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l452 usart working

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This commit is contained in:
ggw
2026-04-29 18:20:54 -05:00
parent ab8d4e672a
commit 82048ad703
13 changed files with 356 additions and 122 deletions
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code/l452_code/.mxproject
+40 -38
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File diff suppressed because one or more lines are too long
code/l452_code/Core/Inc/dma.h
+52
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.h
* @brief This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DMA_H__
#define __DMA_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __DMA_H__ */
code/l452_code/Core/Inc/stm32l4xx_it.h
+3
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@@ -57,10 +57,13 @@ void PendSV_Handler(void);
void SysTick_Handler(void);
void EXTI0_IRQHandler(void);
void EXTI3_IRQHandler(void);
void DMA1_Channel4_IRQHandler(void);
void DMA1_Channel5_IRQHandler(void);
void ADC1_IRQHandler(void);
void EXTI9_5_IRQHandler(void);
void I2C1_EV_IRQHandler(void);
void SPI1_IRQHandler(void);
void USART1_IRQHandler(void);
void SDMMC1_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
void USB_IRQHandler(void);
code/l452_code/Core/Src/dma.c
+58
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@@ -0,0 +1,58 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.c
* @brief This file provides code for the configuration
* of all the requested memory to memory DMA transfers.
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure DMA */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Enable DMA controller clock
*/
void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
/* DMA1_Channel5_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
code/l452_code/Core/Src/lsm6dsv.cpp
+7 -17
View File
@@ -54,13 +54,11 @@ void initialize_lsm6dsv(SPI_HandleTypeDef *hspi1) {
HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_SET);
// todo: get watermark working
// tx_buff[0] = 0x07; // Set the watermark to 10
// tx_buff[1] = 100;
// HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_RESET);
// HAL_SPI_TransmitReceive(hspi1, tx_buff, rx_buff, 8, HAL_MAX_DELAY);
// HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_SET);
tx_buff[0] = 0x07;
tx_buff[1] = 0x07;
HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_RESET);
HAL_SPI_TransmitReceive(hspi1, tx_buff, rx_buff, 2, HAL_MAX_DELAY);
HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_SET);
}
struct packet_imu p_imu;
@@ -83,19 +81,11 @@ void read_lsm6dsv(SPI_HandleTypeDef *hspi1) {
tx_buff[0] = 0b10000000 + 0x1B;
tx_buff[1] = 0;
HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_RESET);
HAL_SPI_TransmitReceive(hspi1, tx_buff, rx_buff, 2, HAL_MAX_DELAY);
HAL_SPI_TransmitReceive(hspi1, tx_buff, rx_buff, 3, HAL_MAX_DELAY);
HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_SET);
char buffer[64];
int cx;
// todo: read in batches
// todo: read in batches
if (rx_buff[1] != 0) {
// cx = snprintf(buffer, 64, "%02x %02x\n\r",
// rx_buff[0],
// rx_buff[1]);
// CDC_Transmit_FS((uint8_t*)buffer, cx);
tx_buff[0] = 0b10000000 + 0x78; // FIFO addr
tx_buff[1] = 0;
HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_RESET);
code/l452_code/Core/Src/main.cpp
+29 -28
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@@ -19,6 +19,7 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "fatfs.h"
#include "i2c.h"
#include "rtc.h"
@@ -79,8 +80,13 @@ volatile uint16_t adc_value = 0;
volatile uint8_t adc_ready = 0;
volatile uint16_t tim6_reloads = 0;
volatile bool usb_ready = false;
volatile bool wb1mmc_ready = false;
volatile bool print_desc = false;
volatile bool uart_rx_busy = false;
uint8_t uart_rx_data[1];
volatile bool queue_send = false;
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
if (hadc->Instance == ADC1) {
adc_value = HAL_ADC_GetValue(hadc);
