From 4a470e97b6f2027d8c4d227bfe091f1d06bd9d24 Mon Sep 17 00:00:00 2001 From: EmanuelFeru Date: Sat, 8 Feb 2020 08:58:02 +0100 Subject: [PATCH] Enabled printf float support - needed to display Self test results --- .gitignore | 1 + Inc/config.h | 2 +- MDK-ARM/startup_stm32f103xb.lst | 1211 ------------------------------ README.md | 6 +- Src/mpu6050.c | 32 +- build/VARIANT_DEBUG/firmware.bin | Bin 39188 -> 46360 bytes build/VARIANT_DEBUG/firmware.elf | Bin 376772 -> 380232 bytes 7 files changed, 21 insertions(+), 1231 deletions(-) delete mode 100644 MDK-ARM/startup_stm32f103xb.lst diff --git a/.gitignore b/.gitignore index 8716a24..bf5a852 100644 --- a/.gitignore +++ b/.gitignore @@ -5,6 +5,7 @@ MDK-ARM/DebugConfig/ MDK-ARM/RTE/ MDK-ARM/sideboard_CobeMX_prj/ MDK-ARM/*.uvguix +MDK-ARM/.lst !build/VARIANT_DEBUG/firmware.hex !build/VARIANT_DEBUG/firmware.bin !build/VARIANT_DEBUG/firmware.elf diff --git a/Inc/config.h b/Inc/config.h index a6ffbcb..96bd40f 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -28,7 +28,7 @@ #endif /* ==================================== DO NOT TOUCH SETTINGS ==================================== */ -//#define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float. It will increase code size! +#define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! #define BYPASS_CUBEMX_DEFINES // [-] Use this flag to bypass the Ports definitions generated by CUBE MX in main.h and use the ones in defines.h #define MPU6050 // [-] Define IMU sensor type #define MPU_GYRO_FSR 2000 // [deg/s] Set Gyroscope Full Scale Range: 250 deg/s, 500 deg/s, 1000 deg/s, 2000 deg/s. !! DMP sensor fusion works only with 2000 deg/s !! diff --git a/MDK-ARM/startup_stm32f103xb.lst b/MDK-ARM/startup_stm32f103xb.lst deleted file mode 100644 index d092d0c..0000000 --- a/MDK-ARM/startup_stm32f103xb.lst +++ /dev/null @@ -1,1211 +0,0 @@ - - - -ARM Macro Assembler Page 1 - - - 1 00000000 ;******************** (C) COPYRIGHT 2017 STMicroelectron - ics ******************** - 2 00000000 ;* File Name : startup_stm32f103xb.s - 3 00000000 ;* Author : MCD Application Team - 4 00000000 ;* Version : V4.2.0 - 5 00000000 ;* Date : 31-March-2017 - 6 00000000 ;* Description : STM32F103xB Devices vector table - for MDK-ARM toolchain. - 7 00000000 ;* This module performs: - 8 00000000 ;* - Set the initial SP - 9 00000000 ;* - Set the initial PC == Reset_Ha - ndler - 10 00000000 ;* - Set the vector table entries w - ith the exceptions ISR address - 11 00000000 ;* - Configure the clock system - 12 00000000 ;* - Branches to __main in the C li - brary (which eventually - 13 00000000 ;* calls main()). - 14 00000000 ;* After Reset the Cortex-M3 proces - sor is in Thread mode, - 15 00000000 ;* priority is Privileged, and the - Stack is set to Main. - 16 00000000 ;******************************************************* - ************************* - 17 00000000 ;* - 18 00000000 ;*

© COPYRIGHT(c) 2017 STMicroelectroni - cs

- 19 00000000 ;* - 20 00000000 ;* Redistribution and use in source and binary forms, wi - th or without modification, - 21 00000000 ;* are permitted provided that the following conditions - are met: - 22 00000000 ;* 1. Redistributions of source code must retain the a - bove copyright notice, - 23 00000000 ;* this list of conditions and the following discla - imer. - 24 00000000 ;* 2. Redistributions in binary form must reproduce th - e above copyright notice, - 25 00000000 ;* this list of conditions and the following discla - imer in the documentation - 26 00000000 ;* and/or other materials provided with the distrib - ution. - 27 00000000 ;* 3. Neither the name of STMicroelectronics nor the n - ames of its contributors - 28 00000000 ;* may be used to endorse or promote products deriv - ed from this software - 29 00000000 ;* without specific prior written permission. - 30 00000000 ;* - 31 00000000 ;* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AN - D CONTRIBUTORS "AS IS" - 32 00000000 ;* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT - NOT LIMITED TO, THE - 33 00000000 ;* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - A PARTICULAR PURPOSE ARE - 34 00000000 ;* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR - CONTRIBUTORS BE LIABLE - 35 00000000 ;* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPL - ARY, OR CONSEQUENTIAL - 36 00000000 ;* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT O - - - -ARM Macro Assembler Page 2 - - - F SUBSTITUTE GOODS OR - 37 00000000 ;* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - INTERRUPTION) HOWEVER - 38 00000000 ;* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CON - TRACT, STRICT LIABILITY, - 39 00000000 ;* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING I - N ANY WAY OUT OF THE USE - 40 00000000 ;* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY - OF SUCH DAMAGE. - 41 00000000 ; - 42 00000000 ;******************************************************* - ************************ - 43 00000000 - 44 00000000 ; Amount of memory (in bytes) allocated for Stack - 45 00000000 ; Tailor this value to your application needs - 46 00000000 ; Stack Configuration - 47 00000000 ; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> - 48 00000000 ; - 49 00000000 - 50 00000000 00000400 - Stack_Size - EQU 0x400 - 51 00000000 - 52 00000000 AREA STACK, NOINIT, READWRITE, ALIGN -=3 - 53 00000000 Stack_Mem - SPACE Stack_Size - 54 00000400 __initial_sp - 55 00000400 - 56 00000400 - 57 00000400 ; Heap Configuration - 58 00000400 ; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> - 59 00000400 ; - 60 00000400 - 61 00000400 00000200 - Heap_Size - EQU 0x200 - 62 00000400 - 63 00000400 AREA HEAP, NOINIT, READWRITE, ALIGN= -3 - 64 00000000 __heap_base - 65 00000000 Heap_Mem - SPACE Heap_Size - 66 00000200 __heap_limit - 67 00000200 - 68 00000200 PRESERVE8 - 69 00000200 THUMB - 70 00000200 - 71 00000200 - 72 00000200 ; Vector Table Mapped to Address 0 at Reset - 73 00000200 AREA RESET, DATA, READONLY - 74 00000000 EXPORT __Vectors - 75 00000000 EXPORT __Vectors_End - 76 00000000 EXPORT __Vectors_Size - 77 00000000 - 78 00000000 00000000 - __Vectors - DCD __initial_sp ; Top of Stack - 79 00000004 00000000 DCD Reset_Handler ; Reset Handler - - - -ARM Macro Assembler Page 3 - - - 80 00000008 00000000 DCD NMI_Handler ; NMI Handler - 81 0000000C 00000000 DCD HardFault_Handler ; Hard Fault - Handler - 82 00000010 00000000 DCD MemManage_Handler - ; MPU Fault Handler - - 83 00000014 00000000 DCD BusFault_Handler - ; Bus Fault Handler - - 84 00000018 00000000 DCD UsageFault_Handler ; Usage Faul - t Handler - 85 0000001C 00000000 DCD 0 ; Reserved - 86 00000020 00000000 DCD 0 ; Reserved - 87 00000024 00000000 DCD 0 ; Reserved - 88 00000028 00000000 DCD 0 ; Reserved - 89 0000002C 00000000 DCD SVC_Handler ; SVCall Handler - 90 00000030 00000000 DCD DebugMon_Handler ; Debug Monito - r Handler - 91 00000034 00000000 DCD 0 ; Reserved - 92 00000038 00000000 DCD PendSV_Handler ; PendSV Handler - - 93 0000003C 00000000 DCD SysTick_Handler - ; SysTick Handler - 94 00000040 - 95 00000040 ; External Interrupts - 96 00000040 00000000 DCD WWDG_IRQHandler - ; Window Watchdog - 97 00000044 00000000 DCD PVD_IRQHandler ; PVD through EX - TI Line detect - 98 00000048 00000000 DCD TAMPER_IRQHandler ; Tamper - 99 0000004C 00000000 DCD RTC_IRQHandler ; RTC - 100 00000050 00000000 DCD FLASH_IRQHandler ; Flash - 101 00000054 00000000 DCD RCC_IRQHandler ; RCC - 102 00000058 00000000 DCD EXTI0_IRQHandler ; EXTI Line 0 - 103 0000005C 00000000 DCD EXTI1_IRQHandler ; EXTI Line 1 - 104 00000060 00000000 DCD EXTI2_IRQHandler ; EXTI Line 2 - 105 00000064 00000000 DCD EXTI3_IRQHandler ; EXTI Line 3 - 106 00000068 00000000 DCD EXTI4_IRQHandler ; EXTI Line 4 - 107 0000006C 00000000 DCD DMA1_Channel1_IRQHandler - ; DMA1 Channel 1 - 108 00000070 00000000 DCD DMA1_Channel2_IRQHandler - ; DMA1 Channel 2 - 109 00000074 00000000 DCD DMA1_Channel3_IRQHandler - ; DMA1 Channel 3 - 110 00000078 00000000 DCD DMA1_Channel4_IRQHandler - ; DMA1 Channel 4 - 111 0000007C 00000000 DCD DMA1_Channel5_IRQHandler - ; DMA1 Channel 5 - 112 00000080 00000000 DCD DMA1_Channel6_IRQHandler - ; DMA1 Channel 6 - 113 00000084 00000000 DCD DMA1_Channel7_IRQHandler - ; DMA1 Channel 7 - 114 00000088 00000000 DCD ADC1_2_IRQHandler ; ADC1_2 - 115 0000008C 00000000 DCD USB_HP_CAN1_TX_IRQHandler ; USB - High Priority or C - AN1 TX - 116 00000090 00000000 DCD USB_LP_CAN1_RX0_IRQHandler ; US - B Low Priority or - CAN1 RX0 - - - -ARM Macro Assembler Page 4 - - - 117 00000094 00000000 DCD CAN1_RX1_IRQHandler ; CAN1 RX1 - 118 00000098 00000000 DCD CAN1_SCE_IRQHandler ; CAN1 SCE - 119 0000009C 00000000 DCD EXTI9_5_IRQHandler - ; EXTI Line 9..5 - 120 000000A0 00000000 DCD TIM1_BRK_IRQHandler - ; TIM1 Break - 121 000000A4 00000000 DCD TIM1_UP_IRQHandler - ; TIM1 Update - 122 000000A8 00000000 DCD TIM1_TRG_COM_IRQHandler ; TIM1 - Trigger and Commuta - tion - 123 000000AC 00000000 DCD TIM1_CC_IRQHandler ; TIM1 Captu - re Compare - 124 000000B0 00000000 