add functions to parse IMU data

lab11 · Jul 15, 2024 · a1e4a7e · a1e4a7e
1 parent a12d640
commit a1e4a7e
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Showing 6 changed files with 1,114 additions and 5 deletions.
diff --git a/software/firmware/src/peripherals/include/imu.h b/software/firmware/src/peripherals/include/imu.h
@@ -13,7 +13,7 @@
 
 // For burst data transfer
 #define BURST_READ_BASE_ADDR BNO055_GYRO_DATA_X_LSB_ADDR
-#define BURST_READ_LEN 38
+#define BURST_READ_LEN 40
 
 #define GYRO_DATA_LEN 6
 #define ACC_DATA_LEN 6

diff --git a/software/firmware/src/tasks/app_task_ranging.c b/software/firmware/src/tasks/app_task_ranging.c
@@ -231,6 +231,7 @@ static void imu_burst_data_handler(uint8_t *burst_data_buffer)
    const bno055_data_type_t data_types[] = {STAT_DATA,LACC_DATA,GYRO_DATA};
    uint8_t index = 0;
    uint8_t len = 0;
+   print("got imu data!\n");
 
 #ifndef _TEST_NO_STORAGE
    for (uint8_t i = 0; i < sizeof(data_types)/sizeof(data_types[0]); i+=1)
@@ -330,6 +331,7 @@ void app_allow_downloads(bool allow)
    // Enable data downloading from ranging mode
    if (allow)
    {
+      print("allowing downloads...\n");
       // Disable writing to storage
       storage_disable(true);
       storage_enter_maintenance_mode();
@@ -385,6 +387,7 @@ void AppTaskRanging(void *uid)
    //imu_register_motion_change_callback(motion_change_handler);
    imu_register_data_ready_callback(imu_burst_data_handler);
    imu_set_power_mode(POWER_MODE_NORMAL);
+   //imu_set_power_mode(POWER_MODE_LOWPOWER);
    imu_set_fusion_mode(OPERATION_MODE_NDOF);
 #endif
 

diff --git a/software/firmware/tests/Makefile b/software/firmware/tests/Makefile
@@ -310,7 +310,7 @@ full_segger: $(CONFIG) $(CONFIG)/main.o $(CONFIG)/SEGGER_RTT.o $(CONFIG)/$$(TARG
 
 full_exp: TARGET = TestFullExp
 full_exp: SRC += main.c SEGGER_RTT.c
-full_exp: CFLAGS += -D__USE_FREERTOS__ -D__USE_SEGGER__ -DNONBLOCKING=1 -D_TEST_IMU_DATA -D_REMOTE_MODE_SWITCH_ENABLED -D_TEST_NO_EXP_DETAILS -D_USE_DEFAULT_EXP_DETAILS
+full_exp: CFLAGS += -D__USE_FREERTOS__ -D__USE_SEGGER__ -DNONBLOCKING=1 -D_TEST_IMU_DATA -D_REMOTE_MODE_SWITCH_ENABLED -D_TEST_NO_EXP_DETAILS -D_USE_DEFAULT_EXP_DETAILS -D_LIVE_IMU_DATA
 full_exp: $(CONFIG) $(CONFIG)/main.o $(CONFIG)/SEGGER_RTT.o $(CONFIG)/$$(TARGET).bin program
 
 imu: TARGET = TestIMU