@@ -88,11 +94,13 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
}
}
// 80MHz clock, 39999 prescaler and 19999 period for 0.1Hz
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if (htim->Instance == TIM6) {
tim6_reloads += 1;
to_recordVbatt = true;
to_recordTime = true;
queue_send = true;
}
}
@@ -103,14 +111,16 @@ void USB_CDC_RxHandler(uint8_t* Buf, uint32_t Len) {
if (memcmp(Buf, "?", Len) == 0) {
print_desc = true;
}
//if (Len == 1) {
// return;
//}
// use with stty -F /dev/ttyACM1 raw -echo
//char buffer[100];
//int i = snprintf(buffer, sizeof(buffer), "Length: %d\n\r", Len);
//
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
if (uart_rx_data[0] == 'R') {
HAL_GPIO_TogglePin(GPIOB, LED1_Pin | LED2_Pin | LED3_Pin);
}
HAL_UART_Receive_DMA(&huart1, uart_rx_data, sizeof(uart_rx_data));
}
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {}
/* USER CODE END 0 */
/**
@@ -145,6 +155,7 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_SDMMC1_SD_Init();
MX_FATFS_Init();
MX_RTC_Init();
@@ -161,10 +172,11 @@ int main(void)
/* Infinite loop */
/* USER CODE BEGIN WHILE */
HAL_TIM_Base_Start_IT(&htim6);
HAL_UART_Receive_DMA(&huart1, uart_rx_data, sizeof(uart_rx_data));
// For some reason initializing the ads131 first breaks the lsm6dsv gyro readings
//initialize_lsm6dsv(&hspi1);
//initialize_ads131(&hspi1);
initialize_lsm6dsv(&hspi1);
while (1)
{
/* USER CODE END WHILE */
@@ -205,6 +217,13 @@ int main(void)
// CDC_Transmit_FS((uint8_t*) "Not Detected\n\r", 14);
// HAL_Delay(10);
// }
uint8_t uart_tx_data[1] = {'T'};
if (queue_send) {
HAL_UART_Transmit_DMA(&huart1, (uint8_t*)uart_tx_data, sizeof(uart_tx_data));
queue_send = false;
}
continue;
if (print_desc) {
data_description();
@@ -237,24 +256,6 @@ int main(void)
read_ads131(&hspi1);
read_lsm6dsv(&hspi1);
// char buffer[32];
// int cx;
// for (int i = 0; i < 39; ++i) {
// if (i == 38) {
// cx = snprintf(buffer, 32, "%02x\n\r", rxbuff[i]);
// CDC_Transmit_FS((uint8_t*)buffer, cx);
// HAL_Delay(10);
// } else if (i % 3 == 2) {
// cx = snprintf(buffer, 32, " ", rxbuff[i]);
// CDC_Transmit_FS((uint8_t*)buffer, cx);
// HAL_Delay(10);
// } else {
// cx = snprintf(buffer, 32, "%02x ", rxbuff[i]);
// CDC_Transmit_FS((uint8_t*)buffer, cx);
// HAL_Delay(10);
// }
// }
// HAL_GPIO_WritePin(GPIOB, LED1_Pin|LED2_Pin|LED3_Pin, GPIO_PIN_SET);
// HAL_Delay(100);
// HAL_GPIO_WritePin(GPIOB, LED1_Pin|LED2_Pin|LED3_Pin, GPIO_PIN_RESET);
code/l452_code/Core/Src/spi.c
+1 -1
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@@ -44,7 +44,7 @@ void MX_SPI1_Init(void)
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
code/l452_code/Core/Src/stm32l4xx_it.c
+45
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@@ -61,6 +61,9 @@ extern I2C_HandleTypeDef hi2c1;
extern SD_HandleTypeDef hsd1;
extern SPI_HandleTypeDef hspi1;
extern TIM_HandleTypeDef htim6;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -231,6 +234,34 @@ void EXTI3_IRQHandler(void)
/* USER CODE END EXTI3_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel4 global interrupt.
*/
void DMA1_Channel4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
/* USER CODE END DMA1_Channel4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_tx);
/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
/* USER CODE END DMA1_Channel4_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel5 global interrupt.
*/
void DMA1_Channel5_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
/* USER CODE END DMA1_Channel5_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_rx);
/* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
/* USER CODE END DMA1_Channel5_IRQn 1 */
}
/**
* @brief This function handles ADC1 global interrupt.
*/
@@ -288,6 +319,20 @@ void SPI1_IRQHandler(void)
/* USER CODE END SPI1_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */
}
/**
* @brief This function handles SDMMC1 global interrupt.
