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xayon
2025-07-24 22:34:17 +02:00
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Core/Src/FusionAhrs.c
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/**
* @file FusionAhrs.c
* @author Seb Madgwick
* @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
* measurements into a single measurement of orientation relative to the Earth.
*/
//------------------------------------------------------------------------------
// Includes
#include <float.h>
#include "FusionAhrs.h"
#include <math.h>
//------------------------------------------------------------------------------
// Definitions
/**
* @brief Initial gain used during the initialisation.
*/
#define INITIAL_GAIN (10.0f)
/**
* @brief Initialisation period in seconds.
*/
#define INITIALISATION_PERIOD (3.0f)
//------------------------------------------------------------------------------
// Function declarations
static inline FusionVector HalfGravity(const FusionAhrs *const ahrs);
static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs);
static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference);
static inline int Clamp(const int value, const int min, const int max);
//------------------------------------------------------------------------------
// Functions
/**
* @brief Initialises the AHRS algorithm² structure.
* @param ahrs AHRS algorithm structure.
*/
void FusionAhrsInitialise(FusionAhrs *const ahrs) {
const FusionAhrsSettings settings = {
.convention = FusionConventionNwu,
.gain = 0.5f,
.gyroscopeRange = 0.0f,
.accelerationRejection = 90.0f,
.magneticRejection = 90.0f,
.recoveryTriggerPeriod = 0,
};
FusionAhrsSetSettings(ahrs, &settings);
FusionAhrsReset(ahrs);
}
/**
* @brief Resets the AHRS algorithm. This is equivalent to reinitialising the
* algorithm while maintaining the current settings.
* @param ahrs AHRS algorithm structure.
*/
void FusionAhrsReset(FusionAhrs *const ahrs) {
ahrs->quaternion = FUSION_IDENTITY_QUATERNION;
ahrs->accelerometer = FUSION_VECTOR_ZERO;
ahrs->initialising = true;
ahrs->rampedGain = INITIAL_GAIN;
ahrs->angularRateRecovery = false;
ahrs->halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
ahrs->halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
ahrs->accelerometerIgnored = false;
ahrs->accelerationRecoveryTrigger = 0;
ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
ahrs->magnetometerIgnored = false;
ahrs->magneticRecoveryTrigger = 0;
ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
}
/**
* @brief Sets the AHRS algorithm settings.
* @param ahrs AHRS algorithm structure.
* @param settings Settings.
*/
void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings) {
ahrs->settings.convention = settings->convention;
ahrs->settings.gain = settings->gain;
ahrs->settings.gyroscopeRange = settings->gyroscopeRange == 0.0f ? FLT_MAX : 0.98f * settings->gyroscopeRange;
ahrs->settings.accelerationRejection = settings->accelerationRejection == 0.0f ? FLT_MAX : powf(0.5f * sinf(FusionDegreesToRadians(settings->accelerationRejection)), 2);
ahrs->settings.magneticRejection = settings->magneticRejection == 0.0f ? FLT_MAX : powf(0.5f * sinf(FusionDegreesToRadians(settings->magneticRejection)), 2);
ahrs->settings.recoveryTriggerPeriod = settings->recoveryTriggerPeriod;
ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
if ((settings->gain == 0.0f) || (settings->recoveryTriggerPeriod == 0)) { // disable acceleration and magnetic rejection features if gain is zero
ahrs->settings.accelerationRejection = FLT_MAX;
ahrs->settings.magneticRejection = FLT_MAX;
}
if (ahrs->initialising == false) {
ahrs->rampedGain = ahrs->settings.gain;
}
ahrs->rampedGainStep = (INITIAL_GAIN - ahrs->settings.gain) / INITIALISATION_PERIOD;
}
/**
* @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
* magnetometer measurements.
* @param ahrs AHRS algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @param accelerometer Accelerometer measurement in g.
* @param magnetometer Magnetometer measurement in arbitrary units.
* @param deltaTime Delta time in seconds.
*/
void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const FusionVector magnetometer, const float deltaTime) {
#define Q ahrs->quaternion.element
// Store accelerometer
ahrs->accelerometer = accelerometer;
// Reinitialise if gyroscope range exceeded
if ((fabsf(gyroscope.axis.x) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.y) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.z) > ahrs->settings.gyroscopeRange)) {
const FusionQuaternion quaternion = ahrs->quaternion;
FusionAhrsReset(ahrs);
ahrs->quaternion = quaternion;
ahrs->angularRateRecovery = true;
}
// Ramp down gain during initialisation
if (ahrs->initialising) {
ahrs->rampedGain -= ahrs->rampedGainStep * deltaTime;
if ((ahrs->rampedGain < ahrs->settings.gain) || (ahrs->settings.gain == 0.0f)) {
ahrs->rampedGain = ahrs->settings.gain;
ahrs->initialising = false;
ahrs->angularRateRecovery = false;
}
}
// Calculate direction of gravity indicated by algorithm
const FusionVector halfGravity = HalfGravity(ahrs);
// Calculate accelerometer feedback
FusionVector halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
ahrs->accelerometerIgnored = true;
if (FusionVectorIsZero(accelerometer) == false) {
// Calculate accelerometer feedback scaled by 0.5
ahrs->halfAccelerometerFeedback = Feedback(FusionVectorNormalise(accelerometer), halfGravity);
// Don't ignore accelerometer if acceleration error below threshold
if (ahrs->initialising || ((FusionVectorMagnitudeSquared(ahrs->halfAccelerometerFeedback) <= ahrs->settings.accelerationRejection))) {
ahrs->accelerometerIgnored = false;
ahrs->accelerationRecoveryTrigger -= 9;
} else {
ahrs->accelerationRecoveryTrigger += 1;
}
// Don't ignore accelerometer during acceleration recovery
if (ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout) {
ahrs->accelerationRecoveryTimeout = 0;
ahrs->accelerometerIgnored = false;
} else {
ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
}
ahrs->accelerationRecoveryTrigger = Clamp(ahrs->accelerationRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
// Apply accelerometer feedback
if (ahrs->accelerometerIgnored == false) {
halfAccelerometerFeedback = ahrs->halfAccelerometerFeedback;
}
}
// Calculate magnetometer feedback
FusionVector halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
ahrs->magnetometerIgnored = true;
if (FusionVectorIsZero(magnetometer) == false) {
// Calculate direction of magnetic field indicated by algorithm
const FusionVector halfMagnetic = HalfMagnetic(ahrs);
// Calculate magnetometer feedback scaled by 0.5
ahrs->halfMagnetometerFeedback = Feedback(FusionVectorNormalise(FusionVectorCrossProduct(halfGravity, magnetometer)), halfMagnetic);
// Don't ignore magnetometer if magnetic error below threshold
if (ahrs->initialising || ((FusionVectorMagnitudeSquared(ahrs->halfMagnetometerFeedback) <= ahrs->settings.magneticRejection))) {
ahrs->magnetometerIgnored = false;
ahrs->magneticRecoveryTrigger -= 9;
} else {
ahrs->magneticRecoveryTrigger += 1;
}
// Don't ignore magnetometer during magnetic recovery
if (ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout) {
ahrs->magneticRecoveryTimeout = 0;
ahrs->magnetometerIgnored = false;
} else {
ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
}
ahrs->magneticRecoveryTrigger = Clamp(ahrs->magneticRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
// Apply magnetometer feedback
if (ahrs->magnetometerIgnored == false) {
halfMagnetometerFeedback = ahrs->halfMagnetometerFeedback;
}
}
// Convert gyroscope to radians per second scaled by 0.5
const FusionVector halfGyroscope = FusionVectorMultiplyScalar(gyroscope, FusionDegreesToRadians(0.5f));
// Apply feedback to gyroscope
const FusionVector adjustedHalfGyroscope = FusionVectorAdd(halfGyroscope, FusionVectorMultiplyScalar(FusionVectorAdd(halfAccelerometerFeedback, halfMagnetometerFeedback), ahrs->rampedGain));
// Integrate rate of change of quaternion
ahrs->quaternion = FusionQuaternionAdd(ahrs->quaternion, FusionQuaternionMultiplyVector(ahrs->quaternion, FusionVectorMultiplyScalar(adjustedHalfGyroscope, deltaTime)));
// Normalise quaternion
ahrs->quaternion = FusionQuaternionNormalise(ahrs->quaternion);
#undef Q
}
/**
* @brief Returns the direction of gravity scaled by 0.5.
* @param ahrs AHRS algorithm structure.
* @return Direction of gravity scaled by 0.5.
*/
static inline FusionVector HalfGravity(const FusionAhrs *const ahrs) {
#define Q ahrs->quaternion.element
switch (ahrs->settings.convention) {
case FusionConventionNwu:
case FusionConventionEnu: {
const FusionVector halfGravity = {.axis = {
.x = Q.x * Q.z - Q.w * Q.y,
.y = Q.y * Q.z + Q.w * Q.x,
.z = Q.w * Q.w - 0.5f + Q.z * Q.z,
}}; // third column of transposed rotation matrix scaled by 0.5
return halfGravity;
}
case FusionConventionNed: {
const FusionVector halfGravity = {.axis = {
.x = Q.w * Q.y - Q.x * Q.z,
.y = -1.0f * (Q.y * Q.z + Q.w * Q.x),
.z = 0.5f - Q.w * Q.w - Q.z * Q.z,
}}; // third column of transposed rotation matrix scaled by -0.5
return halfGravity;
}
}
return FUSION_VECTOR_ZERO; // avoid compiler warning
#undef Q
}
/**
* @brief Returns the direction of the magnetic field scaled by 0.5.
* @param ahrs AHRS algorithm structure.
* @return Direction of the magnetic field scaled by 0.5.
*/
static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs) {
#define Q ahrs->quaternion.element
switch (ahrs->settings.convention) {
case FusionConventionNwu: {
const FusionVector halfMagnetic = {.axis = {
.x = Q.x * Q.y + Q.w * Q.z,
.y = Q.w * Q.w - 0.5f + Q.y * Q.y,
.z = Q.y * Q.z - Q.w * Q.x,
}}; // second column of transposed rotation matrix scaled by 0.5
return halfMagnetic;
}
case FusionConventionEnu: {
const FusionVector halfMagnetic = {.axis = {
.x = 0.5f - Q.w * Q.w - Q.x * Q.x,
.y = Q.w * Q.z - Q.x * Q.y,
.z = -1.0f * (Q.x * Q.z + Q.w * Q.y),
}}; // first column of transposed rotation matrix scaled by -0.5
return halfMagnetic;
}
case FusionConventionNed: {
const FusionVector halfMagnetic = {.axis = {
.x = -1.0f * (Q.x * Q.y + Q.w * Q.z),
.y = 0.5f - Q.w * Q.w - Q.y * Q.y,
.z = Q.w * Q.x - Q.y * Q.z,
}}; // second column of transposed rotation matrix scaled by -0.5
return halfMagnetic;
}
}
return FUSION_VECTOR_ZERO; // avoid compiler warning
#undef Q
}
/**
* @brief Returns the feedback.
* @param sensor Sensor.
* @param reference Reference.
* @return Feedback.
*/
static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference) {
if (FusionVectorDotProduct(sensor, reference) < 0.0f) { // if error is >90 degrees
return FusionVectorNormalise(FusionVectorCrossProduct(sensor, reference));
}
return FusionVectorCrossProduct(sensor, reference);
}
/**
* @brief Returns a value limited to maximum and minimum.
* @param value Value.
* @param min Minimum value.
* @param max Maximum value.
* @return Value limited to maximum and minimum.
*/
static inline int Clamp(const int value, const int min, const int max) {
if (value < min) {
return min;
}
if (value > max) {
return max;
}
return value;
}
/**
* @brief Updates the AHRS algorithm using the gyroscope and accelerometer
* measurements only.
* @param ahrs AHRS algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @param accelerometer Accelerometer measurement in g.
* @param deltaTime Delta time in seconds.
*/
void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float deltaTime) {
// Update AHRS algorithm
FusionAhrsUpdate(ahrs, gyroscope, accelerometer, FUSION_VECTOR_ZERO, deltaTime);
// Zero heading during initialisation
if (ahrs->initialising) {
FusionAhrsSetHeading(ahrs, 0.0f);
}
}
/**
* @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
* heading measurements.
* @param ahrs AHRS algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @param accelerometer Accelerometer measurement in g.
* @param heading Heading measurement in degrees.
* @param deltaTime Delta time in seconds.
