* @param vectorA Vector A.
|
||||
* @param vectorB Vector B.
|
||||
* @return Vector B subtracted from vector A.
|
||||
*/
|
||||
static inline FusionVector FusionVectorSubtract(const FusionVector vectorA, const FusionVector vectorB) {
|
||||
const FusionVector result = {.axis = {
|
||||
.x = vectorA.axis.x - vectorB.axis.x,
|
||||
.y = vectorA.axis.y - vectorB.axis.y,
|
||||
.z = vectorA.axis.z - vectorB.axis.z,
|
||||
}};
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the sum of the elements.
|
||||
* @param vector Vector.
|
||||
* @return Sum of the elements.
|
||||
*/
|
||||
static inline float FusionVectorSum(const FusionVector vector) {
|
||||
return vector.axis.x + vector.axis.y + vector.axis.z;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the multiplication of a vector by a scalar.
|
||||
* @param vector Vector.
|
||||
* @param scalar Scalar.
|
||||
* @return Multiplication of a vector by a scalar.
|
||||
*/
|
||||
static inline FusionVector FusionVectorMultiplyScalar(const FusionVector vector, const float scalar) {
|
||||
const FusionVector result = {.axis = {
|
||||
.x = vector.axis.x * scalar,
|
||||
.y = vector.axis.y * scalar,
|
||||
.z = vector.axis.z * scalar,
|
||||
}};
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Calculates the Hadamard product (element-wise multiplication).
|
||||
* @param vectorA Vector A.
|
||||
* @param vectorB Vector B.
|
||||
* @return Hadamard product.
|
||||
*/
|
||||
static inline FusionVector FusionVectorHadamardProduct(const FusionVector vectorA, const FusionVector vectorB) {
|
||||
const FusionVector result = {.axis = {
|
||||
.x = vectorA.axis.x * vectorB.axis.x,
|
||||
.y = vectorA.axis.y * vectorB.axis.y,
|
||||
.z = vectorA.axis.z * vectorB.axis.z,
|
||||
}};
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the cross product.
|
||||
* @param vectorA Vector A.
|
||||
* @param vectorB Vector B.
|
||||
* @return Cross product.
|
||||
*/
|
||||
static inline FusionVector FusionVectorCrossProduct(const FusionVector vectorA, const FusionVector vectorB) {
|
||||
#define A vectorA.axis
|
||||
#define B vectorB.axis
|
||||
const FusionVector result = {.axis = {
|
||||
.x = A.y * B.z - A.z * B.y,
|
||||
.y = A.z * B.x - A.x * B.z,
|
||||
.z = A.x * B.y - A.y * B.x,
|
||||
}};
|
||||
return result;
|
||||
#undef A
|
||||
#undef B
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the dot product.
|
||||
* @param vectorA Vector A.
|
||||
* @param vectorB Vector B.
|
||||
* @return Dot product.
|
||||
*/
|
||||
static inline float FusionVectorDotProduct(const FusionVector vectorA, const FusionVector vectorB) {
|
||||
return FusionVectorSum(FusionVectorHadamardProduct(vectorA, vectorB));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the vector magnitude squared.
|
||||
* @param vector Vector.
|
||||
* @return Vector magnitude squared.
|
||||
*/
|
||||
static inline float FusionVectorMagnitudeSquared(const FusionVector vector) {
|
||||
return FusionVectorSum(FusionVectorHadamardProduct(vector, vector));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the vector magnitude.
|
||||
* @param vector Vector.
|
||||
* @return Vector magnitude.
|
||||
*/
|
||||
static inline float FusionVectorMagnitude(const FusionVector vector) {
|
||||
return sqrtf(FusionVectorMagnitudeSquared(vector));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the normalised vector.
|
||||
* @param vector Vector.
|
||||
* @return Normalised vector.
|
||||
*/
|
||||
static inline FusionVector FusionVectorNormalise(const FusionVector vector) {
|
||||
#ifdef FUSION_USE_NORMAL_SQRT
|
||||
const float magnitudeReciprocal = 1.0f / sqrtf(FusionVectorMagnitudeSquared(vector));
|
||||
#else
|
||||
const float magnitudeReciprocal = FusionFastInverseSqrt(FusionVectorMagnitudeSquared(vector));
|
||||
#endif
|
||||
return FusionVectorMultiplyScalar(vector, magnitudeReciprocal);
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Inline functions - Quaternion operations
|
||||
|
||||
/**
|
||||
* @brief Returns the sum of two quaternions.
|
||||
* @param quaternionA Quaternion A.
|
||||
* @param quaternionB Quaternion B.
|
||||
* @return Sum of two quaternions.
