mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-STM.git
synced 2025-07-27 01:09:33 +00:00
Visual update and minor fixes
- minor bug fixes - added LED board picture
This commit is contained in:
EmanuelFeru
parent
4a470e97b6
commit
e849a9ded8
11
.gitignore
vendored
11
.gitignore
vendored
@ -2,15 +2,14 @@
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.pioenvs/
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.vscode/
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MDK-ARM/DebugConfig/
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MDK-ARM/Listing/
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MDK-ARM/Objects/
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MDK-ARM/RTE/
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MDK-ARM/sideboard_CobeMX_prj/
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MDK-ARM/*.uvguix
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MDK-ARM/.lst
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MDK-ARM/*.uvguix.*
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build/
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!build/VARIANT_DEBUG/firmware.hex
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!build/VARIANT_DEBUG/firmware.bin
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!build/VARIANT_DEBUG/firmware.elf
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!build/VARIANT_DEBUG/firmware.axf
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!build/VARIANT_HOVERBOARD/firmware.hex
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!build/VARIANT_HOVERBOARD/firmware.bin
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!build/VARIANT_HOVERBOARD/firmware.elf
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!build/VARIANT_HOVERBOARD/firmware.axf
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!build/VARIANT_HOVERBOARD/firmware.elf
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@ -28,7 +28,6 @@
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#endif
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/* ==================================== DO NOT TOUCH SETTINGS ==================================== */
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#define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size!
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#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
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#define MPU6050 // [-] Define IMU sensor type
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#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 !!
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@ -37,6 +36,7 @@
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#define MPU_I2C_SPEED 400000 // [bit/s] Define I2C speed for communicating with the MPU6050
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#endif
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#define DELAY_IN_MAIN_LOOP 1 // [ms] Delay in the main loop
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// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
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/* =============================================================================================== */
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@ -31,7 +31,7 @@
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#define UART_DMA_CHANNEL_RX DMA1_Channel6
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#if defined(PRINTF_FLOAT_SUPPORT) && defined(SERIAL_DEBUG) && defined(__GNUC__)
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asm(".global _printf_float"); // this is the magic trick for printf to support float
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asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
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#endif
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/* =========================== Defines General =========================== */
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@ -47,53 +47,59 @@
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#ifdef BYPASS_CUBEMX_DEFINES
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/* =========================== Defines LEDs =========================== */
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#define LED1_GPIO_Port GPIOA
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#define LED1_Pin GPIO_PIN_0 // RED
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#define LED2_GPIO_Port GPIOB
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#define LED2_Pin GPIO_PIN_9 // GREEN
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#define LED3_GPIO_Port GPIOB
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#define LED3_Pin GPIO_PIN_8 // YELLOW
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#define LED4_GPIO_Port GPIOB
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#define LED4_Pin GPIO_PIN_5 // BLUE1
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#define LED5_GPIO_Port GPIOB
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#define LED5_Pin GPIO_PIN_4 // BLUE2
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#define LED1_GPIO_Port GPIOA
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#define LED1_Pin GPIO_PIN_0 // RED
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#define LED2_GPIO_Port GPIOB
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#define LED2_Pin GPIO_PIN_9 // GREEN
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#define LED3_GPIO_Port GPIOB
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#define LED3_Pin GPIO_PIN_8 // YELLOW
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#define LED4_GPIO_Port GPIOB
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#define LED4_Pin GPIO_PIN_5 // BLUE1
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#define LED5_GPIO_Port GPIOB
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#define LED5_Pin GPIO_PIN_4 // BLUE2
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#define LED1_SET (0x01)
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#define LED2_SET (0x02)
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#define LED3_SET (0x04)
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#define LED4_SET (0x08)
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#define LED5_SET (0x10)
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/* =========================== Defines SENSORS =========================== */
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#define SENSOR1_GPIO_Port GPIOA
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#define SENSOR1_Pin GPIO_PIN_4
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#define SENSOR2_GPIO_Port GPIOC
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#define SENSOR2_Pin GPIO_PIN_14
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#define SENSOR1_GPIO_Port GPIOA
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#define SENSOR1_Pin GPIO_PIN_4
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#define SENSOR2_GPIO_Port GPIOC
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#define SENSOR2_Pin GPIO_PIN_14
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/* =========================== Defines AUX =========================== */
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#define AUX1_PU_GPIO_Port GPIOC
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#define AUX1_PU_Pin GPIO_PIN_15
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#define AUX2_GPIO_Port GPIOA
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#define AUX2_Pin GPIO_PIN_1
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#define AUX3_PU_GPIO_Port GPIOB
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#define AUX3_PU_Pin GPIO_PIN_11
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#define AUX1_PU_GPIO_Port GPIOC
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#define AUX1_PU_Pin GPIO_PIN_15
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#define AUX2_GPIO_Port GPIOA
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#define AUX2_Pin GPIO_PIN_1
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#define AUX3_PU_GPIO_Port GPIOB
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#define AUX3_PU_Pin GPIO_PIN_11
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/* =========================== Defines I2C =========================== */
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#define MPU_SCL_GPIO_Port GPIOB
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#define MPU_SCL_Pin GPIO_PIN_6
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#define MPU_SDA_GPIO_Port GPIOB
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#define MPU_SDA_Pin GPIO_PIN_7
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// #define I2C_OWN_ADDRESS7 0x24
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#define MPU_SCL_GPIO_Port GPIOB
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#define MPU_SCL_Pin GPIO_PIN_6
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#define MPU_SDA_GPIO_Port GPIOB
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#define MPU_SDA_Pin GPIO_PIN_7
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// #define I2C_OWN_ADDRESS7 0x24
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#endif
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/* =========================== Defines MPU-6050 =========================== */
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#define log_i printf // redirect the log_i debug function to printf
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#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
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#define ACCEL_ON (0x01)
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#define GYRO_ON (0x02)
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#define COMPASS_ON (0x04)
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#define log_i printf // redirect the log_i debug function to printf
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#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
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#define ACCEL_ON (0x01)
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#define GYRO_ON (0x02)
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#define COMPASS_ON (0x04)
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#define PRINT_ACCEL (0x01)
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#define PRINT_GYRO (0x02)
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#define PRINT_QUAT (0x04)
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#define PRINT_EULER (0x08)
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#define PRINT_TEMP (0x10)
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#define PRINT_PEDO (0x20)
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#define PRINT_ACCEL (0x01)
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#define PRINT_GYRO (0x02)
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#define PRINT_QUAT (0x04)
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#define PRINT_EULER (0x08)
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#define PRINT_TEMP (0x10)
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#define PRINT_PEDO (0x20)
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typedef struct{
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int16_t x;
