bisultanov/RaDrone
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Реализовано асинхронное чтение IMU

Browse Source
This commit is contained in:
Раджаб Бисултанов
2026-04-09 11:51:55 +03:00
parent b713794a26
commit 8b697f903b
8 changed files with 209 additions and 101 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
Source/BSP/Inc/imu.h
View File

@@ -10,7 +10,8 @@
#define REG_BANK_SEL 0x7F
#define REG_GYRO_CONFIG_1 0x01
#define REG_ACCEL_CONFIG 0x14
#define IMU_DT 0.002f // 2 ms
#define FREQUENCY 100.0f
#define IMU_DT 1.0f / FREQUENCY
#define GYRO_FS_SEL_2000 3 << 1
#define GYRO_DLPFCFG_73 3 << 3
@@ -23,12 +24,20 @@
#define ACCEL_FCHOICE_ON 1
#define ACCEL_FCHOICE_OFF 0
static volatile uint8_t i2c_busy = 0;
static uint8_t i2c_buf[16];
static uint8_t i2c_len = 0;
static uint8_t i2c_reg = 0;
static uint8_t i2c_addr = 0;
typedef struct
{
int16_t ax, ay, az; // lsb
int16_t gx, gy, gz; // lsb
} imu_raw_t;
static void (*i2c_callback)(uint8_t* buf) = 0;
void imu_pow_init();
void i2c_gpio_init();
@@ -37,10 +46,12 @@ void i2c1_init();
void imu_init();
void imu_tim6_init();
void imu_tim6_init(const uint16_t freq);
void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len);
uint8_t i2c_read_async(uint8_t addr, uint8_t reg, uint8_t len, void (*cb)(uint8_t*));
void i2c_write(uint8_t addr, uint8_t reg, uint8_t data);
void imu_read_raw(imu_raw_t* data);

3
Source/BSP/Inc/imu_processing.h
View File

@@ -17,11 +17,12 @@ typedef struct
void imu_processing_init();
void imu_process_raw(imu_scaled_t* out, imu_raw_t* raw, const uint8_t* allowed_calib);
void imu_read_scaled(imu_scaled_t* out, const uint8_t* allowed_calib);
void imu_calib(imu_raw_t* imu, long gyrLim, long accZero, long accMax);
uint16_t Rev16(uint16_t v);
void imu_calibrate();
void imu_accel_calibrate();
float normalize(float value, float scale, float min, float max);
long absl(long value);