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Commit 8d52c964 authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the imu module to the new firmware. Testing needed.

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Makefile
+ 2
− 0
View file @ 8d52c964
...@@ -11,6 +11,7 @@ TARGET_FILES+=src/time.c ...@@ -11,6 +11,7 @@ TARGET_FILES+=src/time.c
TARGET_FILES+=src/eeprom.c TARGET_FILES+=src/eeprom.c
TARGET_FILES+=src/comm.c TARGET_FILES+=src/comm.c
TARGET_FILES+=src/adc_dma.c TARGET_FILES+=src/adc_dma.c
TARGET_FILES+=src/imu.c
TARGET_FILES+=src/dynamixel_slave_uart_dma.c TARGET_FILES+=src/dynamixel_slave_uart_dma.c
TARGET_FILES+=src/stm32f1xx_hal_msp.c TARGET_FILES+=src/stm32f1xx_hal_msp.c
TARGET_PROCESSOR=STM32F103RE TARGET_PROCESSOR=STM32F103RE
...@@ -65,6 +66,7 @@ TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_flash.c ...@@ -65,6 +66,7 @@ TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_flash.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_flash_ex.c TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_flash_ex.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_adc.c TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_adc.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_adc_ex.c TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_adc_ex.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_spi.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal.c TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal.c
DARWIN_OBJS_TMP = $(notdir $(TARGET_FILES:.c=.o)) DARWIN_OBJS_TMP = $(notdir $(TARGET_FILES:.c=.o))
......
include/imu.h
+ 1
− 1
View file @ 8d52c964
#ifndef _IMU_H #ifndef _IMU_H
#define _IMU_H #define _IMU_H
#include "stm32f10x.h" #include "stm32f1xx_hal.h"
//public functions //public functions
void imu_init(void); void imu_init(void);
......
include/stm32f1xx_hal_conf.h
+ 1
− 1
View file @ 8d52c964
...@@ -77,7 +77,7 @@ ...@@ -77,7 +77,7 @@
//#define HAL_RTC_MODULE_ENABLED //#define HAL_RTC_MODULE_ENABLED
//#define HAL_SD_MODULE_ENABLED //#define HAL_SD_MODULE_ENABLED
//#define HAL_SMARTCARD_MODULE_ENABLED //#define HAL_SMARTCARD_MODULE_ENABLED
//#define HAL_SPI_MODULE_ENABLED #define HAL_SPI_MODULE_ENABLED
//#define HAL_SRAM_MODULE_ENABLED //#define HAL_SRAM_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED #define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED #define HAL_UART_MODULE_ENABLED
......
src/imu.c
+ 161
− 160
View file @ 8d52c964
...@@ -2,33 +2,32 @@ ...@@ -2,33 +2,32 @@
#include "ram.h" #include "ram.h"
#include "gpio.h" #include "gpio.h"
#define IMU_SPI SPI2 #define IMU_SPI SPI2
#define IMU_SPI_CLK RCC_APB1Periph_SPI2 #define IMU_ENABEL_SPI_CLK __SPI2_CLK_ENABLE()
#define IMU_SPI_CLK_INIT RCC_APB1PeriphClockCmd #define IMU_SPI_IRQn SPI2_IRQn
#define IMU_SPI_IRQn SPI2_IRQn #define IMU_SPI_IRQHANDLER SPI2_IRQHandler
#define IMU_SPI_IRQHANDLER SPI2_IRQHandler