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@ -27,11 +27,11 @@
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/* general functions */
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void consoleLog(char *message);
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void get_tick_count_ms(unsigned long *count);
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void introDemoLED(uint32_t tDelay);
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void intro_demo_led(uint32_t tDelay);
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/* i2c write/read functions */
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int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t data);
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int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t data);
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int8_t i2c_writeBit (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
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int8_t i2c_readBytes (uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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int8_t i2c_readByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t *data);
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@ -26,7 +26,7 @@
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<ToolsetNumber>0x4</ToolsetNumber>
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<ToolsetName>ARM-ADS</ToolsetName>
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<TargetOption>
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<CLKADS>64000000</CLKADS>
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<CLKADS>8000000</CLKADS>
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<OPTTT>
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<gFlags>1</gFlags>
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<BeepAtEnd>0</BeepAtEnd>
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@ -45,7 +45,7 @@
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<PageWidth>79</PageWidth>
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<PageLength>66</PageLength>
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<TabStop>8</TabStop>
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<ListingPath></ListingPath>
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<ListingPath>.\Listings\</ListingPath>
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</OPTLEX>
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<ListingPage>
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<CreateCListing>1</CreateCListing>
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@ -93,7 +93,7 @@
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<tRbreak>1</tRbreak>
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<tRwatch>1</tRwatch>
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<tRmem>1</tRmem>
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<tRfunc>1</tRfunc>
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<tRfunc>0</tRfunc>
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<tRbox>1</tRbox>
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<tRtrace>1</tRtrace>
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<sRSysVw>1</sRSysVw>
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@ -117,13 +117,18 @@
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<TargetDriverDllRegistry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>UL2CM3</Key>
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<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM))</Name>
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<Key>ULP2CM3</Key>
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<Name>-U -O206 -S8 -C0 -P00 -N00("") -D00(00000000) -L00(0) -TO18 -TC10000000 -TP18 -TDX0 -TDD0 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>ST-LINKIII-KEIL_SWO</Key>
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<Name>-U-O142 -O2254 -S0 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL010000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
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<Name>-U-O718 -O718 -S0 -C0 -A0 -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>UL2CM3</Key>
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<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM))</Name>
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</SetRegEntry>
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</TargetDriverDllRegistry>
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<Breakpoint/>
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@ -207,8 +212,8 @@
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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||||
<bDave2>0</bDave2>
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||||
<PathWithFileName>../Src/main.c</PathWithFileName>
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||||
<FilenameWithoutPath>main.c</FilenameWithoutPath>
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||||
<PathWithFileName>..\Src\dma.c</PathWithFileName>
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||||
<FilenameWithoutPath>dma.c</FilenameWithoutPath>
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||||
<RteFlg>0</RteFlg>
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||||
<bShared>0</bShared>
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||||
</File>
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||||
@ -219,7 +224,7 @@
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||||
<tvExp>0</tvExp>
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||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Src/gpio.c</PathWithFileName>
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||||
<PathWithFileName>..\Src\gpio.c</PathWithFileName>
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||||
<FilenameWithoutPath>gpio.c</FilenameWithoutPath>
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||||
<RteFlg>0</RteFlg>
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||||
<bShared>0</bShared>
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||||
@ -231,8 +236,8 @@
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||||
<tvExp>0</tvExp>
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||||
<tvExpOptDlg>0</tvExpOptDlg>
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||||
<bDave2>0</bDave2>
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||||
<PathWithFileName>../Src/dma.c</PathWithFileName>
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||||
<FilenameWithoutPath>dma.c</FilenameWithoutPath>
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||||
<PathWithFileName>..\Src\i2c.c</PathWithFileName>
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||||
<FilenameWithoutPath>i2c.c</FilenameWithoutPath>
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||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -243,8 +248,8 @@
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||||
<tvExp>0</tvExp>
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||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Src/i2c.c</PathWithFileName>
|
||||
<FilenameWithoutPath>i2c.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Src\main.c</PathWithFileName>
|
||||
<FilenameWithoutPath>main.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -255,42 +260,6 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Src/usart.c</PathWithFileName>
|
||||
<FilenameWithoutPath>usart.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>7</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Src/stm32f1xx_it.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_it.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>8</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Src/stm32f1xx_hal_msp.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_msp.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>9</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Src\mpu6050.c</PathWithFileName>
|
||||
<FilenameWithoutPath>mpu6050.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
@ -298,7 +267,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>10</FileNumber>
|
||||
<FileNumber>7</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -308,6 +277,42 @@
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>8</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Src\stm32f1xx_hal_msp.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_msp.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>9</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Src\stm32f1xx_it.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_it.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>10</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Src\usart.c</PathWithFileName>
|
||||
<FilenameWithoutPath>usart.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>11</FileNumber>
|
||||
@ -347,8 +352,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_gpio_ex.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -359,8 +364,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_i2c.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_cortex.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -371,8 +376,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_tim.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_dma.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
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<bShared>0</bShared>
|
||||
</File>
|
||||
@ -383,8 +388,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_tim_ex.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_flash.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -395,8 +400,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_uart.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_flash_ex.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -407,8 +412,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_gpio.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -419,8 +424,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_rcc.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_gpio_ex.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -431,8 +436,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_rcc_ex.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_i2c.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -443,8 +448,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_gpio.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_pwr.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -455,8 +460,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_dma.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_rcc.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -467,8 +472,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_cortex.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_rcc_ex.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -479,8 +484,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_pwr.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_tim.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -491,8 +496,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_flash.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_tim_ex.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -503,8 +508,8 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_flash_ex.c</FilenameWithoutPath>
|
||||
<PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f1xx_hal_uart.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
@ -523,7 +528,7 @@
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Src/system_stm32f1xx.c</PathWithFileName>
|
||||
<PathWithFileName>..\Src\system_stm32f1xx.c</PathWithFileName>
|
||||
<FilenameWithoutPath>system_stm32f1xx.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
|
||||
@ -17,12 +17,12 @@
|
||||
<Vendor>STMicroelectronics</Vendor>
|
||||
<PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
|
||||
<PackURL>http://www.keil.com/pack/</PackURL>
|
||||
<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
|
||||
<Cpu>IRAM(0x20000000,0x00005000) IROM(0x08000000,0x00010000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
|
||||
<FlashUtilSpec></FlashUtilSpec>
|
||||
<StartupFile></StartupFile>
|
||||
<FlashDriverDll></FlashDriverDll>
|
||||
<DeviceId></DeviceId>
|
||||
<RegisterFile></RegisterFile>
|
||||
<FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM))</FlashDriverDll>
|
||||
<DeviceId>4235</DeviceId>
|
||||
<RegisterFile>$$Device:STM32F103C8$Device\Include\stm32f10x.h</RegisterFile>
|
||||
<MemoryEnv></MemoryEnv>
|
||||
<Cmp></Cmp>
|
||||
<Asm></Asm>
|
||||
@ -47,14 +47,14 @@
|
||||
<NotGenerated>0</NotGenerated>
|
||||
<InvalidFlash>1</InvalidFlash>
|
||||
</TargetStatus>
|
||||
<OutputDirectory>.\sideboard_CubeMX_prj\</OutputDirectory>
|
||||
<OutputDirectory>.\Objects\</OutputDirectory>
|
||||
<OutputName>firmware</OutputName>
|
||||
<CreateExecutable>1</CreateExecutable>
|
||||
<CreateLib>0</CreateLib>
|
||||
<CreateHexFile>1</CreateHexFile>
|
||||
<DebugInformation>1</DebugInformation>
|
||||
<BrowseInformation>1</BrowseInformation>
|
||||
<ListingPath></ListingPath>
|
||||
<ListingPath>.\Listings\</ListingPath>
|
||||
<HexFormatSelection>1</HexFormatSelection>
|
||||
<Merge32K>0</Merge32K>
|
||||
<CreateBatchFile>0</CreateBatchFile>
|
||||
@ -79,9 +79,9 @@
|
||||
<nStopB2X>0</nStopB2X>
|
||||
</BeforeMake>
|
||||
<AfterMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg1>1</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg1Name>$K\ARM\ARMCC\bin\fromelf.exe --bin --output=.\Objects\@L.bin !L</UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
@ -105,7 +105,7 @@
|
||||
<StopOnExitCode>3</StopOnExitCode>
|
||||
<CustomArgument></CustomArgument>
|
||||
<IncludeLibraryModules></IncludeLibraryModules>
|
||||
<ComprImg>0</ComprImg>
|
||||
<ComprImg>1</ComprImg>
|
||||
</CommonProperty>
|
||||
<DllOption>
|
||||
<SimDllName>SARMCM3.DLL</SimDllName>
|
||||
@ -133,10 +133,10 @@
|
||||
<RunIndependent>0</RunIndependent>
|
||||
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
|
||||
<Capability>1</Capability>
|
||||
<DriverSelection>4100</DriverSelection>
|
||||
<DriverSelection>4096</DriverSelection>
|
||||
</Flash1>
|
||||
<bUseTDR>1</bUseTDR>
|
||||
<Flash2>STLink\ST-LINKIII-KEIL_SWO.dll</Flash2>
|
||||
<Flash2>BIN\UL2CM3.DLL</Flash2>
|
||||
<Flash3>"" ()</Flash3>
|
||||
<Flash4></Flash4>
|
||||
<pFcarmOut></pFcarmOut>
|
||||
@ -335,7 +335,7 @@
|
||||
<MiscControls></MiscControls>
|
||||
<Define>USE_HAL_DRIVER,STM32F103xB</Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>../Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
|
||||
<IncludePath>..\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include</IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
<Aads>
|
||||
@ -390,39 +390,24 @@
|
||||
<GroupName>Src</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>main.c</FileName>
|
||||
<FileName>dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/main.c</FilePath>
|
||||
<FilePath>..\Src\dma.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/dma.c</FilePath>
|
||||
<FilePath>..\Src\gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>i2c.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/i2c.c</FilePath>
|
||||
<FilePath>..\Src\i2c.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>usart.c</FileName>
|
||||
<FileName>main.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/usart.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_it.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/stm32f1xx_it.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_msp.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/stm32f1xx_hal_msp.c</FilePath>
|
||||
<FilePath>..\Src\main.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>mpu6050.c</FileName>
|
||||
@ -434,6 +419,21 @@
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\mpu6050_dmp.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_msp.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\stm32f1xx_hal_msp.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_it.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\stm32f1xx_it.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>usart.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\usart.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>util.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
@ -449,75 +449,75 @@
|
||||
<Group>
|
||||
<GroupName>HAL_Driver</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_gpio_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_i2c.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_tim.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_tim_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_uart.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_rcc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_rcc_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c</FilePath>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_cortex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c</FilePath>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_pwr.c</FileName>
|
||||
<FileName>stm32f1xx_hal_dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c</FilePath>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_flash.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c</FilePath>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_flash_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c</FilePath>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_gpio_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_i2c.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_pwr.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_rcc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_rcc_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_tim.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_tim_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_uart.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
@ -527,7 +527,7 @@
|
||||
<File>
|
||||
<FileName>system_stm32f1xx.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/system_stm32f1xx.c</FilePath>
|
||||
<FilePath>..\Src\system_stm32f1xx.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
@ -541,8 +541,8 @@
|
||||
<RTE>
|
||||
<apis/>
|
||||
<components>
|
||||
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core">
|
||||
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0"/>
|
||||
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.3.0" condition="ARMv6_7_8-M Device">
|
||||
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.6.0"/>
|
||||
<targetInfos>
|
||||
<targetInfo name="sideboard-hack"/>
|
||||
</targetInfos>
|
||||
|
||||
@ -14,6 +14,9 @@ This repository implements the firmware for the hoveboard sideboards. The hovebo
|
||||
The original sideboard hardware supports one 4-pin cable that originally was connected to the hoveboard mainboard. It breaks out GND, 12/15V and USART. Additionally, two ports are used to connect to the LED boards. On the back of the board, two Photo Interrupter Optical Switches can be found, originally used to detect if a human is standing on the hoverboard.
|
||||
|
||||
|
||||
The LED boards consist of colored LEDs (blue, red, green, orange) used for design and to inform the user about the current hoverboard state.
|
||||
|
||||
|
||||
The heart of the sideboard is a [STM32F103C8T6](/docs/stm32f103c8-Datasheet.pdf) with the pinout shown in the follwing figure:
|
||||
|
||||
|
||||
@ -40,14 +43,15 @@ If you have never flashed your sideboard before, the MCU is probably locked. To
|
||||
|
||||
To build and flash choose one of the following methods:
|
||||
|
||||
### Method 1: Using Platformio (recommended)
|
||||
### Method 1: Using Platformio
|
||||
|
||||
- open the folder in the IDE of choice (vscode or Atom)
|
||||
- press the 'PlatformIO:Build' or the 'PlatformIO:Upload' button (bottom left in vscode).
|
||||
|
||||
### Method 2: Using Keil uVision
|
||||
|
||||
- in [Keil uVision](https://www.keil.com/download/product/), open the [sideboard-hack.uvproj](/MDK-ARM/)
|
||||
- in [Keil uVision](https://www.keil.com/download/product/), open the [sideboard-hack.uvproj](/MDK-ARM/)
|
||||
- if you are asked to install missing package, click `Yes`
|
||||
- click Build Target (or press F7) to build the firmware
|
||||
- click Load Code (or press F8) to flash the firmware.
|
||||
|
||||
|
||||
97
Src/main.c
97
Src/main.c
@ -59,10 +59,10 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
|
||||
|
||||
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
|
||||
{
|
||||
__HAL_UART_FLUSH_DRREGISTER(&huart2); // Clear the buffer to prevent overrun
|
||||
__HAL_UART_FLUSH_DRREGISTER(&huart2); // Clear the buffer to prevent overrun
|
||||
|
||||
#ifdef SERIAL_DEBUG
|
||||
if (rxBuffer != '\n' && rxBuffer != '\r') { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
|
||||
if (rxBuffer != '\n' && rxBuffer != '\r') { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
|
||||
userCommand = rxBuffer;
|
||||
}
|
||||
#endif
|
||||
@ -88,8 +88,8 @@ typedef struct{
|
||||
uint16_t start;
|
||||
int16_t roll;
|
||||
int16_t pitch;
|
||||
int16_t yaw;
|
||||
uint16_t sensors;
|
||||
int16_t yaw;
|
||||
uint16_t sensors;
|
||||
uint16_t checksum;
|
||||
} SerialSideboard;
|
||||
SerialSideboard Sideboard;
|
||||
@ -97,16 +97,17 @@ SerialSideboard Sideboard;
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
typedef struct{
|
||||
uint16_t start;
|
||||
int16_t cmd1;
|
||||
int16_t cmd2;
|
||||
int16_t speedR;
|
||||
int16_t speedL;
|
||||
int16_t speedR_meas;
|
||||
int16_t speedL_meas;
|
||||
int16_t batVoltage;
|
||||
int16_t boardTemp;
|
||||
int16_t checksum;
|
||||
uint16_t start;
|
||||
int16_t cmd1;
|
||||
int16_t cmd2;
|
||||
int16_t speedR;
|
||||
int16_t speedL;
|
||||
int16_t speedR_meas;
|
||||
int16_t speedL_meas;
|
||||
int16_t batVoltage;
|
||||
int16_t boardTemp;
|
||||
uint16_t cmdLed;
|
||||
uint16_t checksum;
|
||||
} SerialFeedback;
|
||||
SerialFeedback Feedback;
|
||||
SerialFeedback NewFeedback;
|
||||
@ -118,8 +119,8 @@ static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial comman
|
||||
extern MPU_Data mpu; // holds the MPU-6050 data
|
||||
ErrorStatus mpuStatus = SUCCESS; // holds the MPU-6050 status: SUCCESS or ERROR
|
||||
|
||||
|
||||
uint8_t sensor1, sensor2; // holds the sensor1 and sensor 2 values
|
||||
FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
|
||||
FlagStatus sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
|
||||
|
||||
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
|
||||
/* USER CODE END 0 */
|
||||
@ -170,11 +171,15 @@ int main(void)
|
||||
HAL_UART_Receive_DMA (&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
|
||||
#endif
|
||||
|
||||
introDemoLED(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to initialize.