*/
void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float heading, const float deltaTime) {
#define Q ahrs->quaternion.element
// Calculate roll
const float roll = atan2f(Q.w * Q.x + Q.y * Q.z, 0.5f - Q.y * Q.y - Q.x * Q.x);
// Calculate magnetometer
const float headingRadians = FusionDegreesToRadians(heading);
const float sinHeadingRadians = sinf(headingRadians);
const FusionVector magnetometer = {.axis = {
.x = cosf(headingRadians),
.y = -1.0f * cosf(roll) * sinHeadingRadians,
.z = sinHeadingRadians * sinf(roll),
}};
// Update AHRS algorithm
FusionAhrsUpdate(ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
#undef Q
}
/**
* @brief Returns the quaternion describing the sensor relative to the Earth.
* @param ahrs AHRS algorithm structure.
* @return Quaternion describing the sensor relative to the Earth.
*/
FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs) {
return ahrs->quaternion;
}
/**
* @brief Sets the quaternion describing the sensor relative to the Earth.
* @param ahrs AHRS algorithm structure.
* @param quaternion Quaternion describing the sensor relative to the Earth.
*/
void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion) {
ahrs->quaternion = quaternion;
}
/**
* @brief Returns the direction of gravity in the sensor coordinate frame.
* @param ahrs AHRS algorithm structure.
* @return Direction of gravity in the sensor coordinate frame.
*/
FusionVector FusionAhrsGetGravity(const FusionAhrs *const ahrs) {
#define Q ahrs->quaternion.element
const FusionVector gravity = {.axis = {
.x = 2.0f * (Q.x * Q.z - Q.w * Q.y),
.y = 2.0f * (Q.y * Q.z + Q.w * Q.x),
.z = 2.0f * (Q.w * Q.w - 0.5f + Q.z * Q.z),
}}; // third column of transposed rotation matrix
return gravity;
#undef Q
}
/**
* @brief Returns the linear acceleration measurement equal to the accelerometer
* measurement with gravity removed.
* @param ahrs AHRS algorithm structure.
* @return Linear acceleration measurement in g.
*/
FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs) {
switch (ahrs->settings.convention) {
case FusionConventionNwu:
case FusionConventionEnu: {
return FusionVectorSubtract(ahrs->accelerometer, FusionAhrsGetGravity(ahrs));
}
case FusionConventionNed: {
return FusionVectorAdd(ahrs->accelerometer, FusionAhrsGetGravity(ahrs));
}
}
return FUSION_VECTOR_ZERO; // avoid compiler warning
}
/**
* @brief Returns the Earth acceleration measurement equal to accelerometer
* measurement in the Earth coordinate frame with gravity removed.
* @param ahrs AHRS algorithm structure.
* @return Earth acceleration measurement in g.
*/
FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs) {
#define Q ahrs->quaternion.element
#define A ahrs->accelerometer.axis
// Calculate accelerometer measurement in the Earth coordinate frame
const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
const float qwqx = Q.w * Q.x;
const float qwqy = Q.w * Q.y;
const float qwqz = Q.w * Q.z;
const float qxqy = Q.x * Q.y;
const float qxqz = Q.x * Q.z;
const float qyqz = Q.y * Q.z;
FusionVector accelerometer = {.axis = {
.x = 2.0f * ((qwqw - 0.5f + Q.x * Q.x) * A.x + (qxqy - qwqz) * A.y + (qxqz + qwqy) * A.z),
.y = 2.0f * ((qxqy + qwqz) * A.x + (qwqw - 0.5f + Q.y * Q.y) * A.y + (qyqz - qwqx) * A.z),
.z = 2.0f * ((qxqz - qwqy) * A.x + (qyqz + qwqx) * A.y + (qwqw - 0.5f + Q.z * Q.z) * A.z),
}}; // rotation matrix multiplied with the accelerometer
// Remove gravity from accelerometer measurement
switch (ahrs->settings.convention) {
case FusionConventionNwu:
case FusionConventionEnu:
accelerometer.axis.z -= 1.0f;
break;
case FusionConventionNed:
accelerometer.axis.z += 1.0f;
break;
}
return accelerometer;
#undef Q
#undef A
}
/**
* @brief Returns the AHRS algorithm internal states.
* @param ahrs AHRS algorithm structure.
* @return AHRS algorithm internal states.
*/
FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs) {
const FusionAhrsInternalStates internalStates = {
.accelerationError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfAccelerometerFeedback))),
.accelerometerIgnored = ahrs->accelerometerIgnored,
.accelerationRecoveryTrigger = ahrs->settings.recoveryTriggerPeriod == 0 ? 0.0f : (float) ahrs->accelerationRecoveryTrigger / (float) ahrs->settings.recoveryTriggerPeriod,
.magneticError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfMagnetometerFeedback))),
.magnetometerIgnored = ahrs->magnetometerIgnored,
.magneticRecoveryTrigger = ahrs->settings.recoveryTriggerPeriod == 0 ? 0.0f : (float) ahrs->magneticRecoveryTrigger / (float) ahrs->settings.recoveryTriggerPeriod,
};
return internalStates;
}
/**
* @brief Returns the AHRS algorithm flags.
* @param ahrs AHRS algorithm structure.
* @return AHRS algorithm flags.
*/
FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs) {
const FusionAhrsFlags flags = {
.initialising = ahrs->initialising,
.angularRateRecovery = ahrs->angularRateRecovery,
.accelerationRecovery = ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout,
.magneticRecovery= ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout,
};
return flags;
}
/**
* @brief Sets the heading of the orientation measurement provided by the AHRS
* algorithm. This function can be used to reset drift in heading when the AHRS
* algorithm is being used without a magnetometer.
* @param ahrs AHRS algorithm structure.
* @param heading Heading angle in degrees.