|
||||
*/
|
||||
static inline FusionQuaternion FusionQuaternionAdd(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB) {
|
||||
const FusionQuaternion result = {.element = {
|
||||
.w = quaternionA.element.w + quaternionB.element.w,
|
||||
.x = quaternionA.element.x + quaternionB.element.x,
|
||||
.y = quaternionA.element.y + quaternionB.element.y,
|
||||
.z = quaternionA.element.z + quaternionB.element.z,
|
||||
}};
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the multiplication of two quaternions.
|
||||
* @param quaternionA Quaternion A (to be post-multiplied).
|
||||
* @param quaternionB Quaternion B (to be pre-multiplied).
|
||||
* @return Multiplication of two quaternions.
|
||||
*/
|
||||
static inline FusionQuaternion FusionQuaternionMultiply(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB) {
|
||||
#define A quaternionA.element
|
||||
#define B quaternionB.element
|
||||
const FusionQuaternion result = {.element = {
|
||||
.w = A.w * B.w - A.x * B.x - A.y * B.y - A.z * B.z,
|
||||
.x = A.w * B.x + A.x * B.w + A.y * B.z - A.z * B.y,
|
||||
.y = A.w * B.y - A.x * B.z + A.y * B.w + A.z * B.x,
|
||||
.z = A.w * B.z + A.x * B.y - A.y * B.x + A.z * B.w,
|
||||
}};
|
||||
return result;
|
||||
#undef A
|
||||
#undef B
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the multiplication of a quaternion with a vector. This is a
|
||||
* normal quaternion multiplication where the vector is treated a
|
||||
* quaternion with a W element value of zero. The quaternion is post-
|
||||
* multiplied by the vector.
|
||||
* @param quaternion Quaternion.
|
||||
* @param vector Vector.
|
||||
* @return Multiplication of a quaternion with a vector.
|
||||
*/
|
||||
static inline FusionQuaternion FusionQuaternionMultiplyVector(const FusionQuaternion quaternion, const FusionVector vector) {
|
||||
#define Q quaternion.element
|
||||
#define V vector.axis
|
||||
const FusionQuaternion result = {.element = {
|
||||
.w = -Q.x * V.x - Q.y * V.y - Q.z * V.z,
|
||||
.x = Q.w * V.x + Q.y * V.z - Q.z * V.y,
|
||||
.y = Q.w * V.y - Q.x * V.z + Q.z * V.x,
|
||||
.z = Q.w * V.z + Q.x * V.y - Q.y * V.x,
|
||||
}};
|
||||
return result;
|
||||
#undef Q
|
||||
#undef V
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the normalised quaternion.
|
||||
* @param quaternion Quaternion.
|
||||
* @return Normalised quaternion.
|
||||
*/
|
||||
static inline FusionQuaternion FusionQuaternionNormalise(const FusionQuaternion quaternion) {
|
||||
#define Q quaternion.element
|
||||
#ifdef FUSION_USE_NORMAL_SQRT
|
||||
const float magnitudeReciprocal = 1.0f / sqrtf(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
|
||||
#else
|
||||
const float magnitudeReciprocal = FusionFastInverseSqrt(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
|
||||
#endif
|
||||
const FusionQuaternion result = {.element = {
|
||||
.w = Q.w * magnitudeReciprocal,
|
||||
.x = Q.x * magnitudeReciprocal,
|
||||
.y = Q.y * magnitudeReciprocal,
|
||||
.z = Q.z * magnitudeReciprocal,
|
||||
}};
|
||||
return result;
|
||||
#undef Q
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Inline functions - Matrix operations
|
||||
|
||||
/**
|
||||
* @brief Returns the multiplication of a matrix with a vector.
|
||||
* @param matrix Matrix.
|
||||
* @param vector Vector.
|
||||
* @return Multiplication of a matrix with a vector.
|
||||
*/
|
||||
static inline FusionVector FusionMatrixMultiplyVector(const FusionMatrix matrix, const FusionVector vector) {
|
||||
#define R matrix.element
|
||||
const FusionVector result = {.axis = {
|
||||
.x = R.xx * vector.axis.x + R.xy * vector.axis.y + R.xz * vector.axis.z,
|
||||
.y = R.yx * vector.axis.x + R.yy * vector.axis.y + R.yz * vector.axis.z,
|
||||
.z = R.zx * vector.axis.x + R.zy * vector.axis.y + R.zz * vector.axis.z,
|
||||
}};
|
||||
return result;
|
||||
#undef R
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Inline functions - Conversion operations
|
||||
|
||||
/**
|
||||
* @brief Converts a quaternion to a rotation matrix.