|
||||
if(mpu_config()) { // IMU MPU-6050 config
|
||||
intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
|
||||
if(mpu_config()) { // IMU MPU-6050 config
|
||||
mpuStatus = ERROR;
|
||||
}
|
||||
mpu_handle_input('h'); // Print the User Help commands to serial
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on RED LED
|
||||
}
|
||||
else {
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED
|
||||
}
|
||||
mpu_handle_input('h'); // Print the User Help commands to serial
|
||||
|
||||
/* USER CODE END 2 */
|
||||
|
||||
@ -186,11 +191,15 @@ int main(void)
|
||||
|
||||
// ==================================== LEDs Handling ====================================
|
||||
// HAL_GPIO_TogglePin(LED4_GPIO_Port, LED4_Pin); // Toggle BLUE1 LED
|
||||
if (SUCCESS == mpuStatus) {
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED
|
||||
} else {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); // Turn on RED LED
|
||||
}
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
if (!timeoutFlagSerial) {
|
||||
if (Feedback.cmdLed & LED1_SET) { HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET); }
|
||||
if (Feedback.cmdLed & LED2_SET) { HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET); }
|
||||
if (Feedback.cmdLed & LED3_SET) { HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET); }
|
||||
if (Feedback.cmdLed & LED4_SET) { HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET); }
|
||||
if (Feedback.cmdLed & LED5_SET) { HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET); }
|
||||
}
|
||||
#endif
|
||||
|
||||
// ==================================== USER Handling ====================================
|
||||
#ifdef SERIAL_DEBUG
|
||||
@ -209,35 +218,43 @@ int main(void)
|
||||
mpu_get_data();
|
||||
}
|
||||
// Print MPU data to Console
|
||||
if (main_loop_counter % 50 == 0 && SUCCESS == mpuStatus) {
|
||||
if (main_loop_counter % 50 == 0) {
|
||||
mpu_print_to_console();
|
||||
}
|
||||
|
||||
|
||||
// ==================================== SENSORS Handling ====================================
|
||||
sensor1_read = HAL_GPIO_ReadPin(SENSOR1_GPIO_Port, SENSOR1_Pin);
|
||||
sensor2_read = HAL_GPIO_ReadPin(SENSOR2_GPIO_Port, SENSOR2_Pin);
|
||||
|
||||
// SENSOR1
|
||||
if (HAL_GPIO_ReadPin(SENSOR1_GPIO_Port, SENSOR1_Pin)) {
|
||||
sensor1 = 1;
|
||||
// Sensor ACTIVE: Do something here
|
||||
if (sensor1 == RESET && sensor1_read == SET) {
|
||||
sensor1 = SET;
|
||||
// Sensor ACTIVE: Do something here (one time task on activation)
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
|
||||
consoleLog("-- SENSOR 1 Active --\n");
|
||||
HAL_Delay(50);
|
||||
} else {
|
||||
sensor1 = 0;
|
||||
consoleLog("-- SENSOR 1 Active --\n");
|
||||
} else if(sensor1 == SET && sensor1_read == RESET) {
|
||||
sensor1 = RESET;
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
|
||||
// SENSOR2
|
||||
if (HAL_GPIO_ReadPin(SENSOR2_GPIO_Port, SENSOR2_Pin)) {
|
||||
sensor2 = 1;
|
||||
// Sensor ACTIVE: Do something here
|
||||
if (sensor2 == RESET && sensor2_read == SET) {
|
||||
sensor2 = SET;
|
||||
// Sensor ACTIVE: Do something here (one time task on activation)
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
|
||||
consoleLog("-- SENSOR 2 Active --\n");
|
||||
HAL_Delay(50);
|
||||
} else {
|
||||
sensor2 = 0;
|
||||
} else if (sensor2 == SET && sensor2_read == RESET) {
|
||||
sensor2 = RESET;
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
|
||||
if (sensor1 == SET) {
|
||||
// Sensor ACTIVE: Do something here (continuous task)
|
||||
}
|
||||
if (sensor2 == SET) {
|
||||
// Sensor ACTIVE: Do something here (continuous task)
|
||||
}
|
||||
|
||||
|
||||
// ==================================== SERIAL Tx/Rx Handling ====================================
|
||||
@ -257,7 +274,7 @@ int main(void)
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
uint16_t checksum;
|
||||
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
|
||||
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
|
||||
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
|
||||
if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) {
|
||||
if (timeoutFlagSerial) { // Check for previous timeout flag
|
||||
if (timeoutCntSerial-- <= 0) // Timeout de-qualification
|
||||
|
||||
336
Src/mpu6050.c
336
Src/mpu6050.c
@ -521,13 +521,13 @@ const struct hw_s hw = {
|
||||
|
||||
const struct test_s test = {
|
||||
.gyro_sens = 32768/250,
|
||||
.accel_sens = 32768/2, // FSR = +-2G = 16384 LSB/G
|
||||
.accel_sens = 32768/2, // FSR = +-2G = 16384 LSB/G
|
||||
.reg_rate_div = 0, // 1kHz.
|
||||
.reg_lpf = 2, // 92Hz low pass filter
|
||||
.reg_gyro_fsr = 0, // 250dps.
|
||||
.reg_accel_fsr = 0x0, // Accel FSR setting = 2g.
|
||||
.wait_ms = 200, // 200ms stabilization time
|
||||
.packet_thresh = 200, // 200 samples
|
||||
.packet_thresh = 200, // 200 samples
|
||||
.min_dps = 20.f, // 20 dps for Gyro Criteria C
|
||||
.max_dps = 60.f, // Must exceed 60 dps threshold for Gyro Criteria B
|
||||
.max_gyro_var = .5f, // Must exceed +50% variation for Gyro Criteria A
|
||||
@ -2182,17 +2182,17 @@ static int accel_6500_self_test(long *bias_regular, long *bias_st, int debug)
|
||||
for (i = 0; i < 3; i++) {
|
||||
st_shift_cust[i] = bias_st[i] - bias_regular[i];
|
||||
if(debug) {
|
||||
log_i("Bias_Shift=%7.4f, Bias_Reg=%7.4f, Bias_HWST=%7.4f\r\n",
|
||||
st_shift_cust[i]/1.f, bias_regular[i]/1.f,
|
||||
bias_st[i]/1.f);
|
||||
log_i("OTP value: %7.4f\r\n", ct_shift_prod[i]/1.f);
|
||||
log_i("Bias_Shift=%ld, Bias_Reg=%ld, Bias_HWST=%ld\r\n",
|
||||
(long)st_shift_cust[i], bias_regular[i],
|
||||
bias_st[i]);
|
||||
log_i("OTP value: %ld\r\n", (long)ct_shift_prod[i]);
|
||||
}
|
||||
|
||||
st_shift_ratio[i] = st_shift_cust[i] / ct_shift_prod[i] - 1.f;
|
||||
|
||||
if(debug)
