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Наведён порядок в коде

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This commit is contained in:
Radzhab Bisultanov
2026-02-18 14:23:01 +03:00
parent eecf8f2cc2
commit f9b7277a33
20 changed files with 647 additions and 928 deletions
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9
Source/BSP/Inc/imu.h
View File

@@ -8,7 +8,6 @@
#define REG_BANK_SEL 0x7F #define REG_BANK_SEL 0x7F
#define REG_GYRO_CONFIG_1 0x01 #define REG_GYRO_CONFIG_1 0x01
#define REG_ACCEL_CONFIG 0x14 #define REG_ACCEL_CONFIG 0x14
#define IMU_RATE_HZ 1000 // 1 ms
#define IMU_DT 0.002f // 2 ms #define IMU_DT 0.002f // 2 ms
typedef struct typedef struct
@@ -17,17 +16,21 @@ typedef struct
int16_t gx, gy, gz; // lsb int16_t gx, gy, gz; // lsb
} imu_raw_t; } imu_raw_t;
void imu_pow_init();
void i2c_gpio_init(); void i2c_gpio_init();
void i2c1_init(); void i2c1_init();
void icm_init(); void imu_init();
void imu_tim6_init();
void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len); void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len);
void i2c_write(uint8_t addr, uint8_t reg, uint8_t data); void i2c_write(uint8_t addr, uint8_t reg, uint8_t data);
void icm_read_raw(imu_raw_t* data); void imu_read_raw(imu_raw_t* data);
static void i2c_wait_idle(I2C_TypeDef* i2c); static void i2c_wait_idle(I2C_TypeDef* i2c);

27
Source/BSP/Src/imu.c
View File

@@ -1,5 +1,15 @@
#include "imu.h" #include "imu.h"
void imu_pow_init()
{
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOCEN;
GPIOC->MODER &= ~(3 << (13 * 2));
GPIOC->MODER |= 1 << (13 * 2);
GPIOC->OTYPER &= ~(1 << 13);
GPIOC->PUPDR &= ~(3 << (13 * 2));
GPIOC->BSRR = 1 << (13 + 16);
}
void i2c_gpio_init() void i2c_gpio_init()
{ {
// enable GPIOB clock // enable GPIOB clock
@@ -32,7 +42,7 @@ void i2c1_init()
I2C1->CR1 |= I2C_CR1_PE; I2C1->CR1 |= I2C_CR1_PE;
} }
void icm_init() void imu_init()
{ {
// select bank 0 // select bank 0
i2c_write(ICM_ADDR, REG_BANK_SEL, ~(3 << 4)); i2c_write(ICM_ADDR, REG_BANK_SEL, ~(3 << 4));
@@ -53,6 +63,19 @@ void icm_init()
i2c_write(ICM_ADDR, REG_BANK_SEL, ~(3 << 4)); i2c_write(ICM_ADDR, REG_BANK_SEL, ~(3 << 4));
} }
void imu_tim6_init()
{
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM6EN;
TIM6->PSC = 16000 - 1; // 16 MHz / 16000 = 1000 Hz (1 ms)
TIM6->ARR = 2 - 1; // 2 ms
TIM6->DIER |= TIM_DIER_UIE; // interrupt enable
TIM6->CR1 |= TIM_CR1_CEN; // counter enable
NVIC_EnableIRQ(TIM6_DAC_IRQn);
}
void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len) void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len)
{ {
i2c_wait_idle(I2C1); i2c_wait_idle(I2C1);
@@ -94,7 +117,7 @@ void i2c_write(uint8_t addr, uint8_t reg, uint8_t data)
I2C1->CR2 |= I2C_CR2_STOP; I2C1->CR2 |= I2C_CR2_STOP;
} }
void icm_read_raw(imu_raw_t* data) void imu_read_raw(imu_raw_t* data)
{ {
uint8_t buf[12]; uint8_t buf[12];

4
Source/BSP/Src/imu_processing.c
View File

@@ -33,7 +33,7 @@ void imu_read_scaled(imu_scaled_t* out)
{ {
static imu_raw_t raw; static imu_raw_t raw;
icm_read_raw(&raw); imu_read_raw(&raw);
out->ax = raw.ax / ACCEL_SENS_SCALE_FACTOR - accel_bias_x; out->ax = raw.ax / ACCEL_SENS_SCALE_FACTOR - accel_bias_x;
out->ay = raw.ay / ACCEL_SENS_SCALE_FACTOR - accel_bias_y; out->ay = raw.ay / ACCEL_SENS_SCALE_FACTOR - accel_bias_y;
@@ -68,7 +68,7 @@ void imu_calibrate()
for (uint16_t i = 0; i < samples; ++i) for (uint16_t i = 0; i < samples; ++i)
{ {
icm_read_raw(&imu); imu_read_raw(&imu);
sum_ax += imu.ax / ACCEL_SENS_SCALE_FACTOR; sum_ax += imu.ax / ACCEL_SENS_SCALE_FACTOR;
sum_ay += imu.ay / ACCEL_SENS_SCALE_FACTOR; sum_ay += imu.ay / ACCEL_SENS_SCALE_FACTOR;