#define IMU_ACCEL_CS_PIN GPIO_PIN_10
#define IMU_ACCEL_CS_PIN GPIO_Pin_10 #define IMU_ACCEL_CS_PORT GPIOC
#define IMU_ACCEL_CS_PORT GPIOC #define IMU_ENABLE_ACCEL_CS_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
#define IMU_ACCEL_CS_CLK RCC_APB2Periph_GPIOC #define IMU_GYRO_CS_PIN GPIO_PIN_11
#define IMU_GYRO_CS_PIN GPIO_Pin_11 #define IMU_GYRO_CS_PORT GPIOC
#define IMU_GYRO_CS_PORT GPIOC #define IMU_ENABLE_GYRO_CS_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
#define IMU_GYRO_CS_CLK RCC_APB2Periph_GPIOC
#define IMU_SCK_PIN GPIO_PIN_13
#define IMU_SCK_PIN GPIO_Pin_13 #define IMU_SCK_PORT GPIOB
#define IMU_SCK_PORT GPIOB #define IMU_ENABLE_SCK_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
#define IMU_SCK_CLK RCC_APB2Periph_GPIOB #define IMU_MISO_PIN GPIO_PIN_14
#define IMU_MISO_PIN GPIO_Pin_14 #define IMU_MISO_PORT GPIOB
#define IMU_MISO_PORT GPIOB #define IMU_ENABLE_MISO_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
#define IMU_MISO_CLK RCC_APB2Periph_GPIOB #define IMU_MOSI_PIN GPIO_PIN_15
#define IMU_MOSI_PIN GPIO_Pin_15 #define IMU_MOSI_PORT GPIOB
#define IMU_MOSI_PORT GPIOB #define IMU_ENABLE_MOSI_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
#define IMU_MOSI_CLK RCC_APB2Periph_GPIOB
#define IMU_TIMER TIM6
#define IMU_TIMER TIM6 #define IMU_TIMER_IRQn TIM6_IRQn
#define IMU_TIMER_IRQn TIM6_IRQn #define IMU_TIMER_IRQHandler TIM6_IRQHandler
#define IMU_TIMER_IRQHandler TIM6_IRQHandler #define IMU_ENABLE_TIMER_CLK __HAL_RCC_TIM6_CLK_ENABLE()
#define IMU_TIMER_CLK RCC_APB1Periph_TIM6
// accelerometer registers // accelerometer registers
#define ACCEL_ID 0x32 #define ACCEL_ID 0x32
...@@ -115,6 +114,9 @@ uint8_t accel_conf_data[5]; ...@@ -115,6 +114,9 @@ uint8_t accel_conf_data[5];
const uint8_t accel_data_reg=ACCEL_OUT_X_L; const uint8_t accel_data_reg=ACCEL_OUT_X_L;
const uint8_t accel_data_len=6; const uint8_t accel_data_len=6;
SPI_HandleTypeDef hspi2;
TIM_HandleTypeDef htim;
// private functions // private functions
inline void imu_wait_op_done(void) inline void imu_wait_op_done(void)
{ {
...@@ -132,18 +134,18 @@ uint8_t imu_is_op_done(void) ...@@ -132,18 +134,18 @@ uint8_t imu_is_op_done(void)
void imu_enable_device(uint8_t device_id) void imu_enable_device(uint8_t device_id)
{ {
if(device_id==ACCEL_ID) if(device_id==ACCEL_ID)
GPIO_ResetBits(IMU_ACCEL_CS_PORT,IMU_ACCEL_CS_PIN); HAL_GPIO_WritePin(IMU_ACCEL_CS_PORT,IMU_ACCEL_CS_PIN,GPIO_PIN_RESET);
else if(device_id==GYRO_ID) else if(device_id==GYRO_ID)
GPIO_ResetBits(IMU_GYRO_CS_PORT,IMU_GYRO_CS_PIN); HAL_GPIO_WritePin(IMU_GYRO_CS_PORT,IMU_GYRO_CS_PIN,GPIO_PIN_RESET);
imu_current_device_id=device_id; imu_current_device_id=device_id;
} }
void imu_disable_device(void) void imu_disable_device(void)
{ {
if(imu_current_device_id==ACCEL_ID) if(imu_current_device_id==ACCEL_ID)