|
||||
log_i("ratio=%7.4f, threshold=%7.4f\r\n", st_shift_ratio[i]/1.f,
|
||||
test.max_accel_var/1.f);
|
||||
log_i("ratio=%ld, threshold=%ld\r\n", (long)st_shift_ratio[i],
|
||||
(long)test.max_accel_var);
|
||||
|
||||
if (fabs(st_shift_ratio[i]) > test.max_accel_var) {
|
||||
if(debug)
|
||||
@ -2208,15 +2208,15 @@ static int accel_6500_self_test(long *bias_regular, long *bias_st, int debug)
|
||||
|
||||
if(debug) {
|
||||
log_i("ACCEL:CRITERIA B\r\n");
|
||||
log_i("Min MG: %7.4f\r\n", accel_st_al_min/1.f);
|
||||
log_i("Max MG: %7.4f\r\n", accel_st_al_max/1.f);
|
||||
log_i("Min MG: %ld\r\n", (long)accel_st_al_min);
|
||||
log_i("Max MG: %ld\r\n", (long)accel_st_al_max);
|
||||
}
|
||||
|
||||
for (i = 0; i < 3; i++) {
|
||||
st_shift_cust[i] = bias_st[i] - bias_regular[i];
|
||||
|
||||
if(debug)
|
||||
log_i("Bias_shift=%7.4f, st=%7.4f, reg=%7.4f\n", st_shift_cust[i]/1.f, bias_st[i]/1.f, bias_regular[i]/1.f);
|
||||
log_i("Bias_shift=%ld, st=%ld, reg=%ld\n", (long)st_shift_cust[i], bias_st[i], bias_regular[i]);
|
||||
if(st_shift_cust[i] < accel_st_al_min || st_shift_cust[i] > accel_st_al_max) {
|
||||
if(debug)
|
||||
log_i("Accel FAIL axis:%d <= 225mg or >= 675mg\n", i);
|
||||
@ -2229,7 +2229,7 @@ static int accel_6500_self_test(long *bias_regular, long *bias_st, int debug)
|
||||
/* Self Test Pass/Fail Criteria C */
|
||||
accel_offset_max = test.max_g_offset * 65536.f;
|
||||
if(debug)
|
||||
log_i("Accel:CRITERIA C: bias less than %7.4f\n", accel_offset_max/1.f);
|
||||
log_i("Accel:CRITERIA C: bias less than %ld\n", (long)accel_offset_max);
|
||||
for (i = 0; i < 3; i++) {
|
||||
if(fabs(bias_regular[i]) > accel_offset_max) {
|
||||
if(debug)
|
||||
@ -2278,17 +2278,17 @@ static int gyro_6500_self_test(long *bias_regular, long *bias_st, int debug)
|
||||
st_shift_cust[i] = bias_st[i] - bias_regular[i];
|
||||
|
||||
if(debug) {
|
||||
log_i("Bias_Shift=%7.4f, Bias_Reg=%7.4f, Bias_HWST=%7.4f\r\n",
|
||||
st_shift_cust[i]/1.f, bias_regular[i]/1.f,
|
||||
bias_st[i]/1.f);
|
||||
log_i("OTP value: %7.4f\r\n", ct_shift_prod[i]/1.f);
|
||||
log_i("Bias_Shift=%ld, Bias_Reg=%ld, Bias_HWST=%ld\r\n",
|
||||
(long)st_shift_cust[i], bias_regular[i],
|
||||
bias_st[i]);
|
||||
log_i("OTP value: %ld\r\n", (long)ct_shift_prod[i]);
|
||||
}
|
||||
|
||||
st_shift_ratio[i] = st_shift_cust[i] / ct_shift_prod[i];
|
||||
|
||||
if(debug)
|
||||
log_i("ratio=%7.4f, threshold=%7.4f\r\n", st_shift_ratio[i]/1.f,
|
||||
test.max_gyro_var/1.f);
|
||||
log_i("ratio=%ld, threshold=%ld\r\n", (long)st_shift_ratio[i],
|
||||
(long)test.max_gyro_var);
|
||||
|
||||
if (fabs(st_shift_ratio[i]) < test.max_gyro_var) {
|
||||
if(debug)
|
||||
@ -2303,14 +2303,14 @@ static int gyro_6500_self_test(long *bias_regular, long *bias_st, int debug)
|
||||
|
||||
if(debug) {
|
||||
log_i("GYRO:CRITERIA B\r\n");
|
||||
log_i("Max DPS: %7.4f\r\n", gyro_st_al_max/1.f);
|
||||
log_i("Max DPS: %ld\r\n", (long)gyro_st_al_max);
|
||||
}
|
||||
|
||||
for (i = 0; i < 3; i++) {
|
||||
st_shift_cust[i] = bias_st[i] - bias_regular[i];
|
||||
|
||||
if(debug)
|
||||
log_i("Bias_shift=%7.4f, st=%7.4f, reg=%7.4f\n", st_shift_cust[i]/1.f, bias_st[i]/1.f, bias_regular[i]/1.f);
|
||||
log_i("Bias_shift=%ld, st=%ld, reg=%ld\n", (long)st_shift_cust[i], bias_st[i], bias_regular[i]);
|
||||
if(st_shift_cust[i] < gyro_st_al_max) {
|
||||
if(debug)
|
||||
log_i("GYRO FAIL axis:%d greater than 60dps\n", i);
|
||||
@ -2323,7 +2323,7 @@ static int gyro_6500_self_test(long *bias_regular, long *bias_st, int debug)
|
||||
/* Self Test Pass/Fail Criteria C */
|
||||
gyro_offset_max = test.min_dps * 65536.f;
|
||||
if(debug)
|
||||
log_i("Gyro:CRITERIA C: bias less than %7.4f\n", gyro_offset_max/1.f);
|
||||
log_i("Gyro:CRITERIA C: bias less than %ld\n", (long)gyro_offset_max);
|
||||
for (i = 0; i < 3; i++) {
|
||||
if(fabs(bias_regular[i]) > gyro_offset_max) {
|
||||
if(debug)
|
||||
@ -2455,8 +2455,8 @@ static int get_st_6500_biases(long *gyro, long *accel, unsigned char hw_test, in
|
||||
|
||||
|
||||
if(debug) {
|
||||
log_i("Accel offset data HWST bit=%d: %7.4f %7.4f %7.4f\r\n", hw_test, accel[0]/65536.f, accel[1]/65536.f, accel[2]/65536.f);
|
||||
log_i("Gyro offset data HWST bit=%d: %7.4f %7.4f %7.4f\r\n", hw_test, gyro[0]/65536.f, gyro[1]/65536.f, gyro[2]/65536.f);
|
||||
log_i("Accel offset data HWST bit=%d: %ld %ld %ld\r\n", hw_test, accel[0], accel[1], accel[2]);
|
||||
log_i("Gyro offset data HWST bit=%d: %ld %ld %ld\r\n", hw_test, gyro[0], gyro[1], gyro[2]);
|
||||
}
|
||||
|
||||
return 0;
|
||||
@ -2871,9 +2871,9 @@ static int setup_compass(void)
|
||||
|
||||
if (akm_addr > 0x0F) {
|
||||
/* TODO: Handle this case in all compass-related functions. */
|
||||
#ifdef SERIAL_DEBUG
|
||||
log_i("Compass not found.\n");
|
||||
#endif
|
||||
#ifdef SERIAL_DEBUG
|
||||
log_i("Compass not found.\n");
|
||||
#endif
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -3228,14 +3228,14 @@ void mpu_start_self_test(void)
|
||||
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);
|
||||
log_i("accel: %ld %ld %ld\n",
|
||||
accel[0],
|
||||
accel[1],
|
||||
accel[2]);
|
||||
log_i("gyro: %ld %ld %ld\n",
|
||||
gyro[0],
|
||||
gyro[1],
|
||||
gyro[2]);
|
||||
/* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
|
||||
#endif
|
||||
|
||||
@ -3301,17 +3301,17 @@ void mpu_setup_gyro(void)
|
||||
unsigned char mask = 0, lp_accel_was_on = 0;
|
||||
if (hal.sensors & ACCEL_ON) {
|
||||
mask |= INV_XYZ_ACCEL;
|
||||
consoleLog("Accel sensor On.\n");
|
||||
consoleLog("Accel sensor On.\n");
|
||||
} else {
|
||||
consoleLog("Accel sensor Off.\n");
|
||||
}
|
||||
consoleLog("Accel sensor Off.\n");
|
||||
}
|
||||
if (hal.sensors & GYRO_ON) {
|
||||
mask |= INV_XYZ_GYRO;
|
||||
lp_accel_was_on |= hal.lp_accel_mode;
|
||||
