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Adding Basic MPU Interface with LED and ADC functionality
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,40 @@ | ||
| #ifndef MPU_H | ||
| #define MPU_H | ||
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| #include <stdint.h> | ||
| #include <stdbool.h> | ||
| #include "stm32f405xx.h" | ||
| #include "sht30.h" | ||
| #include "lsm6dso.h" | ||
| #include "cmsis_os.h" | ||
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| typedef struct { | ||
| I2C_HandleTypeDef *hi2c; | ||
| ADC_HandleTypeDef *accel_adc1; | ||
| ADC_HandleTypeDef *accel_adc2; | ||
| ADC_HandleTypeDef *brake_adc; | ||
| GPIO_TypeDef* led_gpio; | ||
| GPIO_TypeDef* watchdog_gpio; | ||
| sht30_t *temp_sensor; | ||
| lsm6dso_t *imu; | ||
| osMutexId_t *adc_mutex; | ||
| osMutexId_t *i2c_mutex; | ||
| /* Not including LED Mutexes because not necessary */ | ||
| } mpu_t; | ||
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| mpu_t *init_mpu(I2C_HandleTypeDef *hi2c, ADC_HandleTypeDef *accel_adc1, | ||
| ADC_HandleTypeDef *accel_adc2, ADC_HandleTypeDef *brake_adc, | ||
| GPIO_TypeDef* led_gpio, GPIO_TypeDef* watchdog_gpio); | ||
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| int8_t write_rled(mpu_t *mpu, bool status); | ||
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| int8_t toggle_rled(mpu_t *mpu); | ||
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| int8_t write_yled(mpu_t *mpu, bool status); | ||
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| int8_t toggle_yled(mpu_t *mpu); | ||
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| /* Note: this should be called from within a thread since it yields to scheduler */ | ||
| int8_t read_adc(mpu_t *mpu, uint16_t raw[3]); | ||
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| #endif /* MPU */ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,156 @@ | ||
| #include "mpu.h" | ||
| #include <stdlib.h> | ||
| #include <assert.h> | ||
| #include "stm32f405xx.h" | ||
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| #define YLED_PIN GPIO_PIN_8 | ||
| #define RLED_PIN GPIO_PIN_9 | ||
| #define ADC_TIMEOUT 2 /* ms */ | ||
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| static osMutexAttr_t mpu_i2c_mutex_attr; | ||
| static osMutexAttr_t mpu_adc_mutex_attr; | ||
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| mpu_t *init_mpu(I2C_HandleTypeDef *hi2c, ADC_HandleTypeDef *accel_adc1, | ||
| ADC_HandleTypeDef *accel_adc2, ADC_HandleTypeDef *brake_adc, | ||
| GPIO_TypeDef* led_gpio, GPIO_TypeDef* watchdog_gpio) | ||
| { | ||
| assert(hi2c); | ||
| assert(accel_adc1); | ||
| assert(accel_adc2); | ||
| assert(brake_adc); | ||
| assert(led_gpio); | ||
| assert(watchdog_gpio); | ||
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| /* Create MPU struct */ | ||
| mpu_t *mpu = malloc(sizeof(mpu_t)); | ||
| assert(mpu); | ||
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| mpu->hi2c = hi2c; | ||
| mpu->accel_adc1 = accel_adc1; | ||
| mpu->accel_adc2 = accel_adc2; | ||
| mpu->brake_adc = brake_adc; | ||
| mpu->led_gpio = led_gpio; | ||
| mpu->watchdog_gpio = watchdog_gpio; | ||
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| /* Initialize the Onboard Temperature Sensor */ | ||
| mpu->temp_sensor = malloc(sizeof(sht30_t)); | ||
| assert(mpu->temp_sensor); | ||
| mpu->temp_sensor->i2c_handle = hi2c; | ||
| assert(!sht30_init(mpu->temp_sensor)); /* This is always connected */ | ||
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| /* Initialize the IMU */ | ||
| mpu->imu = malloc(sizeof(lsm6dso_t)); | ||
| assert(mpu->imu); | ||
| assert(!lsm6dso_init(mpu->imu, mpu->hi2c)); /* This is always connected */ | ||
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| /* Create Mutexes */ | ||
| mpu->i2c_mutex = osMutexNew(&mpu_i2c_mutex_attr); | ||