|
||||
* @param quaternion Quaternion.
|
||||
* @return Rotation matrix.
|
||||
*/
|
||||
static inline FusionMatrix FusionQuaternionToMatrix(const FusionQuaternion quaternion) {
|
||||
#define Q quaternion.element
|
||||
const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
|
||||
const float qwqx = Q.w * Q.x;
|
||||
const float qwqy = Q.w * Q.y;
|
||||
const float qwqz = Q.w * Q.z;
|
||||
const float qxqy = Q.x * Q.y;
|
||||
const float qxqz = Q.x * Q.z;
|
||||
const float qyqz = Q.y * Q.z;
|
||||
const FusionMatrix matrix = {.element = {
|
||||
.xx = 2.0f * (qwqw - 0.5f + Q.x * Q.x),
|
||||
.xy = 2.0f * (qxqy - qwqz),
|
||||
.xz = 2.0f * (qxqz + qwqy),
|
||||
.yx = 2.0f * (qxqy + qwqz),
|
||||
.yy = 2.0f * (qwqw - 0.5f + Q.y * Q.y),
|
||||
.yz = 2.0f * (qyqz - qwqx),
|
||||
.zx = 2.0f * (qxqz - qwqy),
|
||||
.zy = 2.0f * (qyqz + qwqx),
|
||||
.zz = 2.0f * (qwqw - 0.5f + Q.z * Q.z),
|
||||
}};
|
||||
return matrix;
|
||||
#undef Q
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Converts a quaternion to ZYX Euler angles in degrees.
|
||||
* @param quaternion Quaternion.
|
||||
* @return Euler angles in degrees.
|
||||
*/
|
||||
static inline FusionEuler FusionQuaternionToEuler(const FusionQuaternion quaternion) {
|
||||
#define Q quaternion.element
|
||||
const float halfMinusQySquared = 0.5f - Q.y * Q.y; // calculate common terms to avoid repeated operations
|
||||
const FusionEuler euler = {.angle = {
|
||||
.roll = FusionRadiansToDegrees(atan2f(Q.w * Q.x + Q.y * Q.z, halfMinusQySquared - Q.x * Q.x)),
|
||||
.pitch = FusionRadiansToDegrees(FusionAsin(2.0f * (Q.w * Q.y - Q.z * Q.x))),
|
||||
.yaw = FusionRadiansToDegrees(atan2f(Q.w * Q.z + Q.x * Q.y, halfMinusQySquared - Q.z * Q.z)),
|
||||
}};
|
||||
return euler;
|
||||
#undef Q
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// End of file
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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 */
|
||||
@@ -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 <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Constantes de configuration moto
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
// Seuils d'alerte d'inclinaison (en degrés)
|
||||
#define MOTO_ROLL_WARNING_THRESHOLD 20.0f // Avertissement inclinaison
|
||||
#define MOTO_ROLL_DANGER_THRESHOLD 35.0f // Danger inclinaison
|
||||
#define MOTO_PITCH_WHEELIE_THRESHOLD 25.0f // Détection wheelie
|
||||
#define MOTO_PITCH_STOPPIE_THRESHOLD -25.0f // Détection stoppie
|
||||
|
||||
// Seuils de vitesse angulaire (degrés/s)
|
||||
#define MOTO_GYRO_RAPID_TURN_THRESHOLD 100.0f // Virage rapide
|
||||
#define MOTO_GYRO_CRASH_THRESHOLD 300.0f // Possible chute
|
||||
|
||||
// Filtrage et échantillonnage
|
||||
#define MOTO_SAMPLE_RATE_HZ 100 // Fréquence d'échantillonnage
|
||||
#define MOTO_SAMPLE_PERIOD (1.0f / MOTO_SAMPLE_RATE_HZ)
|
||||
#define MOTO_MAG_FILTER_ALPHA 0.1f // Filtre magnétomètre
|
||||
#define MOTO_ANGLE_FILTER_ALPHA 0.2f // Filtre angles affichés
|
||||
|
||||
// Calibration magnétomètre (à ajuster selon votre environnement)
|
||||
#define MOTO_MAG_OFFSET_X 0.0f
|
||||
#define MOTO_MAG_OFFSET_Y 0.0f
|
||||
#define MOTO_MAG_OFFSET_Z 0.0f
|
||||
#define MOTO_MAG_SCALE_X 1.0f
|
||||
#define MOTO_MAG_SCALE_Y 1.0f
|
||||
#define MOTO_MAG_SCALE_Z 1.0f
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Types de données
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
typedef enum {
|
||||
MOTO_STATE_NORMAL = 0,
|
||||
MOTO_STATE_WARNING,
|
||||
MOTO_STATE_DANGER,
|
||||
MOTO_STATE_WHEELIE,
|
||||
MOTO_STATE_STOPPIE,
|
||||
MOTO_STATE_RAPID_TURN,
|
||||
