l452 usart working

code/l452_code/Core/Inc/dma.h

@@ -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

@@ -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

@@ -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

@@ -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;
-  // tx_buff[0] = 0x07; // Set the watermark to 10 
+  tx_buff[1] = 0x07;
-  // tx_buff[1] = 100;
+  HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_RESET);  
-  // 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, 8, HAL_MAX_DELAY);
+  HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_SET);
-  // 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];
+  // todo: read in batches  
-  int cx;
-
-  // 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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -1,5 +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

@@ -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.IP1=DMA
-Mcu.IP10=TIM6
+Mcu.IP10=TIM2
-Mcu.IP11=USART1
+Mcu.IP11=TIM6
-Mcu.IP12=USB
+Mcu.IP12=USART1
-Mcu.IP13=USB_DEVICE
+Mcu.IP13=USB
-Mcu.IP2=I2C1
+Mcu.IP14=USB_DEVICE
-Mcu.IP3=NVIC
+Mcu.IP2=FATFS
-Mcu.IP4=RCC
+Mcu.IP3=I2C1
-Mcu.IP5=RTC
+Mcu.IP4=NVIC
-Mcu.IP6=SDMMC1
+Mcu.IP5=RCC
-Mcu.IP7=SPI1
+Mcu.IP6=RTC
-Mcu.IP8=SYS
+Mcu.IP7=SDMMC1
-Mcu.IP9=TIM2
+Mcu.IP8=SPI1
-Mcu.IPNb=14
+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

@@ -2,8 +2,7 @@ import serial
 import matplotlib.pyplot as plt
 import numpy as np
 from scipy import signal
-
+import time
-#should be running at 244Hz
 
 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 = {}
+fig, axs = plt.subplots(2,2)
-
+then = time.time()
-for i in range(1000):
+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]':
+            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)]
+                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)]
+                adcs += chunked
-            #     #if t['type_name'] == b'packet_ekg' and e['name'] == b'readings_cnts[50]':
+                axs[0][0].cla()
-            #     ys += chunked
+                axs[0][1].cla()
-            #     plt.clf()
+                axs[1][1].cla()
-            #     dat = np.array(ys[-1000:])
+                dat = np.array(adcs[-1000:])
-            #     plt.plot(dat, 'k.', linestyle = '--')#signal.filtfilt(b, a, dat))
+                axs[0][0].set_title("ADC")
-            #     plt.pause(0.01)
+                axs[0][1].set_title("ACC")
-            #     ##print(BB)
+                axs[1][1].set_title("GYRO")
-            #     e['readings'].append(chunked)
+                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)