DCD TIM2_IRQHandler ; TIM2 - 125 000000B4 00000000 DCD TIM3_IRQHandler ; TIM3 - 126 000000B8 00000000 DCD TIM4_IRQHandler ; TIM4 - 127 000000BC 00000000 DCD I2C1_EV_IRQHandler ; I2C1 Event - - 128 000000C0 00000000 DCD I2C1_ER_IRQHandler ; I2C1 Error - - 129 000000C4 00000000 DCD I2C2_EV_IRQHandler ; I2C2 Event - - 130 000000C8 00000000 DCD I2C2_ER_IRQHandler ; I2C2 Error - - 131 000000CC 00000000 DCD SPI1_IRQHandler ; SPI1 - 132 000000D0 00000000 DCD SPI2_IRQHandler ; SPI2 - 133 000000D4 00000000 DCD USART1_IRQHandler ; USART1 - 134 000000D8 00000000 DCD USART2_IRQHandler ; USART2 - 135 000000DC 00000000 DCD USART3_IRQHandler ; USART3 - 136 000000E0 00000000 DCD EXTI15_10_IRQHandler - ; EXTI Line 15..10 - 137 000000E4 00000000 DCD RTC_Alarm_IRQHandler ; RTC Alar - m through EXTI Line - - 138 000000E8 00000000 DCD USBWakeUp_IRQHandler ; USB Wake - up from suspend - 139 000000EC __Vectors_End - 140 000000EC - 141 000000EC 000000EC - __Vectors_Size - EQU __Vectors_End - __Vectors - 142 000000EC - 143 000000EC AREA |.text|, CODE, READONLY - 144 00000000 - 145 00000000 ; Reset handler - 146 00000000 Reset_Handler - PROC - 147 00000000 EXPORT Reset_Handler [WEAK -] - 148 00000000 IMPORT __main - 149 00000000 IMPORT SystemInit - 150 00000000 4806 LDR R0, =SystemInit - 151 00000002 4780 BLX R0 - 152 00000004 4806 LDR R0, =__main - 153 00000006 4700 BX R0 - 154 00000008 ENDP - 155 00000008 - 156 00000008 ; Dummy Exception Handlers (infinite loops which can be - modified) - - - -ARM Macro Assembler Page 5 - - - 157 00000008 - 158 00000008 NMI_Handler - PROC - 159 00000008 EXPORT NMI_Handler [WEA -K] - 160 00000008 E7FE B . - 161 0000000A ENDP - 163 0000000A HardFault_Handler - PROC - 164 0000000A EXPORT HardFault_Handler [WEA -K] - 165 0000000A E7FE B . - 166 0000000C ENDP - 168 0000000C MemManage_Handler - PROC - 169 0000000C EXPORT MemManage_Handler [WEA -K] - 170 0000000C E7FE B . - 171 0000000E ENDP - 173 0000000E BusFault_Handler - PROC - 174 0000000E EXPORT BusFault_Handler [WEA -K] - 175 0000000E E7FE B . - 176 00000010 ENDP - 178 00000010 UsageFault_Handler - PROC - 179 00000010 EXPORT UsageFault_Handler [WEA -K] - 180 00000010 E7FE B . - 181 00000012 ENDP - 182 00000012 SVC_Handler - PROC - 183 00000012 EXPORT SVC_Handler [WEA -K] - 184 00000012 E7FE B . - 185 00000014 ENDP - 187 00000014 DebugMon_Handler - PROC - 188 00000014 EXPORT DebugMon_Handler [WEA -K] - 189 00000014 E7FE B . - 190 00000016 ENDP - 191 00000016 PendSV_Handler - PROC - 192 00000016 EXPORT PendSV_Handler [WEA -K] - 193 00000016 E7FE B . - 194 00000018 ENDP - 195 00000018 SysTick_Handler - PROC - 196 00000018 EXPORT SysTick_Handler [WEA -K] - 197 00000018 E7FE B . - 198 0000001A ENDP - 199 0000001A - 200 0000001A Default_Handler - PROC - 201 0000001A - - - -ARM Macro Assembler Page 6 - - - 202 0000001A EXPORT WWDG_IRQHandler [WEA -K] - 203 0000001A EXPORT PVD_IRQHandler [WEA -K] - 204 0000001A EXPORT TAMPER_IRQHandler [WEA -K] - 205 0000001A EXPORT RTC_IRQHandler [WEA -K] - 206 0000001A EXPORT FLASH_IRQHandler [WEA -K] - 207 0000001A EXPORT RCC_IRQHandler [WEA -K] - 208 0000001A EXPORT EXTI0_IRQHandler [WEA -K] - 209 0000001A EXPORT EXTI1_IRQHandler [WEA -K] - 210 0000001A EXPORT EXTI2_IRQHandler [WEA -K] - 211 0000001A EXPORT EXTI3_IRQHandler [WEA -K] - 212 0000001A EXPORT EXTI4_IRQHandler [WEA -K] - 213 0000001A EXPORT DMA1_Channel1_IRQHandler [WEA -K] - 214 0000001A EXPORT DMA1_Channel2_IRQHandler [WEA -K] - 215 0000001A EXPORT DMA1_Channel3_IRQHandler [WEA -K] - 216 0000001A EXPORT DMA1_Channel4_IRQHandler [WEA -K] - 217 0000001A EXPORT DMA1_Channel5_IRQHandler [WEA -K] - 218 0000001A EXPORT DMA1_Channel6_IRQHandler [WEA -K] - 219 0000001A EXPORT DMA1_Channel7_IRQHandler [WEA -K] - 220 0000001A EXPORT ADC1_2_IRQHandler [WEA -K] - 221 0000001A EXPORT USB_HP_CAN1_TX_IRQHandler [WEA -K] - 222 0000001A EXPORT USB_LP_CAN1_RX0_IRQHandler [WEA -K] - 223 0000001A EXPORT CAN1_RX1_IRQHandler [WEA -K] - 224 0000001A EXPORT CAN1_SCE_IRQHandler [WEA -K] - 225 0000001A EXPORT EXTI9_5_IRQHandler [WEA -K] - 226 0000001A EXPORT TIM1_BRK_IRQHandler [WEA -K] - 227 0000001A EXPORT TIM1_UP_IRQHandler [WEA -K] - 228 0000001A EXPORT TIM1_TRG_COM_IRQHandler [WEA -K] - 229 0000001A EXPORT TIM1_CC_IRQHandler [WEA -K] - 230 0000001A EXPORT TIM2_IRQHandler [WEA -K] - 231 0000001A EXPORT TIM3_IRQHandler [WEA - - - -ARM Macro Assembler Page 7 - - -K] - 232 0000001A EXPORT TIM4_IRQHandler [WEA -K] - 233 0000001A EXPORT I2C1_EV_IRQHandler [WEA -K] - 234 0000001A EXPORT