GPIO_SetBits(IMU_ACCEL_CS_PORT,IMU_ACCEL_CS_PIN); HAL_GPIO_WritePin(IMU_ACCEL_CS_PORT,IMU_ACCEL_CS_PIN,GPIO_PIN_SET);
else if(imu_current_device_id==GYRO_ID) else if(imu_current_device_id==GYRO_ID)
GPIO_SetBits(IMU_GYRO_CS_PORT,IMU_GYRO_CS_PIN); HAL_GPIO_WritePin(IMU_GYRO_CS_PORT,IMU_GYRO_CS_PIN,GPIO_PIN_SET);
imu_current_device_id=0x00; imu_current_device_id=0x00;
} }
...@@ -163,7 +165,8 @@ void imu_spi_start_read(uint8_t address,uint8_t length) ...@@ -163,7 +165,8 @@ void imu_spi_start_read(uint8_t address,uint8_t length)
} }
imu_op_state=IMU_BUSY; imu_op_state=IMU_BUSY;
// start the read operation // start the read operation
SPI_I2S_ITConfig(IMU_SPI, SPI_I2S_IT_TXE, ENABLE); __HAL_SPI_ENABLE_IT(&hspi2, SPI_IT_TXE);
__HAL_SPI_ENABLE(&hspi2);
} }
void imu_spi_get_data(uint8_t *data) void imu_spi_get_data(uint8_t *data)
...@@ -190,7 +193,8 @@ void imu_spi_start_write(uint8_t address,uint8_t *data,uint8_t length) ...@@ -190,7 +193,8 @@ void imu_spi_start_write(uint8_t address,uint8_t *data,uint8_t length)
} }
imu_op_state=IMU_BUSY; imu_op_state=IMU_BUSY;
// start the read operation // start the read operation
SPI_I2S_ITConfig(IMU_SPI, SPI_I2S_IT_TXE, ENABLE); __HAL_SPI_ENABLE_IT(&hspi2, SPI_IT_TXE);
__HAL_SPI_ENABLE(&hspi2);
} }
// accelerometer private functions // accelerometer private functions
...@@ -333,10 +337,10 @@ void IMU_SPI_IRQHANDLER(void) ...@@ -333,10 +337,10 @@ void IMU_SPI_IRQHANDLER(void)
{ {
static uint8_t num_wr=0,num_rd=0; static uint8_t num_wr=0,num_rd=0;
/* SPI in Receiver mode */ /* SPI in mode Receiver and Overrun not occurred ---------------------------*/
if(SPI_I2S_GetITStatus(IMU_SPI,SPI_I2S_IT_RXNE)==SET) if((__HAL_SPI_GET_IT_SOURCE(&hspi2, SPI_IT_RXNE) != RESET) && (__HAL_SPI_GET_FLAG(&hspi2, SPI_FLAG_RXNE) != RESET) && (__HAL_SPI_GET_FLAG(&hspi2, SPI_FLAG_OVR) == RESET))
{ {
imu_spi_rd_data[num_rd]=SPI_I2S_ReceiveData(IMU_SPI); imu_spi_rd_data[num_rd]=hspi2.Instance->DR;
num_rd++; num_rd++;
if(num_rd >= imu_spi_num_rd_data) if(num_rd >= imu_spi_num_rd_data)
{ {
...@@ -346,16 +350,20 @@ void IMU_SPI_IRQHANDLER(void) ...@@ -346,16 +350,20 @@ void IMU_SPI_IRQHANDLER(void)
num_wr=0; num_wr=0;
} }
} }
/* SPI in Tramitter mode */
if(SPI_I2S_GetITStatus(IMU_SPI,SPI_I2S_IT_TXE)==SET) /* SPI in mode Tramitter ---------------------------------------------------*/
if((__HAL_SPI_GET_IT_SOURCE(&hspi2, SPI_IT_TXE) != RESET) && (__HAL_SPI_GET_FLAG(&hspi2, SPI_FLAG_TXE) != RESET))
{ {
if(num_wr < imu_spi_num_wr_data) if(num_wr < imu_spi_num_wr_data)
{ {
SPI_I2S_SendData(IMU_SPI,imu_spi_wr_data[num_wr]); hspi2.Instance->DR=imu_spi_wr_data[num_wr];
num_wr++; num_wr++;
} }
else else
SPI_I2S_ITConfig(IMU_SPI,SPI_I2S_IT_TXE,DISABLE); {
// SPI_WaitOnFlagUntilTimeout(&hspi2,SPI_FLAG_TXE,RESET,SPI_TIMEOUT_VALUE);
__HAL_SPI_DISABLE_IT(&hspi2, SPI_IT_TXE);
}
} }
} }
...@@ -366,64 +374,68 @@ void IMU_TIMER_IRQHandler(void) ...@@ -366,64 +374,68 @@ void IMU_TIMER_IRQHandler(void)
