IMU Firmware

projects/imu/README.md

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+<!--
+General guidelines
+These are just guidelines, not strict rules - document however seems best.
+A README for a firmware-only project (e.g. Babydriver, MPXE, bootloader, CAN explorer) should answer the following questions:
+    - What is it?
+    - What problem does it solve?
+    - How do I use it? (with usage examples / example commands, etc)
+    - How does it work? (architectural overview)
+A README for a board project (powering a hardware board, e.g. power distribution, centre console, charger, BMS carrier) should answer the following questions:
+    - What is the purpose of the board?
+    - What are all the things that the firmware needs to do?
+    - How does it fit into the overall system?
+    - How does it work? (architectural overview, e.g. what each module's purpose is or how data flows through the firmware)
+-->
+# imu

projects/imu/config.json

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+{
+    "libs": [
+        "FreeRTOS",
+        "ms-common",
+        "master"
+    ],
+    "can": true
+}

projects/imu/inc/bmi323.h

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+#pragma once
+
+#include "can.h"
+#include "log.h"
+#include "spi.h"
+
+#define CMD 0x7E
+#define WRITE 0x7F
+#define READ 0x80
+#define FEATURE_IO0 0x10
+#define FEATURE_IO1 0x11
+#define FEATURE_IO2 0x12
+#define FEATURE_IO3 0x13
+#define FEATURE_IO_STATUS 0x14
+#define ACC_CONF 0x20
+#define GYR_CONF 0x21
+#define FEATURE_CTRL 0x40
+#define INT_STATUS_INT1 0x0D
+#define INT_STATUS_INT2 0x0E
+
+#define DUMMY_BYTE 0x00
+#define BMI_SET_LOW_BYTE 0x00FF
+#define BMI_SET_HIGH_BYTE 0xFF00
+#define BMI3_E_NULL_PTR INT8_C(-1)
+
+/*
+this might be 13 or 14 idk
+#define BMI3_ACC_DP_OFF_XYZ_13_BIT_MASK              UINT16_C(0x1FFF)
+#define BMI3_ACC_DP_OFF_XYZ_14_BIT_MASK              UINT16_C(0x3FFF)
+*/
+#define BMI3_ACC_DP_DOFFSET_X_MASK UINT16_C(0xFFFF)
+#define BMI3_ACC_DP_DOFFSET_Y_MASK UINT16_C(0xFFFF)
+#define BMI3_ACC_DP_DOFFSET_Z_MASK UINT16_C(0xFFFF)
+
+#define BMI3_ACC_DP_DGAIN_X_MASK UINT16_C(0x00FF)
+#define BMI3_ACC_DP_DGAIN_Y_MASK UINT16_C(0x00FF)
+#define BMI3_ACC_DP_DGAIN_Z_MASK UINT16_C(0x00FF)
+
+#define BMI3_GYR_DP_OFF_X_MASK UINT16_C(0x03FF)
+#define BMI3_GYR_DP_DGAIN_X_MASK UINT16_C(0x007F)
+#define BMI3_GYR_DP_OFF_Y_MASK UINT16_C(0x03FF)
+#define BMI3_GYR_DP_DGAIN_Y_MASK UINT16_C(0x007F)
+#define BMI3_GYR_DP_OFF_Z_MASK UINT16_C(0x03FF)
+#define BMI3_GYR_DP_DGAIN_Z_MASK UINT16_C(0x007F)
+
+/** @brief IMU Accel range */
+typedef enum { IMU_ACCEL_RANGE_2G /**< +- 2gs */, IMU_ACCEL_RANGE_4G /**< +- 4gs */, IMU_ACCEL_RANGE_8G /**< +- 8gs */, IMU_ACCEL_RANGE_16G /**< +- 16gs */, NUM_IMU_ACCEL_RANGE } IMUAccelRange;
+
+/** @brief IMU Gyro range */
+typedef enum {
+  IMU_GYRO_RANGE_125_DEG /**< +- 125deg */,
+  IMU_GYRO_RANGE_250_DEG /**< +- 250deg */,
+  IMU_GYRO_RANGE_500_DEG /**< +- 500deg */,
+  IMU_GYRO_RANGE_1000_DEG /**< +- 1000deg */,
+  IMU_GYRO_RANGE_2000_DEG /**< +- 2000deg */,
+  NUM_IMU_GYRO_RANGES
+} IMUGyroRange;
+
+/** @brief IMU Registers */
+typedef enum { REG_BANK_SEL = 0x7F, GYRO_REG_ADDR = 0x06, ACCEL_REG_ADDR = 0x03 } bmi323_registers;
+
+/** @brief IMU Accel Gain and Offset Registers */
+typedef enum { ACC_DP_OFF_X = 0x60, ACC_DP_DGAIN_X = 0x61, ACC_DP_OFF_Y = 0x62, ACC_DP_DGAIN_Y = 0x63, ACC_DP_OFF_Z = 0x64, ACC_DP_DGAIN_Z = 0x65 } accel_go_registers;
+
+/** @brief IMU Accel Gain and Offset Registers */
+typedef enum { GYR_DP_OFF_X = 0x66, GYR_DP_DGAIN_X = 0x67, GYR_DP_OFF_Y = 0x68, GYR_DP_DGAIN_Y = 0x69, GYR_DP_OFF_Z = 0x6A, GYR_DP_DGAIN_Z = 0x6B } gyro_go_registers;
+
+typedef struct {
+  uint16_t accel_offset_x;
+  uint16_t accel_offset_y;
+  uint16_t accel_offset_z;
+  uint8_t accel_gain_x;
+  uint8_t accel_gain_y;
+  uint8_t accel_gain_z;
+} AccelGainOffsetValues;
+
+typedef struct {
+  uint16_t gyro_offset_x;
+  uint16_t gyro_offset_y;
+  uint16_t gyro_offset_z;
+  uint8_t gyro_gain_x;
+  uint8_t gyro_gain_y;
+  uint8_t gyro_gain_z;
+} GyroGainOffsetValues;
+
+typedef struct {
+  int16_t x;
+  int16_t y;
+  int16_t z;
+} Axes;
+
+typedef struct {
+  SpiPort spi_port;
+  SpiSettings spi_settings;
+  GpioAddress int1;
+  GpioAddress int2;
+  IMUAccelRange accel_range;
+  IMUGyroRange gyro_range;
+} bmi323_settings;
+
+typedef struct {
+  bmi323_settings *settings;
+  Axes accel;
+  Axes gyro;
+  AccelGainOffsetValues accel_go_values;
+  GyroGainOffsetValues gyro_go_values;
+} bmi323_storage;
+
+StatusCode imu_init(bmi323_settings *settings);

