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imu and adc work, but not at the same time x.x

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ggw
2026-04-29 11:18:49 -05:00
parent 4e4ea8f15e
commit 9e84f39fb1
7 changed files with 83 additions and 41 deletions
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code/l452_code/Core/Src/ads131.cpp
+5 -12
View File
@@ -73,9 +73,8 @@ void read_ads131(SPI_HandleTypeDef *hspi1) {
p_ekg.t = ((uint32_t)tim6_reloads) * (htim6.Init.Period + 1) + TIM6->CNT;
}
p_ekg.readings_cnts[p_ekg.index] = (((uint32_t)rx_buff[3]<<16) +
((uint32_t)rx_buff[4]<<8) +
((uint32_t)rx_buff[5]));
p_ekg.readings_cnts[p_ekg.index] = to_signed_24(&rx_buff[3]);
if (p_ekg.index == 49) {
write(p_ekg);
p_ekg.index = 0;
@@ -86,9 +85,7 @@ void read_ads131(SPI_HandleTypeDef *hspi1) {
if (p_strain.index == 0) {
p_strain.t = ((uint32_t)tim6_reloads) * (htim6.Init.Period + 1) + TIM6->CNT;
}
p_strain.readings_cnts[p_strain.index / 10] += (((uint32_t)rx_buff[6]<<16) +
((uint32_t)rx_buff[7]<<8) +
((uint32_t)rx_buff[8]));
p_strain.readings_cnts[p_strain.index / 10] += to_signed_24(&rx_buff[6]);
if (p_strain.index == 49) {
write(p_strain);
@@ -101,9 +98,7 @@ void read_ads131(SPI_HandleTypeDef *hspi1) {
if (p_outsideT.index == 0) {
p_outsideT.t = ((uint32_t)tim6_reloads) * (htim6.Init.Period + 1) + TIM6->CNT;
}
p_outsideT.readings_cnts[p_outsideT.index / 10] += (((uint32_t)rx_buff[9]<<16) +
((uint32_t)rx_buff[10]<<8) +
((uint32_t)rx_buff[11]));
p_outsideT.readings_cnts[p_outsideT.index / 10] += to_signed_24(&rx_buff[9]);
if (p_outsideT.index == 49) {
write(p_outsideT);
@@ -116,9 +111,7 @@ void read_ads131(SPI_HandleTypeDef *hspi1) {
if (p_insideT.index == 0) {
p_insideT.t = ((uint32_t)tim6_reloads) * (htim6.Init.Period + 1) + TIM6->CNT;
}
p_insideT.readings_cnts[p_insideT.index / 10] += (((uint32_t)rx_buff[12]<<16) +
((uint32_t)rx_buff[13]<<8) +
((uint32_t)rx_buff[14]));
p_insideT.readings_cnts[p_insideT.index / 10] += to_signed_24(&rx_buff[12]);
if (p_insideT.index == 49) {
write(p_insideT);
code/l452_code/Core/Src/datadescriptor.cpp
+4 -4
View File
@@ -20,19 +20,19 @@ void data_description() {
CDC_Transmit_FS((uint8_t*)buff, cx);
HAL_Delay(10);
cx = snprintf(buff, sizeof(buff), "%s %d %d %s %d %d %s %d %d %s %d %d\n\r", "packet_ekg", typecode<packet_ekg>(), sizeof(packet_ekg), "uint32_t t", offsetof(packet_ekg, t), sizeof(uint32_t), "uint8_t index", offsetof(packet_ekg, index), sizeof(uint8_t), "uint32_t readings_cnts[50]", offsetof(packet_ekg, readings_cnts), sizeof(uint32_t));
cx = snprintf(buff, sizeof(buff), "%s %d %d %s %d %d %s %d %d %s %d %d\n\r", "packet_ekg", typecode<packet_ekg>(), sizeof(packet_ekg), "uint32_t t", offsetof(packet_ekg, t), sizeof(uint32_t), "uint8_t index", offsetof(packet_ekg, index), sizeof(uint8_t), "int32_t readings_cnts[50]", offsetof(packet_ekg, readings_cnts), sizeof(int32_t));
CDC_Transmit_FS((uint8_t*)buff, cx);
HAL_Delay(10);
cx = snprintf(buff, sizeof(buff), "%s %d %d %s %d %d %s %d %d %s %d %d\n\r", "packet_strain", typecode<packet_strain>(), sizeof(packet_strain), "uint32_t t", offsetof(packet_strain, t), sizeof(uint32_t), "uint8_t index", offsetof(packet_strain, index), sizeof(uint8_t), "uint32_t readings_cnts[5]", offsetof(packet_strain, readings_cnts), sizeof(uint32_t));
cx = snprintf(buff, sizeof(buff), "%s %d %d %s %d %d %s %d %d %s %d %d\n\r", "packet_strain", typecode<packet_strain>(), sizeof(packet_strain), "uint32_t t", offsetof(packet_strain, t), sizeof(uint32_t), "uint8_t index", offsetof(packet_strain, index), sizeof(uint8_t), "int32_t readings_cnts[5]", offsetof(packet_strain, readings_cnts), sizeof(int32_t));