consoleLog("Gyro sensor On.\n");
|
||||
consoleLog("Gyro sensor On.\n");
|
||||
} else {
|
||||
consoleLog("Gyro sensor Off.\n");
|
||||
}
|
||||
consoleLog("Gyro sensor Off.\n");
|
||||
}
|
||||
#ifdef COMPASS_ENABLED
|
||||
if (hal.sensors & COMPASS_ON) {
|
||||
mask |= INV_XYZ_COMPASS;
|
||||
@ -3337,22 +3337,22 @@ void mpu_setup_gyro(void)
|
||||
/* =========================== MPU-6050 Configuration =========================== */
|
||||
int mpu_config(void)
|
||||
{
|
||||
consoleLog("-- Configuring MPU6050... ");
|
||||
|
||||
if(mpu_init()) {
|
||||
consoleLog("FAIL (MPU).\n");
|
||||
return -1;
|
||||
}
|
||||
consoleLog("-- Configuring MPU6050... ");
|
||||
|
||||
if(mpu_init()) {
|
||||
consoleLog("FAIL (MPU).\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Get/set hardware configuration. Start gyro. */
|
||||
/* Get/set hardware configuration. Start gyro. */
|
||||
/* Wake up all sensors. */
|
||||
mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL);
|
||||
mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL);
|
||||
|
||||
/* Push both gyro and accel data into the FIFO. */
|
||||
/* Push both gyro and accel data into the FIFO. */
|
||||
mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);
|
||||
mpu_set_sample_rate(MPU_DEFAULT_HZ);
|
||||
|
||||
/* Read back configuration in case it was set improperly. */
|
||||
/* Read back configuration in case it was set improperly. */
|
||||
// mpu_get_sample_rate(&gyro_rate);
|
||||
// mpu_get_gyro_fsr(&gyro_fsr);
|
||||
// mpu_get_accel_fsr(&accel_fsr);
|
||||
@ -3365,7 +3365,7 @@ int mpu_config(void)
|
||||
hal.next_temp_ms = 0;
|
||||
|
||||
#ifdef MPU_DMP_ENABLE
|
||||
/* To initialize the DMP:
|
||||
/* To initialize the DMP:
|
||||
* 1. Call dmp_load_motion_driver_firmware(). This pushes the DMP image in
|
||||
* inv_mpu_dmp_motion_driver.h into the MPU memory.
|
||||
* 2. Push the gyro and accel orientation matrix to the DMP.
|
||||
@ -3395,11 +3395,11 @@ int mpu_config(void)
|
||||
* DMP_FEATURE_SEND_CAL_GYRO: Add calibrated gyro data to the FIFO. Cannot
|
||||
* be used in combination with DMP_FEATURE_SEND_RAW_GYRO.
|
||||
*/
|
||||
consoleLog(" writing DMP... ");
|
||||
if (dmp_load_motion_driver_firmware()) {
|
||||
consoleLog(" FAIL (DMP) --\r\n");
|
||||
return -1;
|
||||
}
|
||||
consoleLog(" writing DMP... ");
|
||||
if (dmp_load_motion_driver_firmware()) {
|
||||
consoleLog(" FAIL (DMP) --\r\n");
|
||||
return -1;
|
||||
}
|
||||
// dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_pdata.orientation));
|
||||
dmp_register_tap_cb(mpu_tap_func);
|
||||
dmp_register_android_orient_cb(mpu_android_orient_func);
|
||||
@ -3424,8 +3424,8 @@ int mpu_config(void)
|
||||
hal.dmp_on = 1;
|
||||
#endif
|
||||
|
||||
consoleLog(" OK --\r\n");
|
||||
return 0;
|
||||
consoleLog(" OK --\r\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
@ -3452,93 +3452,93 @@ void mpu_get_data(void)
|
||||
* Let's make them timer-based.
|
||||
*/
|
||||
if (timestamp > hal.next_temp_ms) {
|
||||
hal.next_temp_ms = timestamp + TEMP_READ_MS;
|
||||
new_temp = 1;
|
||||
hal.next_temp_ms = timestamp + TEMP_READ_MS;
|
||||
new_temp = 1;
|
||||
}
|
||||
|
||||
|
||||
if (hal.new_gyro && hal.dmp_on) {
|
||||
short gyro[3], accel[3], sensors;
|
||||
static long quat[4], temperature;
|
||||
unsigned char more;
|
||||
/* This function gets new data from the FIFO when the DMP is in
|
||||
* use. The FIFO can contain any combination of gyro, accel,
|
||||
* quaternion, and gesture data. The sensors parameter tells the
|
||||
* caller which data fields were actually populated with new data.
|
||||
* For example, if sensors == (INV_XYZ_GYRO | INV_WXYZ_QUAT), then
|
||||
* the FIFO isn't being filled with accel data.
|
||||
* The driver parses the gesture data to determine if a gesture
|
||||
* event has occurred; on an event, the application will be notified
|
||||
* via a callback (assuming that a callback function was properly
|
||||
* registered). The more parameter is non-zero if there are
|
||||
* leftover packets in the FIFO.
|
||||
*/
|
||||
dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
|
||||
if (!more)
|
||||
hal.new_gyro = 0;
|
||||
if (sensors & INV_XYZ_GYRO) {
|
||||
mpu.gyro.x = gyro[0];
|
||||
mpu.gyro.y = gyro[1];
|
||||
mpu.gyro.z = gyro[2];
|
||||
new_data = 1;
|
||||
if (new_temp) {
|
||||
new_temp = 0;
|
||||
mpu_get_temperature(&temperature, &sensor_timestamp);
|
||||
mpu.temp = (int16_t)((temperature*100) >> 16); // Convert temperature[q16] to temperature*100[degC]
|
||||
}
|
||||
}
|
||||
if (sensors & INV_XYZ_ACCEL) {
|
||||
mpu.accel.x = accel[0];
|
||||
mpu.accel.y = accel[1];
|
||||
mpu.accel.z = accel[2];
|
||||
new_data = 1;
|
||||
}
|
||||
if (sensors & INV_WXYZ_QUAT) {
|
||||
mpu.quat.w = quat[0];
|
||||
mpu.quat.x = quat[1];
|
||||
mpu.quat.y = quat[2];
|
||||
mpu.quat.z = quat[3];
|
||||
mpu_calc_euler_angles(); // Calculate Euler angles
|
||||
new_data = 1;
|
||||
}
|
||||
short gyro[3], accel[3], sensors;
|
||||
static long quat[4], temperature;
|
||||
unsigned char more;
|
||||
/* This function gets new data from the FIFO when the DMP is in
|
||||
* use. The FIFO can contain any combination of gyro, accel,
|
||||
* quaternion, and gesture data. The sensors parameter tells the
|
||||
* caller which data fields were actually populated with new data.
|
||||
* For example, if sensors == (INV_XYZ_GYRO | INV_WXYZ_QUAT), then
|
||||
* the FIFO isn't being filled with accel data.
|
||||
* The driver parses the gesture data to determine if a gesture
|
||||
* event has occurred; on an event, the application will be notified
|
||||
* via a callback (assuming that a callback function was properly
|
||||
* registered). The more parameter is non-zero if there are
|
||||
* leftover packets in the FIFO.