| assert(mpu->i2c_mutex); | ||
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| mpu->adc_mutex = osMutexNew(&mpu_adc_mutex_attr); | ||
| assert(mpu->adc_mutex); | ||
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| return 0; | ||
| } | ||
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| int8_t write_rled(mpu_t *mpu, bool status) | ||
| { | ||
| if (!mpu) | ||
| return -1; | ||
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| HAL_GPIO_WritePin(mpu->led_gpio, RLED_PIN, status); | ||
| return 0; | ||
| } | ||
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| int8_t toggle_rled(mpu_t *mpu) | ||
| { | ||
| if (!mpu) | ||
| return -1; | ||
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| HAL_GPIO_TogglePin(mpu->led_gpio, RLED_PIN); | ||
| return 0; | ||
| } | ||
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| int8_t write_yled(mpu_t *mpu, bool status) | ||
| { | ||
| if (!mpu) | ||
| return -1; | ||
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| HAL_GPIO_WritePin(mpu->led_gpio, YLED_PIN, status); | ||
| return 0; | ||
| } | ||
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| int8_t toggle_yled(mpu_t *mpu) | ||
| { | ||
| if (!mpu) | ||
| return -1; | ||
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| HAL_GPIO_TogglePin(mpu->led_gpio, YLED_PIN); | ||
| return 0; | ||
| } | ||
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| static int8_t start_adcs(mpu_t *mpu) | ||
| { | ||
| HAL_StatusTypeDef hal_stat; | ||
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| hal_stat = HAL_ADC_Start(mpu->accel_adc1); | ||
| if (hal_stat) | ||
| return hal_stat; | ||
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| hal_stat = HAL_ADC_Start(mpu->accel_adc2); | ||
| if (hal_stat) | ||
| return hal_stat; | ||
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| hal_stat = HAL_ADC_Start(mpu->brake_adc); | ||
| if (hal_stat) | ||
| return hal_stat; | ||
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| return 0; | ||
| } | ||
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| static int8_t poll_adc_threaded(ADC_HandleTypeDef *adc) | ||
| { | ||
| HAL_StatusTypeDef hal_stat = HAL_TIMEOUT; | ||
| while (hal_stat == HAL_TIMEOUT) { | ||
| hal_stat = HAL_ADC_PollForConversion(adc, ADC_TIMEOUT); | ||
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| if (hal_stat == HAL_TIMEOUT) | ||
| osThreadYield(); | ||
| } | ||
| return hal_stat; | ||
| } | ||
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| /* Note: this should be called from within a thread since it yields to scheduler */ | ||
| int8_t read_adc(mpu_t *mpu, uint16_t raw[3]) | ||
| { | ||
| if (!mpu) | ||
| return -1; | ||
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| osStatus_t mut_stat = osMutexAcquire(mpu->adc_mutex, osWaitForever); | ||
| if (mut_stat) | ||
| return mut_stat; | ||
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| HAL_StatusTypeDef hal_stat = start_adcs(mpu); | ||
| if (hal_stat) | ||
| return hal_stat; | ||
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| hal_stat = poll_adc_threaded(mpu->accel_adc1); | ||
| if (hal_stat) | ||
| return hal_stat; | ||
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| hal_stat = poll_adc_threaded(mpu->accel_adc2); | ||
| if (hal_stat) | ||
| return hal_stat; | ||
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| hal_stat = poll_adc_threaded(mpu->brake_adc); | ||
| if (hal_stat) | ||
| return hal_stat; | ||
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| raw[0] = HAL_ADC_GetValue(mpu->accel_adc1); | ||
| raw[1] = HAL_ADC_GetValue(mpu->accel_adc2); | ||
| raw[2] = HAL_ADC_GetValue(mpu->brake_adc); | ||
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| return 0; | ||
| } | ||
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