Merge branch 'feat/hw_0_12'

ClemensElflein · Apr 11, 2023 · f04a971 · f04a971
2 parents bf7a313 + 12d5b4c
commit f04a971
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Showing 5 changed files with 75 additions and 3 deletions.
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -47,7 +47,15 @@ jobs:
         run: pio run -d Firmware/LowLevel
       - name: Copy Artifacts
         run: |
+
           mkdir artifacts
+          mkdir ./artifacts/0_12_X_LSM6DSO
+          cp Firmware/LowLevel/.pio/build/0_12_X/firmware.elf ./artifacts/0_12_X_LSM6DSO
+          cp Firmware/LowLevel/.pio/build/0_12_X/firmware.uf2 ./artifacts/0_12_X_LSM6DSO
+
+          mkdir ./artifacts/0_12_X
+          cp Firmware/LowLevel/.pio/build/0_12_X/firmware.elf ./artifacts/0_12_X
+          cp Firmware/LowLevel/.pio/build/0_12_X/firmware.uf2 ./artifacts/0_12_X
           
           mkdir ./artifacts/0_11_X_MPU9250
           cp Firmware/LowLevel/.pio/build/0_11_X_MPU9250/firmware.elf ./artifacts/0_11_X_MPU9250

diff --git a/Firmware/LowLevel/platformio.ini b/Firmware/LowLevel/platformio.ini
@@ -24,8 +24,8 @@ lib_deps =
     SPI
     FastCRC
     bakercp/PacketSerial@^1.4.0
-    mryslab/NeoPixelConnect@^1.1.0
     powerbroker2/FireTimer@^1.0.5
+    https://github.com/ClemensElflein/NeoPixelConnect.git
 
 
 debug_tool = custom
@@ -43,6 +43,17 @@ debug_build_flags = -O0 -g -ggdb
 build_src_filter = +<*> -<.git/> -<.svn/> -<imu/*> -<soundsystem.cpp>
 
 
+
+[env:0_12_X]
+lib_ignore = JY901_SERIAL,JY901_I2C
+lib_deps = ${env.lib_deps}
+           stm32duino/STM32duino LSM6DSO@^2.0.3
+           jpiat/PioSPI@^0.0.1
+           powerbroker2/DFPlayerMini_Fast@^1.2.4
+build_src_filter = ${env.build_src_filter} +<imu/LSM6DSO/> +<soundsystem.cpp>
+build_flags = ${env.build_flags} -DHW_0_12_X -DENABLE_SOUND_MODULE
+
+
 [env:0_11_X_MPU9250]
 lib_ignore = JY901_SERIAL,JY901_I2C
 lib_deps = ${env.lib_deps}

diff --git a/Firmware/LowLevel/src/imu/LSM6DSO/imu.cpp b/Firmware/LowLevel/src/imu/LSM6DSO/imu.cpp
@@ -0,0 +1,49 @@
+#include "imu.h"
+#include "pins.h"
+#include <LSM6DSOSensor.h>
+#include <PioSPI.h>
+
+PioSPI spiBus(PIN_IMU_MOSI, PIN_IMU_MISO, PIN_IMU_SCK, PIN_IMU_CS, SPI_MODE3, 1000000);
+LSM6DSOSensor IMU(&spiBus, PIN_IMU_CS, 1000000);
+int32_t accelerometer[3];
+int32_t gyroscope[3];
+
+bool init_imu()
+{
+    spiBus.begin();
+    int status = IMU.begin();
+    if (status != 0)
+        return false;
+
+    if (IMU.Enable_G() != 0)
+        return false;
+
+    if (IMU.Enable_X() != 0)
+        return false;
+    return true;
+}
+
+bool imu_read(float *acceleration_mss, float *gyro_rads, float *mag_uT)
+{
+    bool success = true;
+    success &= IMU.Get_X_Axes(accelerometer) == 0;
+    success &= IMU.Get_G_Axes(gyroscope) == 0;
+
+    acceleration_mss[0] = accelerometer[0] * 9.81 / 1000.0;
+    acceleration_mss[1] = accelerometer[1] * 9.81 / 1000.0;
+    acceleration_mss[2] = accelerometer[2] * 9.81 / 1000.0;
+
+    gyro_rads[0] = gyroscope[0] * (PI/180.0) / 1000.0;
+    gyro_rads[1] = gyroscope[1] * (PI/180.0) / 1000.0;
+    gyro_rads[2] = gyroscope[2] * (PI/180.0) / 1000.0;
+
+    mag_uT[0] = 0;
+    mag_uT[1] = 0;
+    mag_uT[2] = 0;
+
+    return success;
+}
+
+void imu_loop()
+{
+}
diff --git a/Firmware/LowLevel/src/main.cpp b/Firmware/LowLevel/src/main.cpp
@@ -70,7 +70,7 @@ SerialPIO uiSerial(PIN_UI_TX, PIN_UI_RX, 250);
 // Emergency will be engaged, if no heartbeat was received in this time frame.
 #define HEARTBEAT_MILLIS 500
 
-NeoPixelConnect p(PIN_NEOPIXEL, 1, pio1, 0); // use state machine 1, sm 0 is used by hardwareserial class
+NeoPixelConnect p(PIN_NEOPIXEL, 1);
 uint8_t led_blink_counter = 0;
 
 PacketSerial packetSerial; // COBS communication PICO <> Raspi

diff --git a/Firmware/LowLevel/src/pins.h b/Firmware/LowLevel/src/pins.h
@@ -43,13 +43,17 @@
     #define PIN_WT901_RX 16
 #endif
 
-#elif HW_0_10_X || HW_0_11_X
+#elif HW_0_10_X || HW_0_11_X || HW_0_12_X
 #define WT901_WIRE Wire
 
 #define PIN_WT901_SDA 8
 #define PIN_WT901_SCL 9
 
 #define PIN_IMU_CS 9
+#define PIN_IMU_MOSI 7
+#define PIN_IMU_MISO 8
+#define PIN_IMU_SCK 6
+
 #define PIN_ANALOG_BATTERY_VOLTAGE 27
 #define PIN_ANALOG_CHARGE_VOLTAGE 26
 #define PIN_ANALOG_CHARGE_CURRENT 28