|
||||
*/
|
||||
dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
|
||||
if (!more)
|
||||
hal.new_gyro = 0;
|
||||
if (sensors & INV_XYZ_GYRO) {
|
||||
mpu.gyro.x = gyro[0];
|
||||
mpu.gyro.y = gyro[1];
|
||||
mpu.gyro.z = gyro[2];
|
||||
new_data = 1;
|
||||
if (new_temp) {
|
||||
new_temp = 0;
|
||||
mpu_get_temperature(&temperature, &sensor_timestamp);
|
||||
mpu.temp = (int16_t)((temperature*100) >> 16); // Convert temperature[q16] to temperature*100[degC]
|
||||
}
|
||||
}
|
||||
if (sensors & INV_XYZ_ACCEL) {
|
||||
mpu.accel.x = accel[0];
|
||||
mpu.accel.y = accel[1];
|
||||
mpu.accel.z = accel[2];
|
||||
new_data = 1;
|
||||
}
|
||||
if (sensors & INV_WXYZ_QUAT) {
|
||||
mpu.quat.w = quat[0];
|
||||
mpu.quat.x = quat[1];
|
||||
mpu.quat.y = quat[2];
|
||||
mpu.quat.z = quat[3];
|
||||
mpu_calc_euler_angles(); // Calculate Euler angles
|
||||
new_data = 1;
|
||||
}
|
||||
} else if (hal.new_gyro) {
|
||||
short gyro[3], accel[3];
|
||||
long temperature;
|
||||
unsigned char sensors, more;
|
||||
/* This function gets new data from the FIFO. The FIFO can contain
|
||||
* gyro, accel, both, or neither. The sensors parameter tells the
|
||||
* caller which data fields were actually populated with new data.
|
||||
* For example, if sensors == INV_XYZ_GYRO, then the FIFO isn't
|
||||
* being filled with accel data. The more parameter is non-zero if
|
||||
* there are leftover packets in the FIFO. The HAL can use this
|
||||
* information to increase the frequency at which this function is
|
||||
* called.
|
||||
*/
|
||||
hal.new_gyro = 0;
|
||||
mpu_read_fifo(gyro, accel, &sensor_timestamp, &sensors, &more);
|
||||
if (more)
|
||||
hal.new_gyro = 1;
|
||||
if (sensors & INV_XYZ_GYRO) {
|
||||
mpu.gyro.x = gyro[0];
|
||||
mpu.gyro.y = gyro[1];
|
||||
mpu.gyro.z = gyro[2];
|
||||
new_data = 1;
|
||||
if (new_temp) {
|
||||
new_temp = 0;
|
||||
mpu_get_temperature(&temperature, &sensor_timestamp);
|
||||
mpu.temp = (int16_t)((temperature*100) >> 16); // Convert temperature[q16] to temperature*100[degC]
|
||||
}
|
||||
}
|
||||
if (sensors & INV_XYZ_ACCEL) {
|
||||
mpu.accel.x = accel[0];
|
||||
mpu.accel.y = accel[1];
|
||||
mpu.accel.z = accel[2];
|
||||
new_data = 1;
|
||||
}
|
||||
short gyro[3], accel[3];
|
||||
long temperature;
|
||||
unsigned char sensors, more;
|
||||
/* This function gets new data from the FIFO. The FIFO can contain
|
||||
* gyro, accel, both, or neither. The sensors parameter tells the
|
||||
* caller which data fields were actually populated with new data.
|
||||
* For example, if sensors == INV_XYZ_GYRO, then the FIFO isn't
|
||||
* being filled with accel data. The more parameter is non-zero if
|
||||
* there are leftover packets in the FIFO. The HAL can use this
|
||||
* information to increase the frequency at which this function is
|
||||
* called.
|
||||
*/
|
||||
hal.new_gyro = 0;
|
||||
mpu_read_fifo(gyro, accel, &sensor_timestamp, &sensors, &more);
|
||||
if (more)
|
||||
hal.new_gyro = 1;
|
||||
if (sensors & INV_XYZ_GYRO) {
|
||||
mpu.gyro.x = gyro[0];
|
||||
mpu.gyro.y = gyro[1];
|
||||
mpu.gyro.z = gyro[2];
|
||||
new_data = 1;
|
||||
if (new_temp) {
|
||||
new_temp = 0;
|
||||
mpu_get_temperature(&temperature, &sensor_timestamp);
|
||||
mpu.temp = (int16_t)((temperature*100) >> 16); // Convert temperature[q16] to temperature*100[degC]
|
||||
}
|
||||
}
|
||||
if (sensors & INV_XYZ_ACCEL) {
|
||||
mpu.accel.x = accel[0];
|
||||
mpu.accel.y = accel[1];
|
||||
mpu.accel.z = accel[2];
|
||||
new_data = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (new_data) {
|
||||
// do something if needed
|
||||
// do something if needed
|
||||
}
|
||||
|
||||
}
|
||||
@ -3608,7 +3608,7 @@ void mpu_calc_euler_angles(void) {
|
||||
|
||||
// Calculate Euler angles: source <https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles>
|
||||
roll = atan2(2*(w*x + y*z), 1 - 2*(x*x + y*y)); // roll (x-axis rotation)
|
||||
pitch = asin(2*(w*y - z*x)); // pitch (y-axis rotation)
|
||||
pitch = asin(2*(w*y - z*x)); // pitch (y-axis rotation)
|
||||
yaw = atan2(2*(w*z + x*y), 1 - 2*(y*y + z*z)); // yaw (z-axis rotation)
|
||||
|
||||
// Convert [rad] to [deg*100]
|
||||
@ -3677,30 +3677,30 @@ void mpu_handle_input(char c)
|
||||
switch (c) {
|
||||
/* This command prints the Help text. */
|
||||
case 'h':
|
||||
consoleLog("=================== HELP COMMANDS ===================\n");
|
||||
consoleLog("h: Print Help commands\n");
|
||||
consoleLog("8: Set Accelerometer sensor on/off\n");
|
||||
consoleLog("9: Set Gyroscope sensor on/off\n");
|
||||
consoleLog("r: Print Registers value\n");
|
||||
consoleLog("a: Print Accelerometer data\n");
|
||||
consoleLog("g: Print Gyroscope data\n");
|
||||
consoleLog("q: Print Quaternion data\n");
|
||||
consoleLog("e: Print Euler angles in degree * 100\n");
|
||||
consoleLog("t: Print Temperature in degC * 100\n");
|
||||
consoleLog("p: Print Pedometer data\n");
|
||||
consoleLog("0: Reset Pedometer\n");
|
||||
consoleLog("1: Set DMP/MPU frequency 10 Hz\n");
|
||||
consoleLog("2: Set DMP/MPU frequency 20 Hz\n");
|
||||
consoleLog("3: Set DMP/MPU frequency 40 Hz\n");
|
||||
consoleLog("4: Set DMP/MPU frequency 50 Hz\n");
|
||||
consoleLog("5: Set DMP/MPU frequency 100 Hz\n");
|
||||
consoleLog(",: Set DMP interrupt to gesture event only\n");
|
||||
consoleLog(".: Set DMP interrupt to continuous\n");
|
||||
consoleLog("f: Set DMP on/off\n");
|
||||
consoleLog("v: Set Quaternion on/off\n");
|
||||
consoleLog("w: Test out low-power accel mode\n");
|
||||
consoleLog("s: Run self-test (device must be facing up or down)\n");
|
||||
consoleLog("=====================================================\n");
|
||||
consoleLog("=================== HELP COMMANDS ===================\n");
|
||||
consoleLog("h: Print Help commands\n");
|
||||
consoleLog("8: Set Accelerometer sensor on/off\n");
|
||||
consoleLog("9: Set Gyroscope sensor on/off\n");
|
||||
consoleLog("r: Print Registers value\n");
|
||||
consoleLog("a: Print Accelerometer data\n");
|
||||
consoleLog("g: Print Gyroscope data\n");
|
||||
consoleLog("q: Print Quaternion data\n");
|
||||
consoleLog("e: Print Euler angles in degree * 100\n");
|
||||
consoleLog("t: Print Temperature in degC * 100\n");
|
||||
consoleLog("p: Print Pedometer data\n");
|
||||
consoleLog("0: Reset Pedometer\n");
|
||||
consoleLog("1: Set DMP/MPU frequency 10 Hz\n");
|
||||
consoleLog("2: Set DMP/MPU frequency 20 Hz\n");
|
||||
consoleLog("3: Set DMP/MPU frequency 40 Hz\n");
|
||||
consoleLog("4: Set DMP/MPU frequency 50 Hz\n");
|
||||
consoleLog("5: Set DMP/MPU frequency 100 Hz\n");
|
||||
consoleLog(",: Set DMP interrupt to gesture event only\n");
|
||||
consoleLog(".: Set DMP interrupt to continuous\n");
|
||||
consoleLog("f: Set DMP on/off\n");
|
||||
consoleLog("v: Set Quaternion on/off\n");
|
||||
consoleLog("w: Test out low-power accel mode\n");
|
||||
consoleLog("s: Run self-test (device must be facing up or down)\n");
|
||||
consoleLog("=====================================================\n");
|
||||
break;
|
||||
|
||||
/* These commands turn off individual sensors. */
|
||||
@ -3713,14 +3713,14 @@ void mpu_handle_input(char c)
|
||||
mpu_setup_gyro();
|
||||
break;
|
||||
|
||||
/* This command prints out the value of each gyro register for debugging.
