사용할 센서는 Revolt FC에 내장된 IC20602 축 자이로, 3축 가속도가 있는 센서이다.
ICM-20602는 자이로는 32kHz, 가속도는 4kHz 주기로 출력된다.
16bit ADC를 사용하며 노이즈 레벨이은 MPU 센서 대비 현저히 낮다.
상세한 사양은 아래 데이터시트를 참고하면 된다.
https://www.invensense.com/wp-content/uploads/2016/10/DS-000176-ICM-20602-v1.0.pdf
센서설정값은 다음과 같다.
- 각속도 스케일: +/-2000dps
- 가속도 스케일: +/-16
- LPF: 20Hz
STM32F405는 ICM-20602 IMU센서와 SPI로 연결된다. ICM-20602는 SPI 통신과 I2C 통신 두가지 방식을 지원하는데 SPI가 속도가 훨씬 빠르다. 통신방식의 결정은 CS핀이 Low일때 SPI 모드로 통신하게 된다. 데이터를 가져오는 방식을 인터럽트 방식으로 하기 위해 외부 GPIO 인터럽트를 활성화해주어야 한다.
SPI는 속도를10MHz로 설정하고 데이터를 latch하는 방식은 Rising Edge 방식을 사용하도록 한다.
STM32F405의 설정은 아래와 같다.
- 통신: SPI1
- 버스: APB1
- 모드: Full-Duplex Master
- 데이터사이즈: 8bit
- Polarity: High
- Clock phase: 2 Edge
- First bit: MSB
- Prescaler : 8 (10.5MHz)
하드웨어 인터럽트를 사용하기 위해 SPI 인터럽트를 활성화한다.
NVIC settings에서 SPI1 global interrupt 의 Enable에 체크한다.
SPI 핀 설정은 아래와 같다. PC4번 포트는 GPIO_EXTI4로 선택해야 인터럽트 핀으로 활성화할 수 있다.
#define SPI1_NSS_PIN PA4 - GPIO output
#define SPI1_SCK_PIN PA5 - SPI SCK
#define SPI1_MISO_PIN PA6 - SPI MISO
#define SPI1_MOSI_PIN PA7 - SPI MOSI
#define GYRO_1_EXTI_PIN PC4 - GPIO EXTI4
빌드하면 아래와 같이 SPI 초기화함수가 생성된다.
SPI 드라이버 소스는 Chrisp가 SparkFun의 원본 소스를 수정하여 하였고 그것을 Revolt FC에 맞게 수정하여 사용하였다.
소스의 위치는 다음과 같다.
https://github.com/ChrisWonyeobPark/ICM20602-STM32F4-SPI-LL-Driver
ChrisWonyeobPark/ICM20602-STM32F4-SPI-LL-Driver
ICM-20602 STM32F4 SPI LL Driver Source Code. Contribute to ChrisWonyeobPark/ICM20602-STM32F4-SPI-LL-Driver development by creating an account on GitHub.
github.com
SparkFun github에는 아두이노뿐 아니라 임베디드 시스템 센서 및 주변장치들의 라이브러리를 많이 제공하니 알아두면 도움이 많이 될 것이다.
SparkFun Electronics
Building opensource widgets to make prototyping hardware easier since 2002. - SparkFun Electronics
github.com
소스를 마우스로 끌고와서 src 폴더안으로 넣으면 자동으로 소스가 복사되어 프로젝트 안으로 들어간다.
그리고 아래 두 파일을 main.c에 include한다.
#include "ICM20602.h"
#include "Quaternion.h"
센서 초기화 과정에서 아래 함수를 호출한다.
ICM20602_Initialization();
메인 함수에는 센서 데이터를 SPI로 받아오기 위해 아래와 같이 추가한다.
외부 인터럽트 서비스루틴이 리턴되면 DataRrady 함수를 확인하여 센서값을 읽어온다.
while (1)
{
if(ICM20602_DataReady() == 1)
{
LL_GPIO_TogglePin(GPIOC, LL_GPIO_PIN_1);
ICM20602_Get3AxisGyroRawData(&ICM20602.gyro_x_raw);
ICM20602.gyro_x = ICM20602.gyro_x_raw * 2000.f / 32768.f;
ICM20602.gyro_y = ICM20602.gyro_y_raw * 2000.f / 32768.f;
ICM20602.gyro_z = ICM20602.gyro_z_raw * 2000.f / 32768.f;
printf("%d,%d,%d\n", ICM20602.gyro_x_raw, ICM20602.gyro_y_raw, ICM20602.gyro_z_raw);
printf("%d,%d,%d\n", (int)(ICM20602.gyro_x*100), (int)(ICM20602.gyro_y*100), (int)(ICM20602.gyro_z*100));
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
실행하면 터미널로 자이로의 값이 출력되는 것을 확인할 수 있다.