*/
void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading) {
#define Q ahrs->quaternion.element
const float yaw = atan2f(Q.w * Q.z + Q.x * Q.y, 0.5f - Q.y * Q.y - Q.z * Q.z);
const float halfYawMinusHeading = 0.5f * (yaw - FusionDegreesToRadians(heading));
const FusionQuaternion rotation = {.element = {
.w = cosf(halfYawMinusHeading),
.x = 0.0f,
.y = 0.0f,
.z = -1.0f * sinf(halfYawMinusHeading),
}};
ahrs->quaternion = FusionQuaternionMultiply(rotation, ahrs->quaternion);
#undef Q
}
//------------------------------------------------------------------------------
// End of file
Core/Src/icm20948.c
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#include "icm20948.h"
extern I2C_HandleTypeDef hi2c1;
#define ICM20948_ADDR (0x69 << 1)
uint8_t read_register(uint8_t reg) {
uint8_t val;
HAL_I2C_Mem_Read(&hi2c1, ICM20948_ADDR, reg, 1, &val, 1, HAL_MAX_DELAY);
return val;
}
void write_register(uint8_t reg, uint8_t val) {
HAL_I2C_Mem_Write(&hi2c1, ICM20948_ADDR, reg, 1, &val, 1, HAL_MAX_DELAY);
}
void icm20948_select_bank(uint8_t bank) {
write_register(0x7F, bank << 4); // REG_BANK_SEL (0x7F)
}
void icm20948_init(void) {
icm20948_select_bank(0); // BANK 0
write_register(0x06, 0x01); // PWR_MGMT_1: reset
HAL_Delay(10);
write_register(0x06, 0x01); // Clock source auto
icm20948_select_bank(2); // BANK 2
// write_register(0x14, 0x00); // ACCEL_CONFIG: ±2g
write_register(0x14, 0x04); // ACCEL_CONFIG : ±8g (bits 2:1 = 10)
icm20948_select_bank(0); // Revenir en BANK 0 pour lecture
}
void icm20948_read_accel(float *ax, float *ay, float *az) {
uint8_t data[6];
HAL_I2C_Mem_Read(&hi2c1, ICM20948_ADDR, 0x2D, 1, data, 6, HAL_MAX_DELAY);
int16_t x = (data[0] << 8) | data[1];
int16_t y = (data[2] << 8) | data[3];
int16_t z = (data[4] << 8) | data[5];
//*ax = (float)x / 16384.0f;
//*ay = (float)y / 16384.0f;
//*az = (float)z / 16384.0f;
*ax = (float)x / 4096.0f;
*ay = (float)y / 4096.0f;
*az = (float)z / 4096.0f;
}
void icm20948_read_gyro(float *gx, float *gy, float *gz) {
uint8_t data[6];
icm20948_select_bank(0);
HAL_I2C_Mem_Read(&hi2c1, ICM20948_ADDR, 0x33, 1, data, 6, HAL_MAX_DELAY);
int16_t x = (data[0] << 8) | data[1];
int16_t y = (data[2] << 8) | data[3];
int16_t z = (data[4] << 8) | data[5];
*gx = (float)x / 131.0f; // sensibilité typique ±250 dps
*gy = (float)y / 131.0f;
*gz = (float)z / 131.0f;
}
void icm20948_mag_init(void) {
icm20948_select_bank(3);
// Configurer le bus maître I2C (ex : 400 kHz)
write_register(0x01, 0x07); // I2C_MST_CTRL, 400 kHz
// Configure la lecture du magnéto via I2C Master
// Exemples de setup (registres slave 0, adresse, etc.)
// ...
icm20948_select_bank(0);
}
void icm20948_read_mag(float *mx, float *my, float *mz) {
uint8_t data[6];
// Lecture des registres magnéto via I2C Master
// Par défaut les données du magnétomètre sont relayées en registres USER_MAG_DATA_X/Y/Z
// ou on doit lire via I2C Master
// Exemple simplifié :
HAL_I2C_Mem_Read(&hi2c1, ICM20948_ADDR, 0x31, 1, data, 6, HAL_MAX_DELAY);
int16_t x = (data[1] << 8) | data[0]; // Attention à l’ordre des octets pour AK09916
int16_t y = (data[3] << 8) | data[2];
int16_t z = (data[5] << 8) | data[4];
*mx = (float)x * 0.15f; // conversion en µT (selon datasheet)
*my = (float)y * 0.15f;
*mz = (float)z * 0.15f;
}
Core/Src/lcd_i2c.c
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#include "lcd_i2c.h"
#include <string.h>
extern I2C_HandleTypeDef hi2c1;
#define LCD_ADDR (0x27 << 1)
#define LCD_BACKLIGHT 0x08
#define LCD_ENABLE 0x04
void lcd_send_cmd(uint8_t cmd);
void lcd_send_data(uint8_t data);
void lcd_send(uint8_t data, uint8_t mode);
void lcd_init(void) {
HAL_Delay(50);
lcd_send_cmd(0x33);
lcd_send_cmd(0x32);
lcd_send_cmd(0x28);
lcd_send_cmd(0x0C);
lcd_send_cmd(0x06);
lcd_send_cmd(0x01);
HAL_Delay(5);
}
void lcd_clear(void) {
lcd_send_cmd(0x01);
HAL_Delay(2);
}
void lcd_set_cursor(uint8_t row, uint8_t col) {
const uint8_t row_offsets[] = {0x00, 0x40, 0x14, 0x54};
lcd_send_cmd(0x80 | (col + row_offsets[row]));
}
void lcd_print(const char *str) {
while (*str) {
lcd_send_data((uint8_t)(*str++));
}
}
void lcd_send_cmd(uint8_t cmd) {
lcd_send(cmd, 0);
}
void lcd_send_data(uint8_t data) {
lcd_send(data, 1);
}
void lcd_send(uint8_t data, uint8_t mode) {
uint8_t high = (data & 0xF0) | LCD_BACKLIGHT | (mode ? 0x01 : 0);
uint8_t low = ((data << 4) & 0xF0) | LCD_BACKLIGHT | (mode ? 0x01 : 0);
uint8_t data_arr[4] = {
high | LCD_ENABLE, high,
low | LCD_ENABLE, low
};
HAL_I2C_Master_Transmit(&hi2c1, LCD_ADDR, data_arr, 4, HAL_MAX_DELAY);
}
Core/Src/main.c
+328
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#include <stdio.h>
#include <math.h>
#include "main.h"
#include "lcd_i2c.h"
#include "icm20948.h"
#include "FusionAhrs.h"
#include "moto_config.h"
I2C_HandleTypeDef hi2c1;
UART_HandleTypeDef huart2;
FusionAhrs ahrs;
MotoData_t moto_data;
MotoStats_t moto_stats = {0};
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART2_UART_Init(void);
int __io_putchar(int ch) {
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
return ch;
}
// Variables pour le filtrage du magnétomètre
float mx_filtered = 0.0f, my_filtered = 0.0f, mz_filtered = 0.0f;
int main(void) {
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART2_UART_Init();
// Initialisation de l'écran
lcd_init();
lcd_clear();
lcd_set_cursor(0, 0);
lcd_print("MOTO IMU SYSTEM");
HAL_Delay(1000);
// Initialisation de l'IMU
icm20948_init();
// Initialisation de la fusion AHRS
FusionAhrsInitialise(&ahrs);
FusionAhrsSettings settings = {
.convention = FusionConventionNed, // North-East-Down pour véhicule
.gain = 0.75f, // Gain plus élevé pour réactivité sur moto
.gyroscopeRange = 2000.0f, // Range du gyroscope en dps
.accelerationRejection = 15.0f, // Rejet modéré (vibrations moto)