37
Source/BSP/Src/radio_receiver.c
View File

@@ -21,7 +21,6 @@ void receiver_gpio_init()
// pull-up // pull-up
GPIOA->PUPDR &= ~(3 << (3 * 2)); GPIOA->PUPDR &= ~(3 << (3 * 2));
GPIOA->PUPDR |= 1 << (3 * 2); GPIOA->PUPDR |= 1 << (3 * 2);
} }
void receiver_lpuart_clock_init() void receiver_lpuart_clock_init()
@@ -167,39 +166,3 @@ int8_t bool_mapping_gt(int16_t x, int16_t boundary)
{ {
return x >= boundary; return x >= boundary;
} }
//------------------------------------------------------------------------------
void toggle_led()
{
if (GPIOA->ODR & (1 << 15))
{
GPIOA->BSRR = 1 << (15 + 16);
}
else
{
GPIOA->BSRR = 1 << 15;
}
}
void led_init(void)
{
/* Enable GPIOA clock */
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN;
/* PA15 -> Output mode */
GPIOA->MODER &= ~(3U << (15 * 2));
GPIOA->MODER |= (1U << (15 * 2));
/* Push-pull */
GPIOA->OTYPER &= ~(1U << 15);
/* Low speed (?????????? ??? LED) */
GPIOA->OSPEEDR &= ~(3U << (15 * 2));
/* No pull-up / pull-down */
GPIOA->PUPDR &= ~(3U << (15 * 2));
/* Start with LED OFF */
GPIOA->BSRR = (1U << (15 + 16));
}

8
Source/Core/Inc/timer.h
View File

@@ -1,8 +0,0 @@
#ifndef TIMER_H
#define TIMER_H
#include "stm32g431xx.h"
void tim6_init();
#endif

166
Source/Core/Src/stm32g4xx_it.c
View File

@@ -1,166 +0,0 @@
/**
******************************************************************************
* @file Templates/Src/stm32g4xx_it.c
* @author MCD Application Team
* @brief Main Interrupt Service Routines.
* This file provides template for all exceptions handler and
* peripherals interrupt service routine.
******************************************************************************
* @attention
*
* Copyright (c) 2019 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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32g4xx_it.h"
/** @addtogroup STM32G4xx_HAL_Examples
* @{
*/
/** @addtogroup Templates
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/******************************************************************************/
/* Cortex-M4 Processor Exceptions Handlers */
/******************************************************************************/
/**
* @brief This function handles NMI exception.
* @param None
* @retval None
*/
void NMI_Handler(void)
{
}
/**
* @brief This function handles Hard Fault exception.
* @param None
* @retval None
*/
void HardFault_Handler(void)
{
/* Go to infinite loop when Hard Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Memory Manage exception.
* @param None
* @retval None
*/
void MemManage_Handler(void)
{
/* Go to infinite loop when Memory Manage exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Bus Fault exception.
* @param None
* @retval None
*/
void BusFault_Handler(void)
{
/* Go to infinite loop when Bus Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Usage Fault exception.
* @param None
* @retval None
*/
void UsageFault_Handler(void)
{
/* Go to infinite loop when Usage Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles SVCall exception.
* @param None
* @retval None
*/
void SVC_Handler(void)
{
}
/**
* @brief This function handles Debug Monitor exception.
* @param None
* @retval None
*/
void DebugMon_Handler(void)
{
}
/**
* @brief This function handles PendSVC exception.
* @param None
* @retval None
*/
void PendSV_Handler(void)
{
}
/**
* @brief This function handles SysTick Handler.
* @param None
* @retval None
*/
void SysTick_Handler(void)
{
}
/******************************************************************************/
/* STM32G4xx Peripherals Interrupt Handlers */
/* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */
/* available peripheral interrupt handler's name please refer to the startup */
/* file (startup_stm32g4xxxx.s). */
/******************************************************************************/
/**
* @brief This function handles PPP interrupt request.
* @param None
* @retval None
*/
/*void PPP_IRQHandler(void)
{
}*/
/**
* @}
*/
/**
* @}
*/