static int16_t num_samples=0; static int16_t num_samples=0;
uint8_t data[6]; uint8_t data[6];
TIM_ClearITPendingBit(IMU_TIMER,TIM_IT_Update); if(__HAL_TIM_GET_FLAG(&htim, TIM_FLAG_UPDATE) != RESET)
if(imu_is_op_done())
{ {
if(imu_stop_flag==0x01) if(__HAL_TIM_GET_IT_SOURCE(&htim, TIM_IT_UPDATE) !=RESET)
{ {
// stop the timer to get the imu data __HAL_TIM_CLEAR_IT(&htim, TIM_IT_UPDATE);
TIM_Cmd(IMU_TIMER, DISABLE); if(imu_is_op_done())
TIM_ITConfig(IMU_TIMER, TIM_IT_Update, DISABLE);
ram_clear_bit(DARWIN_IMU_STATUS,2);
imu_stop_flag=0x00;
imu_stopped=0x01;
}
else
{
switch(state)
{ {
case IMU_GET_ACCEL: if(ram_data[DARWIN_IMU_STATUS]&0x02) if(imu_stop_flag==0x01)
{ {
imu_spi_get_data(data); // stop the timer to get the imu data
imu_gyro_convert_data(data,&ram_data[DARWIN_IMU_GYRO_X_L]); HAL_TIM_Base_Stop_IT(&htim);
if(gyro_calibration)
{ ram_clear_bit(DARWIN_IMU_STATUS,2);
gyro_accum[0]+=gyro_data[0]; imu_stop_flag=0x00;
gyro_accum[1]+=gyro_data[1]; imu_stopped=0x01;
gyro_accum[2]+=gyro_data[2]; }
num_samples++; else
if(num_samples==gyro_cal_num_samples) {
switch(state)
{
case IMU_GET_ACCEL: if(ram_data[DARWIN_IMU_STATUS]&0x02)
{ {
num_samples=0; imu_spi_get_data(data);
gyro_center[0]=gyro_accum[0]/gyro_cal_num_samples; imu_gyro_convert_data(data,&ram_data[DARWIN_IMU_GYRO_X_L]);
gyro_center[1]=gyro_accum[1]/gyro_cal_num_samples; if(gyro_calibration)
gyro_center[2]=gyro_accum[2]/gyro_cal_num_samples; {
gyro_accum[0]=0; gyro_accum[0]+=gyro_data[0];
gyro_accum[1]=0; gyro_accum[1]+=gyro_data[1];
gyro_accum[2]=0; gyro_accum[2]+=gyro_data[2];
ram_set_bit(DARWIN_IMU_STATUS,3); num_samples++;
ram_clear_bit(DARWIN_IMU_CONTROL,1); if(num_samples==gyro_cal_num_samples)
if((ram_data[DARWIN_IMU_STATUS]&0x04)==0x00) {
imu_stop_flag=0x01; num_samples=0;
gyro_calibration=0x00; gyro_center[0]=gyro_accum[0]/gyro_cal_num_samples;
gyro_center[1]=gyro_accum[1]/gyro_cal_num_samples;
gyro_center[2]=gyro_accum[2]/gyro_cal_num_samples;
gyro_accum[0]=0;
gyro_accum[1]=0;
gyro_accum[2]=0;
ram_set_bit(DARWIN_IMU_STATUS,3);
ram_clear_bit(DARWIN_IMU_CONTROL,1);
if((ram_data[DARWIN_IMU_STATUS]&0x04)==0x00)
imu_stop_flag=0x01;
gyro_calibration=0x00;
}
}
} }
} if(ram_data[DARWIN_IMU_STATUS]&0x01)
} imu_accel_get_data();
if(ram_data[DARWIN_IMU_STATUS]&0x01) state=IMU_GET_GYRO;
imu_accel_get_data(); break;
state=IMU_GET_GYRO; case IMU_GET_GYRO: if(ram_data[DARWIN_IMU_STATUS]&0x01)
break; {
case IMU_GET_GYRO: if(ram_data[DARWIN_IMU_STATUS]&0x01) imu_spi_get_data(data);
{ imu_accel_convert_data(data,&ram_data[DARWIN_IMU_ACCEL_X_L]);
imu_spi_get_data(data); }
imu_accel_convert_data(data,&ram_data[DARWIN_IMU_ACCEL_X_L]); if(ram_data[DARWIN_IMU_STATUS]&0x02)
} imu_gyro_get_data();
if(ram_data[DARWIN_IMU_STATUS]&0x02) state=IMU_GET_ACCEL;
imu_gyro_get_data(); break;
state=IMU_GET_ACCEL; }
break; }
} }
} }
} }