CDC_Transmit_FS((uint8_t*)buff, cx);
HAL_Delay(10);
cx = snprintf(buff, sizeof(buff), "%s %d %d %s %d %d %s %d %d %s %d %d\n\r", "packet_outsideT", typecode<packet_outsideT>(), sizeof(packet_outsideT), "uint32_t t", offsetof(packet_outsideT, t), sizeof(uint32_t), "uint8_t index", offsetof(packet_outsideT, index), sizeof(uint8_t), "uint32_t readings_cnts[5]", offsetof(packet_outsideT, readings_cnts), sizeof(uint32_t));
cx = snprintf(buff, sizeof(buff), "%s %d %d %s %d %d %s %d %d %s %d %d\n\r", "packet_outsideT", typecode<packet_outsideT>(), sizeof(packet_outsideT), "uint32_t t", offsetof(packet_outsideT, t), sizeof(uint32_t), "uint8_t index", offsetof(packet_outsideT, index), sizeof(uint8_t), "int32_t readings_cnts[5]", offsetof(packet_outsideT, readings_cnts), sizeof(int32_t));
CDC_Transmit_FS((uint8_t*)buff, cx);
HAL_Delay(10);
cx = snprintf(buff, sizeof(buff), "%s %d %d %s %d %d %s %d %d %s %d %d\n\r", "packet_insideT", typecode<packet_insideT>(), sizeof(packet_insideT), "uint32_t t", offsetof(packet_insideT, t), sizeof(uint32_t), "uint8_t index", offsetof(packet_insideT, index), sizeof(uint8_t), "uint32_t readings_cnts[5]", offsetof(packet_insideT, readings_cnts), sizeof(uint32_t));
cx = snprintf(buff, sizeof(buff), "%s %d %d %s %d %d %s %d %d %s %d %d\n\r", "packet_insideT", typecode<packet_insideT>(), sizeof(packet_insideT), "uint32_t t", offsetof(packet_insideT, t), sizeof(uint32_t), "uint8_t index", offsetof(packet_insideT, index), sizeof(uint8_t), "int32_t readings_cnts[5]", offsetof(packet_insideT, readings_cnts), sizeof(int32_t));
CDC_Transmit_FS((uint8_t*)buff, cx);
HAL_Delay(10);
code/l452_code/Core/Src/lsm6dsv.cpp
+27 -8
View File
@@ -71,6 +71,8 @@ void read_lsm6dsv(SPI_HandleTypeDef *hspi1) {
return;
}
//CDC_Transmit_FS((uint8_t*) "Detected\n\r", 10);
uint8_t tx_buff[8] = {0};
uint8_t rx_buff[8] = {0};
@@ -81,23 +83,40 @@ 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, 8, HAL_MAX_DELAY);
HAL_SPI_TransmitReceive(hspi1, tx_buff, rx_buff, 2, HAL_MAX_DELAY);
HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_SET);
char buffer[64];
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);
HAL_SPI_TransmitReceive(hspi1, tx_buff, rx_buff, 8, HAL_MAX_DELAY);
HAL_GPIO_WritePin(GPIOC, IMU_CS_Pin, GPIO_PIN_SET);
}
p_imu.t = ((uint32_t)tim6_reloads) * (htim6.Init.Period + 1) + TIM6->CNT;
p_imu.readings_cnts[0] = rx_buff[1];
p_imu.readings_cnts[1] = ((uint16_t)rx_buff[2] << 8) + rx_buff[3];
p_imu.readings_cnts[2] = ((uint16_t)rx_buff[4] << 8) + rx_buff[5];
p_imu.readings_cnts[3] = ((uint16_t)rx_buff[6] << 8) + rx_buff[7];
write(p_imu);
// cx = snprintf(buffer, 64, "%02x %02x %02x %02x %02x %02x %02x %02x\n\r",
// rx_buff[0],
// rx_buff[1],
// rx_buff[2],
// rx_buff[3],
// rx_buff[4],
// rx_buff[5],
// rx_buff[6],
// rx_buff[7]);
// CDC_Transmit_FS((uint8_t*)buffer, cx);
p_imu.t = ((uint32_t)tim6_reloads) * (htim6.Init.Period + 1) + TIM6->CNT;
p_imu.readings_cnts[0] = rx_buff[1];
p_imu.readings_cnts[1] = ((uint16_t)rx_buff[2] << 8) + rx_buff[3];
p_imu.readings_cnts[2] = ((uint16_t)rx_buff[4] << 8) + rx_buff[5];
p_imu.readings_cnts[3] = ((uint16_t)rx_buff[6] << 8) + rx_buff[7];
write(p_imu);
}
}
code/l452_code/Core/Src/main.cpp
+1 -1
View File
@@ -162,7 +162,7 @@ int main(void)
/* USER CODE BEGIN WHILE */
HAL_TIM_Base_Start_IT(&htim6);
initialize_ads131(&hspi1);
//initialize_ads131(&hspi1);
initialize_lsm6dsv(&hspi1);
while (1)
code/l452_code/Core/Src/spi.c
+1 -1
View File
@@ -41,7 +41,7 @@ void MX_SPI1_Init(void)
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;