MOTO_STATE_POSSIBLE_CRASH
|
||||
} MotoState_t;
|
||||
|
||||
typedef struct {
|
||||
float roll;
|
||||
float pitch;
|
||||
float yaw;
|
||||
float roll_filtered;
|
||||
float pitch_filtered;
|
||||
float yaw_filtered;
|
||||
MotoState_t state;
|
||||
bool is_initializing;
|
||||
uint32_t crash_detect_counter;
|
||||
uint32_t last_update_time;
|
||||
} MotoData_t;
|
||||
|
||||
typedef struct {
|
||||
float max_roll;
|
||||
float min_roll;
|
||||
float max_pitch;
|
||||
float min_pitch;
|
||||
float max_gyro_x;
|
||||
float max_gyro_y;
|
||||
float max_gyro_z;
|
||||
uint32_t total_samples;
|
||||
uint32_t warning_count;
|
||||
uint32_t danger_count;
|
||||
} MotoStats_t;
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Prototypes de fonctions
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
/**
|
||||
* @brief Initialise les données moto
|
||||
* @param data Pointeur vers la structure de données moto
|
||||
*/
|
||||
void Moto_InitData(MotoData_t *data);
|
||||
|
||||
/**
|
||||
* @brief Met à jour l'état de la moto basé sur les angles
|
||||
* @param data Pointeur vers la structure de données moto
|
||||
* @param roll Angle de roulis en degrés
|
||||
* @param pitch Angle de tangage en degrés
|
||||
* @param yaw Angle de lacet en degrés
|
||||
* @param gyro_x Vitesse angulaire X en dps
|
||||
* @param gyro_y Vitesse angulaire Y en dps
|
||||
* @param gyro_z Vitesse angulaire Z en dps
|
||||
*/
|
||||
void Moto_UpdateState(MotoData_t *data, float roll, float pitch, float yaw,
|
||||
float gyro_x, float gyro_y, float gyro_z);
|
||||
|
||||
/**
|
||||
* @brief Applique un filtre passe-bas aux angles
|
||||
* @param data Pointeur vers la structure de données moto
|
||||
*/
|
||||
void Moto_FilterAngles(MotoData_t *data);
|
||||
|
||||
/**
|
||||
* @brief Retourne une chaîne décrivant l'état actuel
|
||||
* @param state État de la moto
|
||||
* @return Pointeur vers la chaîne de caractères
|
||||
*/
|
||||
const char* Moto_GetStateString(MotoState_t state);
|
||||
|
||||
/**
|
||||
* @brief Met à jour les statistiques de conduite
|
||||
* @param stats Pointeur vers la structure de statistiques
|
||||
* @param data Pointeur vers les données actuelles
|
||||
* @param gyro_x Vitesse angulaire X
|
||||
* @param gyro_y Vitesse angulaire Y
|
||||
* @param gyro_z Vitesse angulaire Z
|
||||
*/
|
||||
void Moto_UpdateStats(MotoStats_t *stats, const MotoData_t *data,
|
||||
float gyro_x, float gyro_y, float gyro_z);
|
||||
|
||||
/**
|
||||
* @brief Calibre les données du magnétomètre
|
||||
* @param mx Pointeur vers la composante X
|
||||
* @param my Pointeur vers la composante Y
|
||||
* @param mz Pointeur vers la composante Z
|
||||
*/
|
||||
void Moto_CalibrateMagnetometer(float *mx, float *my, float *mz);
|
||||
|
||||
/**
|
||||
* @brief Détecte une possible chute
|
||||
* @param data Pointeur vers la structure de données moto
|
||||
* @param gyro_magnitude Magnitude de la vitesse angulaire
|
||||
* @return true si chute détectée
|
||||
*/
|
||||
bool Moto_DetectCrash(MotoData_t *data, float gyro_magnitude);
|
||||
|
||||
/**
|
||||
* @brief Formate l'affichage pour l'écran LCD selon l'état
|
||||
* @param data Pointeur vers les données moto
|
||||
* @param line Numéro de ligne (0-3)
|
||||
* @param buffer Buffer de sortie (21 caractères)
|
||||
*/
|
||||
void Moto_FormatDisplay(const MotoData_t *data, int line, char *buffer);
|
||||
|
||||
|
||||
#endif /* INC_MOTO_CONFIG_H_ */
|
||||
@@ -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 */
|
||||
@@ -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 */
|
||||
Reference in New Issue
Block a user