I2C1_ER_IRQHandler [WEA -K] - 235 0000001A EXPORT I2C2_EV_IRQHandler [WEA -K] - 236 0000001A EXPORT I2C2_ER_IRQHandler [WEA -K] - 237 0000001A EXPORT SPI1_IRQHandler [WEA -K] - 238 0000001A EXPORT SPI2_IRQHandler [WEA -K] - 239 0000001A EXPORT USART1_IRQHandler [WEA -K] - 240 0000001A EXPORT USART2_IRQHandler [WEA -K] - 241 0000001A EXPORT USART3_IRQHandler [WEA -K] - 242 0000001A EXPORT EXTI15_10_IRQHandler [WEA -K] - 243 0000001A EXPORT RTC_Alarm_IRQHandler [WE -AK] - 244 0000001A EXPORT USBWakeUp_IRQHandler [WEA -K] - 245 0000001A - 246 0000001A WWDG_IRQHandler - 247 0000001A PVD_IRQHandler - 248 0000001A TAMPER_IRQHandler - 249 0000001A RTC_IRQHandler - 250 0000001A FLASH_IRQHandler - 251 0000001A RCC_IRQHandler - 252 0000001A EXTI0_IRQHandler - 253 0000001A EXTI1_IRQHandler - 254 0000001A EXTI2_IRQHandler - 255 0000001A EXTI3_IRQHandler - 256 0000001A EXTI4_IRQHandler - 257 0000001A DMA1_Channel1_IRQHandler - 258 0000001A DMA1_Channel2_IRQHandler - 259 0000001A DMA1_Channel3_IRQHandler - 260 0000001A DMA1_Channel4_IRQHandler - 261 0000001A DMA1_Channel5_IRQHandler - 262 0000001A DMA1_Channel6_IRQHandler - 263 0000001A DMA1_Channel7_IRQHandler - 264 0000001A ADC1_2_IRQHandler - 265 0000001A USB_HP_CAN1_TX_IRQHandler - 266 0000001A USB_LP_CAN1_RX0_IRQHandler - 267 0000001A CAN1_RX1_IRQHandler - 268 0000001A CAN1_SCE_IRQHandler - 269 0000001A EXTI9_5_IRQHandler - 270 0000001A TIM1_BRK_IRQHandler - 271 0000001A TIM1_UP_IRQHandler - 272 0000001A TIM1_TRG_COM_IRQHandler - 273 0000001A TIM1_CC_IRQHandler - 274 0000001A TIM2_IRQHandler - 275 0000001A TIM3_IRQHandler - 276 0000001A TIM4_IRQHandler - - - -ARM Macro Assembler Page 8 - - - 277 0000001A I2C1_EV_IRQHandler - 278 0000001A I2C1_ER_IRQHandler - 279 0000001A I2C2_EV_IRQHandler - 280 0000001A I2C2_ER_IRQHandler - 281 0000001A SPI1_IRQHandler - 282 0000001A SPI2_IRQHandler - 283 0000001A USART1_IRQHandler - 284 0000001A USART2_IRQHandler - 285 0000001A USART3_IRQHandler - 286 0000001A EXTI15_10_IRQHandler - 287 0000001A RTC_Alarm_IRQHandler - 288 0000001A USBWakeUp_IRQHandler - 289 0000001A - 290 0000001A E7FE B . - 291 0000001C - 292 0000001C ENDP - 293 0000001C - 294 0000001C ALIGN - 295 0000001C - 296 0000001C ;******************************************************* - ************************ - 297 0000001C ; User Stack and Heap initialization - 298 0000001C ;******************************************************* - ************************ - 299 0000001C IF :DEF:__MICROLIB - 300 0000001C - 301 0000001C EXPORT __initial_sp - 302 0000001C EXPORT __heap_base - 303 0000001C EXPORT __heap_limit - 304 0000001C - 305 0000001C ELSE - 320 ENDIF - 321 0000001C - 322 0000001C END - 00000000 - 00000000 -Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw -ork --depend=.\sideboard_cubemx_prj\startup_stm32f103xb.d -o.\sideboard_cubemx_ -prj\startup_stm32f103xb.o -I.\RTE\_sideboard-hack -IC:\Keil_v5\ARM\PACK\ARM\CMS -IS\5.6.0\CMSIS\Core\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Devi -ce\Include --predefine="__EVAL SETA 1" --predefine="__MICROLIB SETA 1" --predef -ine="__UVISION_VERSION SETA 523" --predefine="_RTE_ SETA 1" --predefine="STM32F -10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_stm32f103xb.s - - - -ARM Macro Assembler Page 1 Alphabetic symbol ordering -Relocatable symbols - -STACK 00000000 - -Symbol: STACK - Definitions - At line 52 in file startup_stm32f103xb.s - Uses - None -Comment: STACK unused -Stack_Mem 00000000 - -Symbol: Stack_Mem - Definitions - At line 53 in file startup_stm32f103xb.s - Uses - None -Comment: Stack_Mem unused -__initial_sp 00000400 - -Symbol: __initial_sp - Definitions - At line 54 in file startup_stm32f103xb.s - Uses - At line 78 in file startup_stm32f103xb.s - At line 301 in file startup_stm32f103xb.s - -3 symbols - - - -ARM Macro Assembler Page 1 Alphabetic symbol ordering -Relocatable symbols - -HEAP 00000000 - -Symbol: HEAP - Definitions - At line 63 in file startup_stm32f103xb.s - Uses - None -Comment: HEAP unused -Heap_Mem 00000000 - -Symbol: Heap_Mem - Definitions - At line 65 in file startup_stm32f103xb.s - Uses - None -Comment: Heap_Mem unused -__heap_base 00000000 - -Symbol: __heap_base - Definitions - At line 64 in file startup_stm32f103xb.s - Uses - At line 302 in file startup_stm32f103xb.s -Comment: __heap_base used once -__heap_limit 00000200 - -Symbol: __heap_limit - Definitions - At line 66 in file startup_stm32f103xb.s - Uses - At line 303 in file startup_stm32f103xb.s -Comment: __heap_limit