.magneticRejection = 30.0f, // Rejet élevé (interférences métalliques)
.recoveryTriggerPeriod = (int)(2.0f / MOTO_SAMPLE_PERIOD) // 2 secondes
};
FusionAhrsSetSettings(&ahrs, &settings);
// Initialisation des données moto
Moto_InitData(&moto_data);
uint32_t last_time = HAL_GetTick();
uint32_t init_start_time = last_time;
uint32_t display_update_counter = 0;
while (1) {
uint32_t current_time = HAL_GetTick();
float dt = (current_time - last_time) / 1000.0f;
if (dt >= MOTO_SAMPLE_PERIOD) {
float ax, ay, az; // Accéléromètre
float gx, gy, gz; // Gyroscope
float mx, my, mz; // Magnétomètre
// Lecture des capteurs
icm20948_read_accel(&ax, &ay, &az);
icm20948_read_gyro(&gx, &gy, &gz);
icm20948_read_mag(&mx, &my, &mz);
// Calibration et filtrage du magnétomètre
Moto_CalibrateMagnetometer(&mx, &my, &mz);
mx_filtered = MOTO_MAG_FILTER_ALPHA * mx + (1.0f - MOTO_MAG_FILTER_ALPHA) * mx_filtered;
my_filtered = MOTO_MAG_FILTER_ALPHA * my + (1.0f - MOTO_MAG_FILTER_ALPHA) * my_filtered;
mz_filtered = MOTO_MAG_FILTER_ALPHA * mz + (1.0f - MOTO_MAG_FILTER_ALPHA) * mz_filtered;
// Préparation des données pour Fusion
FusionVector gyroscope = {gx, gy, gz};
FusionVector accelerometer = {ax, ay, az};
FusionVector magnetometer = {mx_filtered, my_filtered, mz_filtered};
// Mise à jour AHRS
FusionAhrsUpdate(&ahrs, gyroscope, accelerometer, magnetometer, dt);
// Récupération des angles d'Euler
FusionEuler euler = FusionQuaternionToEuler(FusionAhrsGetQuaternion(&ahrs));
float roll = euler.angle.roll;
float pitch = euler.angle.pitch;
float yaw = euler.angle.yaw;
// Vérification de la phase d'initialisation
FusionAhrsFlags flags = FusionAhrsGetFlags(&ahrs);
moto_data.is_initializing = flags.initialising;
// Mise à jour de l'état de la moto
Moto_UpdateState(&moto_data, roll, pitch, yaw, gx, gy, gz);
Moto_FilterAngles(&moto_data);
Moto_UpdateStats(&moto_stats, &moto_data, gx, gy, gz);
// Mise à jour de l'affichage (toutes les 5 itérations = ~50ms)
display_update_counter++;
if (display_update_counter >= 5) {
char buffer[21];
for (int line = 0; line < 4; line++) {
Moto_FormatDisplay(&moto_data, line, buffer);
lcd_set_cursor(line, 0);
lcd_print(buffer);
}
display_update_counter = 0;
}
// LED d'état
switch (moto_data.state) {
case MOTO_STATE_NORMAL:
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
break;
case MOTO_STATE_WARNING:
case MOTO_STATE_RAPID_TURN:
// Clignotement lent
if ((current_time / 500) % 2) {
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
} else {
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
}
break;
case MOTO_STATE_DANGER:
case MOTO_STATE_POSSIBLE_CRASH:
// Clignotement rapide
if ((current_time / 100) % 2) {
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
} else {
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
}
break;
default:
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
break;
}
// Debug UART (toutes les 50 itérations = ~500ms)
static uint32_t uart_counter = 0;
uart_counter++;
if (uart_counter >= 50) {
FusionAhrsInternalStates states = FusionAhrsGetInternalStates(&ahrs);
printf("R:%.1f P:%.1f Y:%.1f | St:%s | AE:%.1f ME:%.1f | AI:%d MI:%d | Smp:%lu\r\n",
roll, pitch, yaw,
Moto_GetStateString(moto_data.state),
states.accelerationError, states.magneticError,
states.accelerometerIgnored, states.magnetometerIgnored,
moto_stats.total_samples);
uart_counter = 0;
}
// Mise à jour du timestamp
moto_data.last_update_time = current_time;
last_time = current_time;
}
// Petite pause pour éviter la surcharge du processeur
HAL_Delay(20);
}
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
{
Error_Handler();
}
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 64;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 1;
RCC_OscInitStruct.PLL.PLLN = 10;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
{
Error_Handler();
}
}
static void MX_I2C1_Init(void)
{
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x10D19CE4;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
{
Error_Handler();
}
}
static void MX_USART2_UART_Init(void)
{
huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
Error_Handler();
}
}
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : SMPS_EN_Pin SMPS_V1_Pin SMPS_SW_Pin */
GPIO_InitStruct.Pin = SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SMPS_PG_Pin */
GPIO_InitStruct.Pin = SMPS_PG_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(SMPS_PG_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : LD4_Pin */
GPIO_InitStruct.Pin = LD4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD4_GPIO_Port, &GPIO_InitStruct);
}
void Error_Handler(void)
{
__disable_irq();
while (1)
{
}
}
#ifdef USE_FULL_ASSERT
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
Core/Src/moto_config.c
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/**
* @file moto_config.c
* @brief Implémentation des fonctions utilitaires pour système IMU moto
*/
#include "moto_config.h"
#include <math.h>
#include <string.h>
#include <stdio.h>
//------------------------------------------------------------------------------
// Fonctions publiques
//------------------------------------------------------------------------------
void Moto_InitData(MotoData_t *data) {
memset(data, 0, sizeof(MotoData_t));
data->state = MOTO_STATE_NORMAL;
data->is_initializing = true;
data->last_update_time = 0;
}
void Moto_UpdateState(MotoData_t *data, float roll, float pitch, float yaw,
float gyro_x, float gyro_y, float gyro_z) {
// Mise à jour des angles bruts
data->roll = roll;
data->pitch = pitch;
data->yaw = yaw;
// Calcul de la magnitude de la vitesse angulaire
float gyro_magnitude = sqrtf(gyro_x*gyro_x + gyro_y*gyro_y + gyro_z*gyro_z);
// Détection d'état prioritaire : crash possible
if (Moto_DetectCrash(data, gyro_magnitude)) {