*/
code/l452_code/Core/Src/tim.c
+1 -1
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@@ -86,7 +86,7 @@ void MX_TIM6_Init(void)
htim6.Instance = TIM6;
htim6.Init.Prescaler = 39999;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.Period = 19999;
htim6.Init.Period = 1999;
htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
{
code/l452_code/Core/Src/usart.c
+46
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@@ -25,6 +25,8 @@
/* USER CODE END 0 */
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
/* USART1 init function */
@@ -93,6 +95,44 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USART1 DMA Init */
/* USART1_RX Init */
hdma_usart1_rx.Instance = DMA1_Channel5;
hdma_usart1_rx.Init.Request = DMA_REQUEST_2;
hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart1_rx.Init.Mode = DMA_NORMAL;
hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx);
/* USART1_TX Init */
hdma_usart1_tx.Instance = DMA1_Channel4;
hdma_usart1_tx.Init.Request = DMA_REQUEST_2;
hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart1_tx.Init.Mode = DMA_NORMAL;
hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
@@ -116,6 +156,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);
/* USART1 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
HAL_DMA_DeInit(uartHandle->hdmatx);
/* USART1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
code/l452_code/Makefile
+1 -1
View File
@@ -1,5 +1,5 @@
##########################################################################################################################
# File automatically-generated by tool: [projectgenerator] version: [4.9.0-B19] date: [Tue Apr 28 17:15:25 CDT 2026]
# File automatically-generated by tool: [projectgenerator] version: [4.9.0-B19] date: [Wed Apr 29 16:32:32 CDT 2026]
##########################################################################################################################
# ------------------------------------------------
code/l452_code/l452_code.ioc
+44 -17
View File
@@ -10,6 +10,27 @@ ADC1.master=1
CAD.formats=
CAD.pinconfig=
CAD.provider=
Dma.Request0=USART1_RX
Dma.Request1=USART1_TX
Dma.RequestsNb=2
Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART1_RX.0.Instance=DMA1_Channel5
Dma.USART1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART1_RX.0.Mode=DMA_NORMAL
Dma.USART1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_RX.0.Priority=DMA_PRIORITY_LOW
Dma.USART1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
Dma.USART1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART1_TX.1.Instance=DMA1_Channel4
Dma.USART1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_TX.1.MemInc=DMA_MINC_ENABLE
Dma.USART1_TX.1.Mode=DMA_NORMAL
Dma.USART1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_TX.1.Priority=DMA_PRIORITY_LOW
Dma.USART1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
FATFS.BSP.number=1
FATFS0.BSP.STBoard=false
FATFS0.BSP.api=Unknown
@@ -29,20 +50,21 @@ KeepUserPlacement=false
Mcu.CPN=STM32L452RET3
Mcu.Family=STM32L4
Mcu.IP0=ADC1
Mcu.IP1=FATFS
Mcu.IP10=TIM6
Mcu.IP11=USART1
Mcu.IP12=USB
Mcu.IP13=USB_DEVICE
Mcu.IP2=I2C1
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=RTC
Mcu.IP6=SDMMC1
Mcu.IP7=SPI1
Mcu.IP8=SYS
Mcu.IP9=TIM2
Mcu.IPNb=14
Mcu.IP1=DMA
Mcu.IP10=TIM2
Mcu.IP11=TIM6
Mcu.IP12=USART1
Mcu.IP13=USB
Mcu.IP14=USB_DEVICE
Mcu.IP2=FATFS
Mcu.IP3=I2C1
Mcu.IP4=NVIC
Mcu.IP5=RCC
Mcu.IP6=RTC
Mcu.IP7=SDMMC1
Mcu.IP8=SPI1
Mcu.IP9=SYS
Mcu.IPNb=15
Mcu.Name=STM32L452R(C-E)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PC3
@@ -90,6 +112,8 @@ MxCube.Version=6.17.0
MxDb.Version=DB.6.0.170
NVIC.ADC1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.DMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.EXTI0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.EXTI3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
@@ -106,6 +130,7 @@ NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USB_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA0.GPIOParameters=GPIO_Label