|
||||
/* This command prints out the value of each gyro register for debugging.
|
||||
* If logging is disabled, this function has no effect.
|
||||
*/
|
||||
case 'r':
|
||||
mpu_reg_dump();
|
||||
break;
|
||||
|
||||
/* These commands print individual sensor data. */
|
||||
/* These commands print individual sensor data. */
|
||||
case 'a':
|
||||
hal.report ^= PRINT_ACCEL;
|
||||
break;
|
||||
@ -3849,9 +3849,9 @@ void mpu_handle_input(char c)
|
||||
/* Test out low-power accel mode. */
|
||||
case 'w':
|
||||
if (hal.dmp_on) {
|
||||
consoleLog("Warning: For low-power mode, DMP needs to be disabled.\n");
|
||||
consoleLog("Warning: For low-power mode, DMP needs to be disabled.\n");
|
||||
break; /* LP accel is not compatible with the DMP. */
|
||||
}
|
||||
}
|
||||
mpu_lp_accel_mode(20);
|
||||
/* When LP accel mode is enabled, the driver automatically configures
|
||||
* the hardware for latched interrupts. However, the MCU sometimes
|
||||
@ -3868,8 +3868,8 @@ void mpu_handle_input(char c)
|
||||
break;
|
||||
|
||||
/* The hardware self test is completely localized in the gyro driver.
|
||||
* Logging is assumed to be enabled; otherwise, a couple LEDs could
|
||||
* probably be used here to display the test results.
|
||||
* Logging is assumed to be enabled; otherwise, a couple LEDs could
|
||||
* probably be used here to display the test results.
|
||||
*/
|
||||
case 's':
|
||||
mpu_start_self_test();
|
||||
|
||||
80
Src/util.c
80
Src/util.c
@ -35,7 +35,7 @@ extern I2C_HandleTypeDef hi2c1;
|
||||
void consoleLog(char *message)
|
||||
{
|
||||
#ifdef SERIAL_DEBUG
|
||||
log_i("%s", message);
|
||||
log_i("%s", message);
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -51,51 +51,49 @@ void get_tick_count_ms(unsigned long *count)
|
||||
#else
|
||||
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
|
||||
#endif
|
||||
PUTCHAR_PROTOTYPE
|
||||
{
|
||||
PUTCHAR_PROTOTYPE {
|
||||
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1000);
|
||||
return ch;
|
||||
}
|
||||
|
||||
#ifdef __GNUC__
|
||||
int _write(int file, char *ptr, int len)
|
||||
{
|
||||
int DataIdx;
|
||||
for (DataIdx = 0; DataIdx < len; DataIdx++) { __io_putchar( *ptr++ );}
|
||||
return len;
|
||||
}
|
||||
int _write(int file, char *data, int len) {
|
||||
int i;
|
||||
for (i = 0; i < len; i++) { __io_putchar( *data++ );}
|
||||
return len;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
void introDemoLED(uint32_t tDelay)
|
||||
void intro_demo_led(uint32_t tDelay)
|
||||
{
|
||||
int i;
|
||||
int i;
|
||||
|
||||
for (i = 0; i < 6; i++) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(tDelay);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(tDelay);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(tDelay);
|
||||
}
|
||||
|
||||
for (i = 0; i < 6; i++) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(tDelay);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(tDelay);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(tDelay);
|
||||
}
|
||||
|
||||
for (i = 0; i < 2; i++) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
|
||||
HAL_Delay(tDelay);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
for (i = 0; i < 2; i++) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
|
||||
HAL_Delay(tDelay);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -106,12 +104,12 @@ void introDemoLED(uint32_t tDelay)
|
||||
*/
|
||||
int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
|
||||
{
|
||||
// !! Using the I2C Interrupt will fail writing the DMP.. could be that DMP memory writing requires more time !! So use the I2C without interrupt.
|
||||
// HAL_I2C_Mem_Write_IT(&hi2c1, slaveAddr << 1, regAddr, 1, data, length);
|
||||
// !! Using the I2C Interrupt will fail writing the DMP.. could be that DMP memory writing requires more time !! So use the I2C without interrupt.
|
||||
// HAL_I2C_Mem_Write_IT(&hi2c1, slaveAddr << 1, regAddr, 1, data, length);
|
||||
// while(HAL_I2C_STATE_READY != HAL_I2C_GetState(&hi2c1)); // Wait until all data bytes are sent/received
|
||||
// return 0;
|
||||
|
||||
return HAL_I2C_Mem_Write(&hi2c1, slaveAddr << 1, regAddr, 1, data, length, 100); // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
return HAL_I2C_Mem_Write(&hi2c1, slaveAddr << 1, regAddr, 1, data, length, 100); // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
|
||||
}
|
||||
|
||||
@ -140,8 +138,8 @@ int8_t i2c_writeBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t
|
||||
*/
|
||||
int8_t i2c_readBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
|
||||
{
|
||||
// !! Using the I2C Interrupt will fail writing the DMP.. could be that DMP memory writing requires more time !! So use the I2C without interrupt.
|
||||
// HAL_I2C_Mem_Read(&hi2c1, slaveAddr << 1, regAddr, 1, data, length);
|
||||
// !! Using the I2C Interrupt will fail writing the DMP.. could be that DMP memory writing requires more time !! So use the I2C without interrupt.
|
||||
// HAL_I2C_Mem_Read(&hi2c1, slaveAddr << 1, regAddr, 1, data, length);
|
||||
// while(HAL_I2C_STATE_READY != HAL_I2C_GetState(&hi2c1)); // Wait until all data bytes are sent/received
|
||||
// return 0;
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 2.8 MiB |
Binary file not shown.
|
Before Width: | Height: | Size: 3.0 MiB |
BIN
docs/pictures/ledboard_pinout.png
Normal file
BIN
docs/pictures/ledboard_pinout.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 361 KiB |
@ -6,7 +6,7 @@ include_dir = Inc
|
||||
src_dir = Src
|
||||
|
||||
;=================== VARIANT SELECTION ==========================
|
||||
;default_envs = VARIANT_DEBUG ; DEFAULT Variant
|
||||
;default_envs = VARIANT_DEBUG ; DEBUG Variant
|
||||
;default_envs = VARIANT_HOVERBOARD ; HOVERBOARD Variant
|
||||
;================================================================
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user