projects/imu/inc/imu.h

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+#pragma once
+
+/************************************************************************************************
+ * @file   imu.h
+ *
+ * @brief  Header file for imu
+ *
+ * @date   2025-02-01
+ * @author Midnight Sun Team #24 - MSXVI
+ ************************************************************************************************/
+
+/* Standard library Headers */
+
+/* Inter-component Headers */
+#include "can.h"
+#include "spi.h"
+
+/* Intra-component Headers */
+
+/**
+ * @defgroup imu
+ * @brief    imu Firmware
+ * @{
+ */
+
+/** @} */

projects/imu/inc/imu_hw_defs.h

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+#pragma once
+
+/************************************************************************************************
+ * @file   imu_hw_defs.h
+ *
+ * @brief  Header file for IMU hardware definitions
+ *
+ * @date   2025-01-12
+ * @author Midnight Sun Team #24 - MSXVI
+ ************************************************************************************************/
+
+/* Standard library Headers */
+
+/* Inter-component Headers */
+
+/* Intra-component Headers */
+
+/**
+ * @defgroup imu
+ * @brief    imu Firmware
+ * @{
+ */
+
+/************************************************************************************************
+ * IMU CAN definitions
+ ************************************************************************************************/
+
+/** @brief  IMU CAN RX Port */
+#define IMU_CAN_RX \
+  { .port = GPIO_PORT_B, .pin = 8 }
+
+/** @brief  IMU CAN TX Port */
+#define IMU_CAN_TX \
+  { .port = GPIO_PORT_B, .pin = 9 }
+
+/************************************************************************************************
+ * IMU SPI definitions
+ ************************************************************************************************/
+
+#define IMU_SPI_PORT SPI_PORT_2
+
+#define IMU_SPI_MOSI \
+  { .port = GPIO_PORT_B, .pin = 15 }
+
+#define IMU_SPI_MISO \
+  { .port = GPIO_PORT_B, .pin = 14 }
+
+#define IMU_SPI_NSS \
+  { .port = GPIO_PORT_B, .pin = 12 }
+
+#define IMU_SPI_SCK \
+  { .port = GPIO_PORT_B, .pin = 13 }
+
+#define IMU_SPI_INT1 \
+  { .port = GPIO_PORT_B, .pin = 0 }
+
+#define IMU_SPI_INT2 \
+  { .port = GPIO_PORT_B, .pin = 1 }
+
+#define SPI_BAUDRATE 2500000