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Fix imu code (#842)
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* revert build configs

* imu working

* add back try catch block
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@lkunelk
lkunelk authored Jul 15, 2024
1 parent 5ba27ca commit 4c38bfe
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202 changes: 198 additions & 4 deletions soccer_firmware/.cproject
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1 change: 1 addition & 0 deletions soccer_firmware/.project
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<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
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14 changes: 7 additions & 7 deletions soccer_firmware/.settings/language.settings.xml
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Expand Up @@ -5,7 +5,7 @@
<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1784325041921134830" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-260604961516797221" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
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Expand All @@ -16,32 +16,32 @@
<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
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<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-260604961516797221" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
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<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-260604961516797221" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
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<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-260604961516797221" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
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8 changes: 4 additions & 4 deletions soccer_firmware/Core/Inc/stm32f4xx_hal_conf.h
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Expand Up @@ -222,7 +222,7 @@
/* Section 2: PHY configuration section */

/* DP83848_PHY_ADDRESS Address*/
#define DP83848_PHY_ADDRESS
#define DP83848_PHY_ADDRESS 0x01U
/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
#define PHY_RESET_DELAY 0x000000FFU
/* PHY Configuration delay */
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#define PHY_JABBER_DETECTION ((uint16_t)0x0002U) /*!< Jabber condition detected */

/* Section 4: Extended PHY Registers */
#define PHY_SR ((uint16_t)) /*!< PHY status register Offset */
#define PHY_SR ((uint16_t)0x10U) /*!< PHY status register Offset */

#define PHY_SPEED_STATUS ((uint16_t)) /*!< PHY Speed mask */
#define PHY_DUPLEX_STATUS ((uint16_t)) /*!< PHY Duplex mask */
#define PHY_SPEED_STATUS ((uint16_t)0x0002U) /*!< PHY Speed mask */
#define PHY_DUPLEX_STATUS ((uint16_t)0x0004U) /*!< PHY Duplex mask */

/* ################## SPI peripheral configuration ########################## */

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1 change: 0 additions & 1 deletion soccer_firmware/Core/Src/dynamixel_p1.c
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Expand Up @@ -5,7 +5,6 @@
*/

#include "dynamixel_p1.h"
#include "main.h"

/*
* Dynamixel 1.0
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2 changes: 1 addition & 1 deletion soccer_firmware/Core/Src/dynamixel_p2.c
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Expand Up @@ -6,7 +6,7 @@
*/

#include "dynamixel_p2.h"
#include "main.h"
//#include "main.h"


/*
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2 changes: 1 addition & 1 deletion soccer_firmware/Core/Src/main.c
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Expand Up @@ -249,7 +249,7 @@ int main(void)
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
// give some time for motors to power on and initialize, before we try to talk to them
HAL_Delay(5000);
HAL_Delay(1000);

init_ports();
// MPU6050_init();
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1 change: 0 additions & 1 deletion soccer_firmware/Core/Src/stm32f4xx_hal_msp.c
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Expand Up @@ -20,7 +20,6 @@

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */
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8 changes: 0 additions & 8 deletions soccer_firmware/Core/Src/update_loop.c
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Expand Up @@ -144,21 +144,13 @@ void command_motors() {
}

void read_imu(uint8_t *rxBuf) {
uint8_t gyrBuff[6] = {0};
Read_Gyroscope(gyrBuff);
HAL_Delay(1); // wait some time before sending next request

uint8_t accBuff[6] = {0};
Read_Accelerometer_IT(accBuff);

int16_t gyroX = 0;
int16_t gyroY = 0;
int16_t gyroZ = 0;
int16_t accX = 0;
int16_t accY = 0;
int16_t accZ = 0;


BMI088_ReadAccelerometer(&imu, &hi2c1, &accX, &accY, &accZ);

// Read gyro after accel, otherwise we get HAL_error (not sure why :/)
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