...@@ -433,44 +445,39 @@ void IMU_TIMER_IRQHandler(void) ...@@ -433,44 +445,39 @@ void IMU_TIMER_IRQHandler(void)
// public functions // public functions
void imu_init(void) void imu_init(void)
{ {
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitTypeDef GPIO_InitStructure;
SPI_InitTypeDef SPI_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
uint8_t i; uint8_t i;
GPIO_StructInit(&GPIO_InitStructure);
// enable the clocks // enable the clocks
IMU_SPI_CLK_INIT(IMU_SPI_CLK, ENABLE); IMU_ENABLE_ACCEL_CS_CLK;
RCC_APB2PeriphClockCmd(IMU_MOSI_CLK | IMU_MISO_CLK | IMU_SCK_CLK | IMU_ACCEL_CS_CLK | IMU_GYRO_CS_CLK, ENABLE); IMU_ENABLE_GYRO_CS_CLK;
/* Enable the IMU timer clock */ IMU_ENABLE_SCK_CLK;
RCC_APB1PeriphClockCmd(IMU_TIMER_CLK,ENABLE); IMU_ENABLE_MISO_CLK;
IMU_ENABLE_MOSI_CLK;
IMU_ENABEL_SPI_CLK;
// initialize the input output ports // initialize the input output ports
GPIO_InitStructure.GPIO_Pin = IMU_ACCEL_CS_PIN; GPIO_InitStructure.Pin = IMU_SCK_PIN|IMU_MOSI_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.Speed = GPIO_SPEED_LOW;
GPIO_Init(IMU_ACCEL_CS_PORT, &GPIO_InitStructure); HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_SetBits(IMU_ACCEL_CS_PORT,IMU_ACCEL_CS_PIN);
GPIO_InitStructure.Pin = IMU_MISO_PIN;
GPIO_InitStructure.GPIO_Pin = IMU_GYRO_CS_PIN; GPIO_InitStructure.Mode = GPIO_MODE_INPUT;
GPIO_Init(IMU_GYRO_CS_PORT, &GPIO_InitStructure); GPIO_InitStructure.Pull = GPIO_NOPULL;
// disable both sensors HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_SetBits(IMU_GYRO_CS_PORT,IMU_GYRO_CS_PIN);
GPIO_InitStructure.Pin = IMU_ACCEL_CS_PIN;
// initliaze the SPI peripheral GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
GPIO_InitStructure.GPIO_Pin = IMU_SCK_PIN; GPIO_InitStructure.Pull = GPIO_NOPULL;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; HAL_GPIO_Init(IMU_ACCEL_CS_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(IMU_SCK_PORT, &GPIO_InitStructure); GPIO_InitStructure.Pin = IMU_GYRO_CS_PIN;
HAL_GPIO_Init(IMU_GYRO_CS_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = IMU_MOSI_PIN;
GPIO_Init(IMU_MOSI_PORT, &GPIO_InitStructure); HAL_GPIO_WritePin(IMU_ACCEL_CS_PORT,IMU_ACCEL_CS_PIN,GPIO_PIN_SET);
HAL_GPIO_WritePin(IMU_GYRO_CS_PORT,IMU_GYRO_CS_PIN,GPIO_PIN_SET);
GPIO_InitStructure.GPIO_Pin = IMU_MISO_PIN;
GPIO_Init(IMU_MISO_PORT, &GPIO_InitStructure);
/* initialize variables */ /* initialize variables */
imu_spi_num_wr_data=0x00; imu_spi_num_wr_data=0x00;
...@@ -488,41 +495,37 @@ void imu_init(void) ...@@ -488,41 +495,37 @@ void imu_init(void)
gyro_calibration=0x00; gyro_calibration=0x00;
// configure the SPI module // configure the SPI module
SPI_StructInit(&SPI_InitStructure); hspi2.Instance = IMU_SPI;