위 프로그램은 Ubuntu에서 사용가능한 Serial plotter 프로그램이고 아래 사이트에서 다운받아서 사용할 수 있다.
https://hackaday.io/project/5334-serialplot-realtime-plotting-software
SerialPlot - Realtime Plotting Software
This is a Qt based software for plotting data from serial port in real time. IMPORTANT: instead of commenting please consider creating a ticket at issue tracker (https://todo.sr.ht/~hyozd/serialplot or https://github.com/hyOzd/serialplot/issues) Hackaday's
hackaday.io
소스코드 저장소
- 891968755a226792e2732c03d22b81d1042d2bc1 (HEAD -> main, origin/main) done project ICM20602(gyro&accel sensors) interface using SPI
https://github.com/shlee853/STM32F4_FC_DEV
GitHub - shlee853/STM32F4_FC_DEV: Development DIY Flight Controller using STM32F404 MCU
Development DIY Flight Controller using STM32F404 MCU - GitHub - shlee853/STM32F4_FC_DEV: Development DIY Flight Controller using STM32F404 MCU
github.com
Git Log
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace/STM32CubeIDE/dev$ git add .
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace/STM32CubeIDE/dev$ git status
On branch main
Your branch is up to date with 'origin/main'.
Changes to be committed:
(use "git restore --staged <file>..." to unstage)
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modified: STM32F4_FC_DEV/Debug/objects.list
new file: STM32F4_FC_DEV/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_spi.h
new file: STM32F4_FC_DEV/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_tim.h
new file: STM32F4_FC_DEV/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_spi.c
new file: STM32F4_FC_DEV/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.c
modified: STM32F4_FC_DEV/STM32F4_FC_DEV.ioc
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace/STM32CubeIDE/dev$ git commit -m "done project ICM20602(gyro&accel sensors) interface using SPI"
[main 8919687] done project ICM20602(gyro&accel sensors) interface using SPI
162 files changed, 39156 insertions(+), 7520 deletions(-)
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create mode 100644 .metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml
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rewrite STM32F4_FC_DEV/.mxproject (76%)
create mode 100644 STM32F4_FC_DEV/Core/Inc/ICM20602.h
create mode 100644 STM32F4_FC_DEV/Core/Inc/Quaternion.h
create mode 100644 STM32F4_FC_DEV/Core/Inc/spi.h
create mode 100644 STM32F4_FC_DEV/Core/Inc/tim.h
create mode 100644 STM32F4_FC_DEV/Core/Src/ICM20602.c
create mode 100644 STM32F4_FC_DEV/Core/Src/Quaternion.c
create mode 100644 STM32F4_FC_DEV/Core/Src/spi.c
create mode 100644 STM32F4_FC_DEV/Core/Src/tim.c
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/ICM20602.d
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/ICM20602.o
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/ICM20602.su
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/Quaternion.d
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/Quaternion.o
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/Quaternion.su
rewrite STM32F4_FC_DEV/Debug/Core/Src/gpio.o (82%)
rewrite STM32F4_FC_DEV/Debug/Core/Src/main.o (81%)
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/spi.d
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/spi.o
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/spi.su
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/stm32f4xx_hal_msp.d
rewrite STM32F4_FC_DEV/Debug/Core/Src/stm32f4xx_it.o (80%)
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/tim.d
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/tim.o
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/tim.su
rewrite STM32F4_FC_DEV/Debug/Core/Src/usart.o (80%)
create mode 100644 STM32F4_FC_DEV/Debug/Core/Src/wwdg.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_wwdg.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_spi.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_spi.o
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_spi.su
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.d
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.o
create mode 100644 STM32F4_FC_DEV/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.su
rewrite STM32F4_FC_DEV/Debug/STM32F4_FC_DEV.elf (75%)
rewrite STM32F4_FC_DEV/Debug/STM32F4_FC_DEV.list (69%)
create mode 100644 STM32F4_FC_DEV/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_spi.h
create mode 100644 STM32F4_FC_DEV/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_tim.h
create mode 100644 STM32F4_FC_DEV/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_spi.c
create mode 100644 STM32F4_FC_DEV/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.c
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace/STM32CubeIDE/dev$ git push -u origin main
Username for 'https://github.com': shlee853
Password for 'https://shlee853@github.com':
Enumerating objects: 308, done.
Counting objects: 100% (308/308), done.
Delta compression using up to 8 threads
Compressing objects: 100% (227/227), done.
Writing objects: 100% (239/239), 1.99 MiB | 2.02 MiB/s, done.
Total 239 (delta 114), reused 0 (delta 0)
remote: Resolving deltas: 100% (114/114), completed with 30 local objects.
To https://github.com/shlee853/STM32F4_FC_DEV.git
19c17e7..8919687 main -> main
Branch 'main' set up to track remote branch 'main' from 'origin'.
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace/STM32CubeIDE/dev$ git log --pretty=oneline
891968755a226792e2732c03d22b81d1042d2bc1 (HEAD -> main, origin/main) done project ICM20602(gyro&accel sensors) interface using SPI
19c17e72497f7834e9a04da35338347f51a986c8 done project for receiving data using interupt and transmit received data
cc840798716809f6b47b4111b825a60381d1934d done project for poilling Transmit data using USART6
00af3f79301c64ba1b43044869f96cf8848c678a Initial Release & done project for LED blink
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace/STM32CubeIDE/dev$
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