used once -4 symbols - - - -ARM Macro Assembler Page 1 Alphabetic symbol ordering -Relocatable symbols - -RESET 00000000 - -Symbol: RESET - Definitions - At line 73 in file startup_stm32f103xb.s - Uses - None -Comment: RESET unused -__Vectors 00000000 - -Symbol: __Vectors - Definitions - At line 78 in file startup_stm32f103xb.s - Uses - At line 74 in file startup_stm32f103xb.s - At line 141 in file startup_stm32f103xb.s - -__Vectors_End 000000EC - -Symbol: __Vectors_End - Definitions - At line 139 in file startup_stm32f103xb.s - Uses - At line 75 in file startup_stm32f103xb.s - At line 141 in file startup_stm32f103xb.s - -3 symbols - - - -ARM Macro Assembler Page 1 Alphabetic symbol ordering -Relocatable symbols - -.text 00000000 - -Symbol: .text - Definitions - At line 143 in file startup_stm32f103xb.s - Uses - None -Comment: .text unused -ADC1_2_IRQHandler 0000001A - -Symbol: ADC1_2_IRQHandler - Definitions - At line 264 in file startup_stm32f103xb.s - Uses - At line 114 in file startup_stm32f103xb.s - At line 220 in file startup_stm32f103xb.s - -BusFault_Handler 0000000E - -Symbol: BusFault_Handler - Definitions - At line 173 in file startup_stm32f103xb.s - Uses - At line 83 in file startup_stm32f103xb.s - At line 174 in file startup_stm32f103xb.s - -CAN1_RX1_IRQHandler 0000001A - -Symbol: CAN1_RX1_IRQHandler - Definitions - At line 267 in file startup_stm32f103xb.s - Uses - At line 117 in file startup_stm32f103xb.s - At line 223 in file startup_stm32f103xb.s - -CAN1_SCE_IRQHandler 0000001A - -Symbol: CAN1_SCE_IRQHandler - Definitions - At line 268 in file startup_stm32f103xb.s - Uses - At line 118 in file startup_stm32f103xb.s - At line 224 in file startup_stm32f103xb.s - -DMA1_Channel1_IRQHandler 0000001A - -Symbol: DMA1_Channel1_IRQHandler - Definitions - At line 257 in file startup_stm32f103xb.s - Uses - At line 107 in file startup_stm32f103xb.s - At line 213 in file startup_stm32f103xb.s - -DMA1_Channel2_IRQHandler 0000001A - -Symbol: DMA1_Channel2_IRQHandler - Definitions - At line 258 in file startup_stm32f103xb.s - Uses - - - -ARM Macro Assembler Page 2 Alphabetic symbol ordering -Relocatable symbols - - At line 108 in file startup_stm32f103xb.s - At line 214 in file startup_stm32f103xb.s - -DMA1_Channel3_IRQHandler 0000001A - -Symbol: DMA1_Channel3_IRQHandler - Definitions - At line 259 in file startup_stm32f103xb.s - Uses - At line 109 in file startup_stm32f103xb.s - At line 215 in file startup_stm32f103xb.s - -DMA1_Channel4_IRQHandler 0000001A - -Symbol: DMA1_Channel4_IRQHandler - Definitions - At line 260 in file startup_stm32f103xb.s - Uses - At line 110 in file startup_stm32f103xb.s - At line 216 in file startup_stm32f103xb.s - -DMA1_Channel5_IRQHandler 0000001A - -Symbol: DMA1_Channel5_IRQHandler - Definitions - At line 261 in file startup_stm32f103xb.s - Uses - At line 111 in file startup_stm32f103xb.s - At line 217 in file startup_stm32f103xb.s - -DMA1_Channel6_IRQHandler 0000001A - -Symbol: DMA1_Channel6_IRQHandler - Definitions - At line 262 in file startup_stm32f103xb.s - Uses - At line 112 in file startup_stm32f103xb.s - At line 218 in file startup_stm32f103xb.s - -DMA1_Channel7_IRQHandler 0000001A - -Symbol: DMA1_Channel7_IRQHandler - Definitions - At line 263 in file startup_stm32f103xb.s - Uses - At line 113 in file startup_stm32f103xb.s - At line 219 in file startup_stm32f103xb.s - -DebugMon_Handler 00000014 - -Symbol: DebugMon_Handler - Definitions - At line 187 in file startup_stm32f103xb.s - Uses - At line 90 in file startup_stm32f103xb.s - At line 188 in file startup_stm32f103xb.s - -Default_Handler 0000001A - - - - -ARM Macro Assembler Page 3 Alphabetic symbol ordering -Relocatable symbols - -Symbol: Default_Handler - Definitions - At line 200 in file startup_stm32f103xb.s - Uses - None -Comment: Default_Handler unused -EXTI0_IRQHandler 0000001A - -Symbol: EXTI0_IRQHandler - Definitions - At line 252 in file startup_stm32f103xb.s - Uses - At line 102 in file startup_stm32f103xb.s - At line 208 in file startup_stm32f103xb.s - -EXTI15_10_IRQHandler 0000001A - -Symbol: EXTI15_10_IRQHandler - Definitions - At line 286 in file startup_stm32f103xb.s - Uses - At line 136 in file startup_stm32f103xb.s - At line 242 in file startup_stm32f103xb.s - -EXTI1_IRQHandler 0000001A - -Symbol: EXTI1_IRQHandler - Definitions - At line 253 in file startup_stm32f103xb.s - Uses - At line 103 in file startup_stm32f103xb.s - At line 209 in file startup_stm32f103xb.s - -EXTI2_IRQHandler 0000001A - -Symbol: EXTI2_IRQHandler - Definitions - At line 254 in file startup_stm32f103xb.s - Uses - At line 104 in file startup_stm32f103xb.s - At line 210 in file startup_stm32f103xb.s - -EXTI3_IRQHandler 0000001A - -Symbol: EXTI3_IRQHandler - Definitions - At line 255 in file startup_stm32f103xb.s - Uses - At line 105 in file startup_stm32f103xb.s - At line 211 in file startup_stm32f103xb.s - -EXTI4_IRQHandler 0000001A - -Symbol: EXTI4_IRQHandler - Definitions - At line 256 in file startup_stm32f103xb.s - Uses - At line 106 in file startup_stm32f103xb.s - At line 212 in file startup_stm32f103xb.s - - - -ARM Macro Assembler Page 4 Alphabetic symbol ordering -Relocatable symbols - - -EXTI9_5_IRQHandler 0000001A - -Symbol: EXTI9_5_IRQHandler - Definitions - At line 269 in file startup_stm32f103xb.s - Uses - At line 119 in file startup_stm32f103xb.s - At line 225 in file startup_stm32f103xb.s - -FLASH_IRQHandler 0000001A - -Symbol: FLASH_IRQHandler - Definitions - At line 250 in file startup_stm32f103xb.s - Uses - At line 100 in file startup_stm32f103xb.s - At line 206 in file startup_stm32f103xb.s - -HardFault_Handler 0000000A - -Symbol: HardFault_Handler - Definitions - At line 163 in file startup_stm32f103xb.s - Uses - At line 81 in file startup_stm32f103xb.s - At line 164 in file startup_stm32f103xb.s - -I2C1_ER_IRQHandler 0000001A - -Symbol: I2C1_ER_IRQHandler - Definitions - At line 278 in file startup_stm32f103xb.s - Uses - At line 128 in file startup_stm32f103xb.s - At line 234 in file startup_stm32f103xb.s - -I2C1_EV_IRQHandler 0000001A - -Symbol: I2C1_EV_IRQHandler - Definitions - At line 277 in file startup_stm32f103xb.s - Uses - At line 127 in file startup_stm32f103xb.s - At line 233 in file startup_stm32f103xb.s - -I2C2_ER_IRQHandler 0000001A - -Symbol: I2C2_ER_IRQHandler - Definitions - At line 280 in file startup_stm32f103xb.s - Uses - At line 130 in file startup_stm32f103xb.s - At line 236 in file startup_stm32f103xb.s - -I2C2_EV_IRQHandler 0000001A - -Symbol: I2C2_EV_IRQHandler - Definitions - - - -ARM Macro Assembler Page 5 Alphabetic symbol ordering -Relocatable symbols - - At line 279 in file startup_stm32f103xb.s - Uses - At line 129 in file startup_stm32f103xb.s - At line 235 in file startup_stm32f103xb.s - -MemManage_Handler 0000000C - -Symbol: MemManage_Handler - Definitions - At line 168 in file startup_stm32f103xb.s - Uses - At line 82 in file startup_stm32f103xb.s - At line 169 in file startup_stm32f103xb.s - -NMI_Handler 00000008 - -Symbol: NMI_Handler - Definitions - At line 158 in file startup_stm32f103xb.s - Uses - At line 80 in file startup_stm32f103xb.s - At line 159 in file startup_stm32f103xb.s - -PVD_IRQHandler 0000001A - -Symbol: PVD_IRQHandler - Definitions - At line 247 in file startup_stm32f103xb.s - Uses - At line 97 in file startup_stm32f103xb.s - At line 203 in file startup_stm32f103xb.s - -PendSV_Handler 00000016 - -Symbol: PendSV_Handler - Definitions - At line 191 in file startup_stm32f103xb.s - Uses - At line 92 in file startup_stm32f103xb.s - At line 192 in file startup_stm32f103xb.s - -RCC_IRQHandler 0000001A - -Symbol: RCC_IRQHandler - Definitions - At line 251 in file startup_stm32f103xb.s - Uses - At line 101 in file startup_stm32f103xb.s - At line 207 in file startup_stm32f103xb.s - -RTC_Alarm_IRQHandler 0000001A - -Symbol: RTC_Alarm_IRQHandler - Definitions - At line 287 in file startup_stm32f103xb.s - Uses - At line 137 in file startup_stm32f103xb.s - At line 243 in file startup_stm32f103xb.s - - - - -ARM Macro Assembler Page 6 Alphabetic symbol ordering -Relocatable symbols - -RTC_IRQHandler 0000001A - -Symbol: RTC_IRQHandler - Definitions - At line 249 in file startup_stm32f103xb.s - Uses - At line 99 in file startup_stm32f103xb.s - At line 205 in file startup_stm32f103xb.s - -Reset_Handler 00000000 - -Symbol: Reset_Handler - Definitions - At line 146 in file startup_stm32f103xb.s - Uses - At line 79 in file startup_stm32f103xb.s - At line 147 in file startup_stm32f103xb.s - -SPI1_IRQHandler 0000001A - -Symbol: SPI1_IRQHandler - Definitions - At line 281 in file startup_stm32f103xb.s - Uses - At line 131 in file startup_stm32f103xb.s - At line 237 in file startup_stm32f103xb.s - -SPI2_IRQHandler 0000001A - -Symbol: SPI2_IRQHandler - Definitions - At line 282 in file startup_stm32f103xb.s - Uses - At line 132 in file startup_stm32f103xb.s - At line 238 in file startup_stm32f103xb.s - -SVC_Handler 00000012 - -Symbol: SVC_Handler - Definitions - At line 182 in file