data->state = MOTO_STATE_POSSIBLE_CRASH;
return;
}
// Détection de wheelie/stoppie
if (pitch > MOTO_PITCH_WHEELIE_THRESHOLD) {
data->state = MOTO_STATE_WHEELIE;
} else if (pitch < MOTO_PITCH_STOPPIE_THRESHOLD) {
data->state = MOTO_STATE_STOPPIE;
}
// Détection de virage rapide
else if (fabsf(gyro_z) > MOTO_GYRO_RAPID_TURN_THRESHOLD) {
data->state = MOTO_STATE_RAPID_TURN;
}
// Détection d'inclinaison dangereuse
else if (fabsf(roll) > MOTO_ROLL_DANGER_THRESHOLD) {
data->state = MOTO_STATE_DANGER;
}
// Détection d'inclinaison d'avertissement
else if (fabsf(roll) > MOTO_ROLL_WARNING_THRESHOLD) {
data->state = MOTO_STATE_WARNING;
}
// État normal
else {
data->state = MOTO_STATE_NORMAL;
data->crash_detect_counter = 0; // Reset compteur crash
}
}
void Moto_FilterAngles(MotoData_t *data) {
// Filtre passe-bas simple pour lisser l'affichage
data->roll_filtered = MOTO_ANGLE_FILTER_ALPHA * data->roll +
(1.0f - MOTO_ANGLE_FILTER_ALPHA) * data->roll_filtered;
data->pitch_filtered = MOTO_ANGLE_FILTER_ALPHA * data->pitch +
(1.0f - MOTO_ANGLE_FILTER_ALPHA) * data->pitch_filtered;
data->yaw_filtered = MOTO_ANGLE_FILTER_ALPHA * data->yaw +
(1.0f - MOTO_ANGLE_FILTER_ALPHA) * data->yaw_filtered;
}
const char* Moto_GetStateString(MotoState_t state) {
switch (state) {
case MOTO_STATE_NORMAL: return "NORMAL";
case MOTO_STATE_WARNING: return "ATTENTION";
case MOTO_STATE_DANGER: return "DANGER";
case MOTO_STATE_WHEELIE: return "WHEELIE";
case MOTO_STATE_STOPPIE: return "STOPPIE";
case MOTO_STATE_RAPID_TURN: return "VIRAGE RAPIDE";
case MOTO_STATE_POSSIBLE_CRASH: return "CHUTE POSSIBLE";
default: return "INCONNU";
}
}
void Moto_UpdateStats(MotoStats_t *stats, const MotoData_t *data,
float gyro_x, float gyro_y, float gyro_z) {
stats->total_samples++;
// Mise à jour des extremums d'angles
if (data->roll > stats->max_roll) stats->max_roll = data->roll;
if (data->roll < stats->min_roll) stats->min_roll = data->roll;
if (data->pitch > stats->max_pitch) stats->max_pitch = data->pitch;
if (data->pitch < stats->min_pitch) stats->min_pitch = data->pitch;
// Mise à jour des extremums de vitesse angulaire
if (fabsf(gyro_x) > stats->max_gyro_x) stats->max_gyro_x = fabsf(gyro_x);
if (fabsf(gyro_y) > stats->max_gyro_y) stats->max_gyro_y = fabsf(gyro_y);
if (fabsf(gyro_z) > stats->max_gyro_z) stats->max_gyro_z = fabsf(gyro_z);
// Comptage des états d'alerte
if (data->state == MOTO_STATE_WARNING) stats->warning_count++;
if (data->state == MOTO_STATE_DANGER ||
data->state == MOTO_STATE_POSSIBLE_CRASH) stats->danger_count++;
}
void Moto_CalibrateMagnetometer(float *mx, float *my, float *mz) {
// Application des offsets et facteurs d'échelle
*mx = (*mx - MOTO_MAG_OFFSET_X) * MOTO_MAG_SCALE_X;
*my = (*my - MOTO_MAG_OFFSET_Y) * MOTO_MAG_SCALE_Y;
*mz = (*mz - MOTO_MAG_OFFSET_Z) * MOTO_MAG_SCALE_Z;
}
bool Moto_DetectCrash(MotoData_t *data, float gyro_magnitude) {
if (gyro_magnitude > MOTO_GYRO_CRASH_THRESHOLD) {
data->crash_detect_counter++;
// Confirme la chute si seuil dépassé pendant plusieurs échantillons
if (data->crash_detect_counter > 5) { // ~50ms à 100Hz
return true;
}
} else {
// Décrémente progressivement le compteur
if (data->crash_detect_counter > 0) {
data->crash_detect_counter--;
}
}
return false;
}
void Moto_FormatDisplay(const MotoData_t *data, int line, char *buffer) {
switch (line) {
case 0:
snprintf(buffer, 21, "R:%5.1f P:%5.1f",
data->roll_filtered, data->pitch_filtered);
break;
case 1:
snprintf(buffer, 21, "Yaw: %6.1f deg", data->yaw_filtered);
break;
case 2:
snprintf(buffer, 21, "Etat: %s", Moto_GetStateString(data->state));
break;
case 3:
if (data->is_initializing) {
snprintf(buffer, 21, "--- INIT EN COURS ---");
} else {
switch (data->state) {
case MOTO_STATE_NORMAL:
snprintf(buffer, 21, "--- EQUILIBRE ---");
break;
case MOTO_STATE_WARNING:
if (data->roll > 0) {
snprintf(buffer, 21, "INCLIN. DROITE >>>");
} else {
snprintf(buffer, 21, "<<< INCLIN. GAUCHE");
}
break;
case MOTO_STATE_DANGER:
case MOTO_STATE_POSSIBLE_CRASH:
snprintf(buffer, 21, "!!! ATTENTION !!!");
break;
case MOTO_STATE_WHEELIE:
snprintf(buffer, 21, "^^^ WHEELIE ^^^");
break;
case MOTO_STATE_STOPPIE:
snprintf(buffer, 21, "vvv STOPPIE vvv");
break;
case MOTO_STATE_RAPID_TURN:
snprintf(buffer, 21, ">>> VIRAGE <<<");
break;
default:
snprintf(buffer, 21, "--- INCONNU ---");
break;
}
}
break;
default:
snprintf(buffer, 21, "Ligne invalide");
break;
}
}
//------------------------------------------------------------------------------
// Fonctions utilitaires privées
//------------------------------------------------------------------------------
// Ajouter ici d'autres fonctions utilitaires si nécessaire
Core/Src/stm32l4xx_hal_msp.c
+237
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32l4xx_hal_msp.c
* @brief This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN Define */
/* USER CODE END Define */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN Macro */
/* USER CODE END Macro */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* External functions --------------------------------------------------------*/
/* USER CODE BEGIN ExternalFunctions */
/* USER CODE END ExternalFunctions */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
__HAL_RCC_SYSCFG_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
/**
* @brief I2C MSP Initialization
* This function configures the hardware resources used in this example
* @param hi2c: I2C handle pointer
* @retval None
*/
void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(hi2c->Instance==I2C1)
{
/* USER CODE BEGIN I2C1_MspInit 0 */
/* USER CODE END I2C1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**I2C1 GPIO Configuration
PB8 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Peripheral clock enable */