49
Source/Core/Src/stm32g4xx_it.h
View File

@@ -1,49 +0,0 @@
/**
******************************************************************************
* @file Templates/Inc/stm32g4xx_it.h
* @author MCD Application Team
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
* @attention
*
* Copyright (c) 2019 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.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32G4xx_IT_H
#define STM32G4xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macros -----------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
#ifdef __cplusplus
}
#endif
#endif /* STM32G4xx_IT_H */

14
Source/Core/Src/timer.c
View File

@@ -1,14 +0,0 @@
#include "timer.h"
void tim6_init()
{
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM6EN;
TIM6->PSC = 16000 - 1; // 16 MHz / 16000 = 1000 Hz (1 ms)
TIM6->ARR = 2 - 1; // 2 ms
TIM6->DIER |= TIM_DIER_UIE; // interrupt enable
TIM6->CR1 |= TIM_CR1_CEN; // counter enable
NVIC_EnableIRQ(TIM6_DAC_IRQn);
}

17
Source/main.c
View File

@@ -1,7 +1,6 @@
#include "stm32g431xx.h" #include "stm32g431xx.h"
#include "imu.h" #include "imu.h"
#include "imu_processing.h" #include "imu_processing.h"
#include "timer.h"
#include "attitude.h" #include "attitude.h"
#include "radio_receiver.h" #include "radio_receiver.h"
#include "motors.h" #include "motors.h"
@@ -16,27 +15,19 @@ control_channels_t ctrl_chs;
void delay_ms(uint32_t ms); void delay_ms(uint32_t ms);
int main(void) int main(void)
{ {
__enable_irq(); __enable_irq();
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOCEN;
GPIOC->MODER &= ~(3 << (13 * 2));
GPIOC->MODER |= 1 << (13 * 2);
GPIOC->OTYPER &= ~(1 << 13);
GPIOC->PUPDR &= ~(3 << (13 * 2));
GPIOC->BSRR = 1 << (13 + 16);
delay_ms(200);
NVIC_SetPriority(TIM6_DAC_IRQn, 1); NVIC_SetPriority(TIM6_DAC_IRQn, 1);
NVIC_SetPriority(LPUART1_IRQn, 0); NVIC_SetPriority(LPUART1_IRQn, 0);
imu_pow_init();
i2c_gpio_init(); i2c_gpio_init();
i2c1_init(); i2c1_init();
icm_init(); imu_init();
imu_tim6_init();
imu_processing_init(); imu_processing_init();
tim6_init();
imu_calibrate(); imu_calibrate();

12
drone.ewp
View File

@@ -2311,24 +2311,12 @@
<file> <file>
<name>$PROJ_DIR$\Source\Core\Inc\system_stm32g4xx.h</name> <name>$PROJ_DIR$\Source\Core\Inc\system_stm32g4xx.h</name>
</file> </file>
<file>
<name>$PROJ_DIR$\Source\Core\Inc\timer.h</name>
</file>
</group> </group>
<group> <group>
<name>Src</name> <name>Src</name>
<file>
<name>$PROJ_DIR$\Source\Core\Src\stm32g4xx_it.c</name>
</file>
<file>
<name>$PROJ_DIR$\Source\Core\Src\stm32g4xx_it.h</name>
</file>
<file> <file>
<name>$PROJ_DIR$\Source\Core\Src\system_stm32g4xx.c</name> <name>$PROJ_DIR$\Source\Core\Src\system_stm32g4xx.c</name>
</file> </file>
<file>
<name>$PROJ_DIR$\Source\Core\Src\timer.c</name>
</file>
</group> </group>
</group> </group>
<group> <group>

12
drone.ewt
View File

@@ -3496,24 +3496,12 @@
<file> <file>
<name>$PROJ_DIR$\Source\Core\Inc\system_stm32g4xx.h</name> <name>$PROJ_DIR$\Source\Core\Inc\system_stm32g4xx.h</name>
</file> </file>
<file>
<name>$PROJ_DIR$\Source\Core\Inc\timer.h</name>
</file>
</group> </group>
<group> <group>
<name>Src</name> <name>Src</name>
<file>
<name>$PROJ_DIR$\Source\Core\Src\stm32g4xx_it.c</name>
</file>
<file>
<name>$PROJ_DIR$\Source\Core\Src\stm32g4xx_it.h</name>
</file>
<file> <file>
<name>$PROJ_DIR$\Source\Core\Src\system_stm32g4xx.c</name> <name>$PROJ_DIR$\Source\Core\Src\system_stm32g4xx.c</name>
</file> </file>
<file>
<name>$PROJ_DIR$\Source\Core\Src\timer.c</name>
</file>
</group> </group>
</group> </group>
<group> <group>