startup_stm32f103xb.s - Uses - At line 89 in file startup_stm32f103xb.s - At line 183 in file startup_stm32f103xb.s - -SysTick_Handler 00000018 - -Symbol: SysTick_Handler - Definitions - At line 195 in file startup_stm32f103xb.s - Uses - At line 93 in file startup_stm32f103xb.s - At line 196 in file startup_stm32f103xb.s - -TAMPER_IRQHandler 0000001A - -Symbol: TAMPER_IRQHandler - Definitions - At line 248 in file startup_stm32f103xb.s - - - -ARM Macro Assembler Page 7 Alphabetic symbol ordering -Relocatable symbols - - Uses - At line 98 in file startup_stm32f103xb.s - At line 204 in file startup_stm32f103xb.s - -TIM1_BRK_IRQHandler 0000001A - -Symbol: TIM1_BRK_IRQHandler - Definitions - At line 270 in file startup_stm32f103xb.s - Uses - At line 120 in file startup_stm32f103xb.s - At line 226 in file startup_stm32f103xb.s - -TIM1_CC_IRQHandler 0000001A - -Symbol: TIM1_CC_IRQHandler - Definitions - At line 273 in file startup_stm32f103xb.s - Uses - At line 123 in file startup_stm32f103xb.s - At line 229 in file startup_stm32f103xb.s - -TIM1_TRG_COM_IRQHandler 0000001A - -Symbol: TIM1_TRG_COM_IRQHandler - Definitions - At line 272 in file startup_stm32f103xb.s - Uses - At line 122 in file startup_stm32f103xb.s - At line 228 in file startup_stm32f103xb.s - -TIM1_UP_IRQHandler 0000001A - -Symbol: TIM1_UP_IRQHandler - Definitions - At line 271 in file startup_stm32f103xb.s - Uses - At line 121 in file startup_stm32f103xb.s - At line 227 in file startup_stm32f103xb.s - -TIM2_IRQHandler 0000001A - -Symbol: TIM2_IRQHandler - Definitions - At line 274 in file startup_stm32f103xb.s - Uses - At line 124 in file startup_stm32f103xb.s - At line 230 in file startup_stm32f103xb.s - -TIM3_IRQHandler 0000001A - -Symbol: TIM3_IRQHandler - Definitions - At line 275 in file startup_stm32f103xb.s - Uses - At line 125 in file startup_stm32f103xb.s - At line 231 in file startup_stm32f103xb.s - -TIM4_IRQHandler 0000001A - - - -ARM Macro Assembler Page 8 Alphabetic symbol ordering -Relocatable symbols - - -Symbol: TIM4_IRQHandler - Definitions - At line 276 in file startup_stm32f103xb.s - Uses - At line 126 in file startup_stm32f103xb.s - At line 232 in file startup_stm32f103xb.s - -USART1_IRQHandler 0000001A - -Symbol: USART1_IRQHandler - Definitions - At line 283 in file startup_stm32f103xb.s - Uses - At line 133 in file startup_stm32f103xb.s - At line 239 in file startup_stm32f103xb.s - -USART2_IRQHandler 0000001A - -Symbol: USART2_IRQHandler - Definitions - At line 284 in file startup_stm32f103xb.s - Uses - At line 134 in file startup_stm32f103xb.s - At line 240 in file startup_stm32f103xb.s - -USART3_IRQHandler 0000001A - -Symbol: USART3_IRQHandler - Definitions - At line 285 in file startup_stm32f103xb.s - Uses - At line 135 in file startup_stm32f103xb.s - At line 241 in file startup_stm32f103xb.s - -USBWakeUp_IRQHandler 0000001A - -Symbol: USBWakeUp_IRQHandler - Definitions - At line 288 in file startup_stm32f103xb.s - Uses - At line 138 in file startup_stm32f103xb.s - At line 244 in file startup_stm32f103xb.s - -USB_HP_CAN1_TX_IRQHandler 0000001A - -Symbol: USB_HP_CAN1_TX_IRQHandler - Definitions - At line 265 in file startup_stm32f103xb.s - Uses - At line 115 in file startup_stm32f103xb.s - At line 221 in file startup_stm32f103xb.s - -USB_LP_CAN1_RX0_IRQHandler 0000001A - -Symbol: USB_LP_CAN1_RX0_IRQHandler - Definitions - At line 266 in file startup_stm32f103xb.s - Uses - - - -ARM Macro Assembler Page 9 Alphabetic symbol ordering -Relocatable symbols - - At line 116 in file startup_stm32f103xb.s - At line 222 in file startup_stm32f103xb.s - -UsageFault_Handler 00000010 - -Symbol: UsageFault_Handler - Definitions - At line 178 in file startup_stm32f103xb.s - Uses - At line 84 in file startup_stm32f103xb.s - At line 179 in file startup_stm32f103xb.s - -WWDG_IRQHandler 0000001A - -Symbol: WWDG_IRQHandler - Definitions - At line 246 in file startup_stm32f103xb.s - Uses - At line 96 in file startup_stm32f103xb.s - At line 202 in file startup_stm32f103xb.s - -55 symbols - - - -ARM Macro Assembler Page 1 Alphabetic symbol ordering -Absolute symbols - -Heap_Size 00000200 - -Symbol: Heap_Size - Definitions - At line 61 in file startup_stm32f103xb.s - Uses - At line 65 in file startup_stm32f103xb.s -Comment: Heap_Size used once -Stack_Size 00000400 - -Symbol: Stack_Size - Definitions - At line 50 in file startup_stm32f103xb.s - Uses - At line 53 in file startup_stm32f103xb.s -Comment: Stack_Size used once -__Vectors_Size 000000EC - -Symbol: __Vectors_Size - Definitions - At line 141 in file startup_stm32f103xb.s - Uses - At line 76 in file startup_stm32f103xb.s -Comment: __Vectors_Size used once -3 symbols - - - -ARM Macro Assembler Page 1 Alphabetic symbol ordering -External symbols - -SystemInit 00000000 - -Symbol: SystemInit - Definitions - At line 149 in file startup_stm32f103xb.s - Uses - At line 150 in file startup_stm32f103xb.s -Comment: SystemInit used once -__main 00000000 - -Symbol: __main - Definitions - At line 148 in file startup_stm32f103xb.s - Uses - At line 152 in file startup_stm32f103xb.s -Comment: __main used once -2 symbols -407 symbols in table diff --git a/README.md b/README.md index 1a7a35c..f089f56 100644 --- a/README.md +++ b/README.md @@ -68,7 +68,7 @@ make flash --- ## Example Variants -This firmware offers currently these variants (selectable in [config.h](/Inc/config.h)): +This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) or [config.h](/Inc/config.h)): - **VARIANT_DEBUG**: In this variant the user can interact with sideboard via a Serial Monitor to observe and check the capabilities of the sideboard. - **VARIANT_HOVERBOARD**: In this variant the sideboard is communicating with the mainboard of a hoverboard using the [FOC firmware repository](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC). This Variant is not yet fully tested! @@ -77,7 +77,7 @@ Of course the firmware can be further customized for other needs or projects. --- ## 3D Visualization Demo -By [converting Quaternions to Euler angles](https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles), we can make a [3D visualization example](/docs/sketch_processing/sketch_processing.pde) in [Processing](https://processing.org/) as shown below. For this Demo use the VARIANT_HOVERBOARD. +By [converting Quaternions to Euler angles](https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles), we can make a [3D visualization example](/docs/sketch_processing/sketch_processing.pde) in [Processing](https://processing.org/) as shown below. For this Demo VARIANT_HOVERBOARD was used. ![sketch_pic](/docs/pictures/sketch_processing_pic.png) @@ -85,7 +85,7 @@ By [converting Quaternions to Euler angles](https://en.wikipedia.org/wiki/Conver --- ## Contributions -Every contribution to this repository is highly appriciated! Feel free to create pull requests to improve this firmware as ultimately you are going to help everyone. +Every contribution to this repository is highly appreciated! Feel free to create pull requests to improve this firmware as ultimately you are going to help everyone. If you want to donate to keep this firmware updated, please use the link below: diff --git a/Src/mpu6050.c b/Src/mpu6050.c index 56cb3e8..02ed96d 100644 --- a/Src/mpu6050.c +++ b/Src/mpu6050.c @@ -3226,18 +3226,18 @@ void mpu_start_self_test(void) result = mpu_run_self_test(gyro, accel); #endif if (result == 0x7) { - #ifdef SERIAL_DEBUG - consoleLog("Passed!\n"); - log_i("accel: %7.4f %7.4f %7.4f\n", - accel[0]/65536.f, - accel[1]/65536.f, - accel[2]/65536.f); - log_i("gyro: %7.4f %7.4f %7.4f\n", - gyro[0]/65536.f, - gyro[1]/65536.f, - gyro[2]/65536.f); - /* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/ - #endif + #ifdef SERIAL_DEBUG + consoleLog("Passed!\n"); + log_i("accel: %7.4f %7.4f %7.4f\n", + accel[0]/65536.f, + accel[1]/65536.f, + accel[2]/65536.f); + log_i("gyro: %7.4f %7.4f %7.4f\n", + gyro[0]/65536.f, + gyro[1]/65536.f, + gyro[2]/65536.f); + /* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/ + #endif #ifdef USE_CAL_HW_REGISTERS /* @@ -3357,10 +3357,10 @@ int mpu_config(void) // mpu_get_gyro_fsr(&gyro_fsr); // mpu_get_accel_fsr(&accel_fsr); - /* Initialize HAL state variables. */ - hal.sensors = ACCEL_ON | GYRO_ON; - hal.dmp_on = 0; - hal.report = 0; + /* Initialize HAL state variables. */ + hal.sensors = ACCEL_ON | GYRO_ON; + hal.dmp_on = 0; + hal.report = 0; hal.next_pedo_ms = 0; hal.next_temp_ms = 0; diff --git a/build/VARIANT_DEBUG/firmware.bin b/build/VARIANT_DEBUG/firmware.bin index 17793c3015282f7314f07672e3aeaf6fb55447d7..8527b39b683418ffe87cd71bfc7209e18fafc880 100644 GIT binary patch delta 12946 zcmbt*3w%>W_VCrjZoH=vOnKN_Foo?MnH}%slRD%qKO^6$5L7WL-G{9JZLICueUlHIY#PO5hSpu*Y z`u=~wa&9URx$XavP%ZRZ{=e({U+_ZelQ{xM8H&4A$Ur8i--9@=jj?C9FqKTjp3BJ1 z9U=H$s3&y{PM0YY8Wrfu%%X}L%3EuwZJO4{(x*_Z-*Zh`;b=x~L4uePT9f^rUfqd? zQ{!)w*(pusZ&;PCh9hR6K%hAK6x4&>piTB~KdV^XVA|qp}Ar-5{-bku}*}GU~2h?Kn0pZHvMS8V(iys*a 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