__HAL_RCC_I2C1_CLK_ENABLE();
/* USER CODE BEGIN I2C1_MspInit 1 */
/* USER CODE END I2C1_MspInit 1 */
}
}
/**
* @brief I2C MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hi2c: I2C handle pointer
* @retval None
*/
void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
{
if(hi2c->Instance==I2C1)
{
/* USER CODE BEGIN I2C1_MspDeInit 0 */
/* USER CODE END I2C1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_I2C1_CLK_DISABLE();
/**I2C1 GPIO Configuration
PB8 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
/* USER CODE BEGIN I2C1_MspDeInit 1 */
/* USER CODE END I2C1_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspInit 0 */
/* USER CODE END USART2_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/* Peripheral clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
GPIO_InitStruct.Pin = USART_TX_Pin|USART_RX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
}
}
/**
* @brief UART MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
{
if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspDeInit 0 */
/* USER CODE END USART2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART2_CLK_DISABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
HAL_GPIO_DeInit(GPIOA, USART_TX_Pin|USART_RX_Pin);
/* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Core/Src/stm32l4xx_it.c
+203
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@@ -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 */
Core/Src/syscalls.c
+176
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/**
******************************************************************************
* @file syscalls.c
* @author Auto-generated by STM32CubeIDE
* @brief STM32CubeIDE Minimal System calls file
*
* For more information about which c-functions
* need which of these lowlevel functions
* please consult the Newlib libc-manual
******************************************************************************
* @attention
*
* Copyright (c) 2020-2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes */
#include <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/times.h>
/* Variables */
extern int __io_putchar(int ch) __attribute__((weak));
extern int __io_getchar(void) __attribute__((weak));
char *__env[1] = { 0 };
char **environ = __env;
/* Functions */
void initialise_monitor_handles()
{
}
int _getpid(void)
{
return 1;
}
int _kill(int pid, int sig)
{
(void)pid;
(void)sig;
errno = EINVAL;
return -1;
}
void _exit (int status)
{
_kill(status, -1);
while (1) {} /* Make sure we hang here */
}
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
*ptr++ = __io_getchar();
}
return len;
}
__attribute__((weak)) int _write(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
}
int _close(int file)
{
(void)file;
return -1;
}
int _fstat(int file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _isatty(int file)
{
(void)file;
return 1;
}
int _lseek(int file, int ptr, int dir)
{
(void)file;
(void)ptr;
(void)dir;
return 0;
}
int _open(char *path, int flags, ...)
{
(void)path;
(void)flags;
/* Pretend like we always fail */
return -1;
}
int _wait(int *status)
{
(void)status;
errno = ECHILD;
return -1;
}
int _unlink(char *name)
{
(void)name;
errno = ENOENT;
return -1;
}
int _times(struct tms *buf)
{
(void)buf;
return -1;
}
int _stat(char *file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _link(char *old, char *new)
{
(void)old;
(void)new;
errno = EMLINK;
return -1;
}
int _fork(void)
{
errno = EAGAIN;
return -1;
}
int _execve(char *name, char **argv, char **env)
{
(void)name;
(void)argv;
(void)env;
errno = ENOMEM;
return -1;
}
Core/Src/sysmem.c
+79
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@@ -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 <errno.h>
#include <stdint.h>
/**
* Pointer to the current high watermark of the heap usage
*/
static uint8_t *__sbrk_heap_end = NULL;
/**
* @brief _sbrk() allocates memory to the newlib heap and is used by malloc
* and others from the C library
*
* @verbatim
* ############################################################################
* # .data # .bss # newlib heap # MSP stack #
* # # # # Reserved by _Min_Stack_Size #
* ############################################################################
* ^-- RAM start ^-- _end _estack, RAM end --^
* @endverbatim
*
* This implementation starts allocating at the '_end' linker symbol
* The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
* The implementation considers '_estack' linker symbol to be RAM end
* NOTE: If the MSP stack, at any point during execution, grows larger than the
* reserved size, please increase the '_Min_Stack_Size'.
*
* @param incr Memory size
* @return Pointer to allocated memory
*/
void *_sbrk(ptrdiff_t incr)
{
extern uint8_t _end; /* Symbol defined in the linker script */
extern uint8_t _estack; /* Symbol defined in the linker script */
extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
const uint8_t *max_heap = (uint8_t *)stack_limit;
uint8_t *prev_heap_end;
/* Initialize heap end at first call */
if (NULL == __sbrk_heap_end)
{
__sbrk_heap_end = &_end;
}
/* Protect heap from growing into the reserved MSP stack */
if (__sbrk_heap_end + incr > max_heap)
{
errno = ENOMEM;
return (void *)-1;
}
prev_heap_end = __sbrk_heap_end;
__sbrk_heap_end += incr;
return (void *)prev_heap_end;
}
Core/Src/system_stm32l4xx.c
+332
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/**
******************************************************************************
* @file system_stm32l4xx.c
* @author MCD Application Team
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File
*
* This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32l4xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* After each device reset the MSI (4 MHz) is used as system clock source.