@@ -236,7 +261,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_SDMMC1_SD_Init-SDMMC1-false-HAL-true,4-MX_FATFS_Init-FATFS-false-HAL-false,5-MX_RTC_Init-RTC-false-HAL-true,6-MX_I2C1_Init-I2C1-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_ADC1_Init-ADC1-false-HAL-true,9-MX_TIM2_Init-TIM2-false-HAL-true,10-MX_USART1_UART_Init-USART1-false-HAL-true,11-MX_TIM6_Init-TIM6-false-HAL-true,12-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_SDMMC1_SD_Init-SDMMC1-false-HAL-true,5-MX_FATFS_Init-FATFS-false-HAL-false,6-MX_RTC_Init-RTC-false-HAL-true,7-MX_I2C1_Init-I2C1-false-HAL-true,8-MX_SPI1_Init-SPI1-false-HAL-true,9-MX_ADC1_Init-ADC1-false-HAL-true,10-MX_TIM2_Init-TIM2-false-HAL-true,11-MX_USART1_UART_Init-USART1-false-HAL-true,12-MX_TIM6_Init-TIM6-false-HAL-true,13-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false
RCC.ADCFreq_Value=48000000
RCC.AHBFreq_Value=80000000
RCC.APB1Freq_Value=80000000
@@ -308,9 +333,11 @@ SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
TIM6.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM6.IPParameters=Prescaler,AutoReloadPreload,Period
TIM6.Period=19999
TIM6.Period=1999
TIM6.Prescaler=39999
USART1.IPParameters=VirtualMode-Asynchronous
USART1.DMADisableonRxErrorParam=ADVFEATURE_DMA_ENABLEONRXERROR
USART1.IPParameters=VirtualMode-Asynchronous,OverrunDisableParam,DMADisableonRxErrorParam
USART1.OverrunDisableParam=ADVFEATURE_OVERRUN_ENABLE
USART1.VirtualMode-Asynchronous=VM_ASYNC
USB.IPParameters=Sof_enable
USB.Sof_enable=ENABLE
code/l452_code/packet_parser.py
+29 -19
View File
@@ -2,8 +2,7 @@ import serial
import matplotlib.pyplot as plt
import numpy as np
from scipy import signal
#should be running at 244Hz
import time
fs = 244
b, a = signal.butter(
@@ -46,13 +45,17 @@ for i in range(13):
ser.flush()
ser.timeout = 5
ys = []
adcs = []
accs = []
gyros = []
imu_readings = {}
for i in range(1000):
fig, axs = plt.subplots(2,2)
then = time.time()
for i in range(10):
ser.write(b'R')
data = ser.read(1024)
continue
index = 0
while (index < 1024):
packet_type = (data[index + 1]<<8) + data[index]
@@ -65,17 +68,23 @@ for i in range(1000):
for e in t['elements']:
block = d[e['offset']:e['offset'] + e['size']]
element_size = int(len(block) / e['n_elements'])
# if t['type_name'] == b'packet_ekg' and e['name'] == b'readings_cnts[50]':
# chunked = [(2.4 / (1<<24)) * int.from_bytes(block[i:i + element_size], byteorder='little', signed = True) for i in range(0, len(block), element_size)]
# #BB = [block[i:i + element_size] for i in range(0, len(block), element_size)]
# #if t['type_name'] == b'packet_ekg' and e['name'] == b'readings_cnts[50]':
# ys += chunked
# plt.clf()
# dat = np.array(ys[-1000:])
# plt.plot(dat, 'k.', linestyle = '--')#signal.filtfilt(b, a, dat))
# plt.pause(0.01)
# ##print(BB)
# e['readings'].append(chunked)
if t['type_name'] == b'packet_ekg' and e['name'] == b'readings_cnts[50]':
chunked = [(2.4 / (1<<24)) * int.from_bytes(block[i:i + element_size], byteorder='little', signed = True) for i in range(0, len(block), element_size)]
adcs += chunked
axs[0][0].cla()
axs[0][1].cla()
axs[1][1].cla()
dat = np.array(adcs[-1000:])
axs[0][0].set_title("ADC")
axs[0][1].set_title("ACC")
axs[1][1].set_title("GYRO")
axs[0][0].plot(dat, 'k.', linestyle = '--')#signal.filtfilt(b, a, dat))
axs[0][1].plot(accs[-30:], 'k.', linestyle = '--')#signal.filtfilt(b, a, dat))
axs[1][1].plot(gyros[-30:], 'k.', linestyle = '--')#signal.filtfilt(b, a, dat))
plt.pause(0.01)
##print(BB)
e['readings'].append(chunked)
if t['type_name'] == b'packet_imu' and e['name'] == b'readings_cnts[4]':
imu_reading_type = block[0] >> 3
imu_reading_tag_cnt = (block[0] >> 1) & 3 # tag count is sensor time slow
@@ -84,9 +93,9 @@ for i in range(1000):
int.from_bytes(block[6:8], byteorder = 'big', signed = True)]
if imu_reading_type == 1:
#print("{:02x} {:d}".format(imu_reading_type, imu_reading_tag_cnt))
print("Gyro: {:f} {:f} {:f}".format(*[250 * e / (1<<16) for e in reading_xyz]))
gyros.append([250 * e / (1<<16) for e in reading_xyz])
elif imu_reading_type == 2:
print("Acc: {:f} {:f} {:f}".format(*[4 * e / (1<<16) for e in reading_xyz]))
accs.append([4 * e / (1<<16) for e in reading_xyz])
else:
print("ERR")
#chunked = [int.from_bytes(block[i:i + element_size], byteorder='little', signed = True) for i in range(0, len(block), element_size)]
@@ -99,3 +108,4 @@ for i in range(1000):
# if t['type_name'] == b'packet_ekg':
# print(t)
print((time.time() - then) / 10)