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex; hspi2.Init.Mode = SPI_MODE_MASTER;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master; hspi2.Init.Direction = SPI_DIRECTION_2LINES;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b; hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High; hspi2.Init.CLKPolarity = SPI_POLARITY_HIGH;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge; hspi2.Init.CLKPhase = SPI_PHASE_2EDGE;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft; hspi2.Init.NSS = SPI_NSS_SOFT;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256; hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB; hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7; hspi2.Init.TIMode = SPI_TIMODE_DISABLED;
SPI_Init(IMU_SPI, &SPI_InitStructure); hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;
HAL_SPI_Init(&hspi2);
/* Configure the SPI interrupt priority */ /* Configure the SPI interrupt priority */
NVIC_InitStructure.NVIC_IRQChannel = IMU_SPI_IRQn; HAL_NVIC_SetPriority(IMU_SPI_IRQn, 2, 1);
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; HAL_NVIC_EnableIRQ(IMU_SPI_IRQn);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
SPI_I2S_ITConfig(IMU_SPI, SPI_I2S_IT_RXNE , ENABLE);
/* Enable SPI2 */
SPI_Cmd(IMU_SPI, ENABLE);
/* imu timer configuration */ /* imu timer configuration */
TIM_TimeBaseStructure.TIM_Period = 1000; htim.Instance=IMU_TIMER;
TIM_TimeBaseStructure.TIM_Prescaler = 72; htim.Init.Period = 1000;
TIM_TimeBaseStructure.TIM_ClockDivision = 0; htim.Init.Prescaler = 72;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
TIM_TimeBaseInit(IMU_TIMER,&TIM_TimeBaseStructure); htim.Init.CounterMode = TIM_COUNTERMODE_UP;
htim.Init.RepetitionCounter=0;
NVIC_InitStructure.NVIC_IRQChannel = IMU_TIMER_IRQn; HAL_TIM_Base_Init(&htim);
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; IMU_ENABLE_TIMER_CLK;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; HAL_NVIC_SetPriority(IMU_TIMER_IRQn, 2, 0);
NVIC_Init(&NVIC_InitStructure); HAL_NVIC_EnableIRQ(IMU_TIMER_IRQn);
__HAL_SPI_ENABLE_IT(&hspi2, SPI_IT_RXNE);
if(imu_gyro_detect()) if(imu_gyro_detect())
{ {
...@@ -546,8 +549,7 @@ void imu_start(void) ...@@ -546,8 +549,7 @@ void imu_start(void)
imu_gyro_start(); imu_gyro_start();
// start the timer to get the imu data // start the timer to get the imu data
TIM_Cmd(IMU_TIMER, ENABLE); HAL_TIM_Base_Start_IT(&htim);
TIM_ITConfig(IMU_TIMER, TIM_IT_Update, ENABLE);
ram_set_bit(DARWIN_IMU_STATUS,2); ram_set_bit(DARWIN_IMU_STATUS,2);
ram_set_bit(DARWIN_IMU_CONTROL,0); ram_set_bit(DARWIN_IMU_CONTROL,0);
} }
...@@ -575,8 +577,7 @@ void imu_start_gyro_cal(void) ...@@ -575,8 +577,7 @@ void imu_start_gyro_cal(void)
imu_gyro_start(); imu_gyro_start();
// start the timer to get the imu data // start the timer to get the imu data
TIM_Cmd(IMU_TIMER, ENABLE); HAL_TIM_Base_Start_IT(&htim);
TIM_ITConfig(IMU_TIMER, TIM_IT_Update, ENABLE);
} }
ram_clear_bit(DARWIN_IMU_STATUS,3); ram_clear_bit(DARWIN_IMU_STATUS,3);
gyro_center[0]=0; gyro_center[0]=0;
......
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