* Then SystemInit() function is called, in "startup_stm32l4xx.s" file, to
* configure the system clock before to branch to main program.
*
* This file configures the system clock as follows:
*=============================================================================
*-----------------------------------------------------------------------------
* System Clock source | MSI
*-----------------------------------------------------------------------------
* SYSCLK(Hz) | 4000000
*-----------------------------------------------------------------------------
* HCLK(Hz) | 4000000
*-----------------------------------------------------------------------------
* AHB Prescaler | 1
*-----------------------------------------------------------------------------
* APB1 Prescaler | 1
*-----------------------------------------------------------------------------
* APB2 Prescaler | 1
*-----------------------------------------------------------------------------
* PLL_M | 1
*-----------------------------------------------------------------------------
* PLL_N | 8
*-----------------------------------------------------------------------------
* PLL_P | 7
*-----------------------------------------------------------------------------
* PLL_Q | 2
*-----------------------------------------------------------------------------
* PLL_R | 2
*-----------------------------------------------------------------------------
* PLLSAI1_P | NA
*-----------------------------------------------------------------------------
* PLLSAI1_Q | NA
*-----------------------------------------------------------------------------
* PLLSAI1_R | NA
*-----------------------------------------------------------------------------
* PLLSAI2_P | NA
*-----------------------------------------------------------------------------
* PLLSAI2_Q | NA
*-----------------------------------------------------------------------------
* PLLSAI2_R | NA
*-----------------------------------------------------------------------------
* Require 48MHz for USB OTG FS, | Disabled
* SDIO and RNG clock |
*-----------------------------------------------------------------------------
*=============================================================================
******************************************************************************
* @attention
*
* Copyright (c) 2017 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32l4xx_system
* @{
*/
/** @addtogroup STM32L4xx_System_Private_Includes
* @{
*/
#include "stm32l4xx.h"
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_Defines
* @{
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE 8000000U /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (MSI_VALUE)
#define MSI_VALUE 4000000U /*!< Value of the Internal oscillator in Hz*/
#endif /* MSI_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE 16000000U /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/* Note: Following vector table addresses must be defined in line with linker
configuration. */
/*!< Uncomment the following line if you need to relocate the vector table
anywhere in Flash or Sram, else the vector table is kept at the automatic
remap of boot address selected */
/* #define USER_VECT_TAB_ADDRESS */
#if defined(USER_VECT_TAB_ADDRESS)
/*!< Uncomment the following line if you need to relocate your vector Table
in Sram else user remap will be done in Flash. */
/* #define VECT_TAB_SRAM */
#if defined(VECT_TAB_SRAM)
#define VECT_TAB_BASE_ADDRESS SRAM1_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#else
#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#endif /* VECT_TAB_SRAM */
#endif /* USER_VECT_TAB_ADDRESS */
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_Variables
* @{
*/
/* The SystemCoreClock variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetHCLKFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
uint32_t SystemCoreClock = 4000000U;
const uint8_t AHBPrescTable[16] = {0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U, 6U, 7U, 8U, 9U};
const uint8_t APBPrescTable[8] = {0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U};
const uint32_t MSIRangeTable[12] = {100000U, 200000U, 400000U, 800000U, 1000000U, 2000000U, \
4000000U, 8000000U, 16000000U, 24000000U, 32000000U, 48000000U};
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_FunctionPrototypes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32L4xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system.
* @retval None
*/
void SystemInit(void)
{
#if defined(USER_VECT_TAB_ADDRESS)
/* Configure the Vector Table location -------------------------------------*/
SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET;
#endif
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << 20U)|(3UL << 22U)); /* set CP10 and CP11 Full Access */
#endif
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is MSI, SystemCoreClock will contain the MSI_VALUE(*)
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(**)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(***)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(***)
* or HSI_VALUE(*) or MSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) MSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value
* 4 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (***) HSE_VALUE is a constant defined in stm32l4xx_hal.h file (default value
* 8 MHz), user has to ensure that HSE_VALUE is same as the real
* frequency of the crystal used. Otherwise, this function may
* have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @retval None
*/
void SystemCoreClockUpdate(void)
{
uint32_t tmp, msirange, pllvco, pllsource, pllm, pllr;
/* Get MSI Range frequency--------------------------------------------------*/
if ((RCC->CR & RCC_CR_MSIRGSEL) == 0U)
{ /* MSISRANGE from RCC_CSR applies */
msirange = (RCC->CSR & RCC_CSR_MSISRANGE) >> 8U;
}
else
{ /* MSIRANGE from RCC_CR applies */
msirange = (RCC->CR & RCC_CR_MSIRANGE) >> 4U;
}
/*MSI frequency range in HZ*/
msirange = MSIRangeTable[msirange];
/* Get SYSCLK source -------------------------------------------------------*/
switch (RCC->CFGR & RCC_CFGR_SWS)
{
case 0x00: /* MSI used as system clock source */
SystemCoreClock = msirange;
break;
case 0x04: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x08: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x0C: /* PLL used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE or MSI_VALUE/ PLLM) * PLLN
SYSCLK = PLL_VCO / PLLR
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC);
pllm = ((RCC->PLLCFGR & RCC_PLLCFGR_PLLM) >> 4U) + 1U ;
switch (pllsource)
{
case 0x02: /* HSI used as PLL clock source */
pllvco = (HSI_VALUE / pllm);
break;
case 0x03: /* HSE used as PLL clock source */
pllvco = (HSE_VALUE / pllm);
break;
default: /* MSI used as PLL clock source */
pllvco = (msirange / pllm);
break;
}
pllvco = pllvco * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 8U);
pllr = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 25U) + 1U) * 2U;
SystemCoreClock = pllvco/pllr;
break;
default:
SystemCoreClock = msirange;
break;
}
/* Compute HCLK clock frequency --------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)];
/* HCLK clock frequency */
SystemCoreClock >>= tmp;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/