The Firmware for STM32 at Altair Team

IMU

The imu.cpp file contains the implementation of the IMUControl class, which is responsible for initializing and servicing the Inertial Measurement Unit (IMU) sensor. Below is a brief explanation of the key functions in this file:

The data is sent in the following format:

• Orientation data: U for x-axis, G for y-axis (negated), M for z-axis (negated). Orientation data is in the form of euler angle which is the roll, pitch, yaw relative to the fixed frame. Fusion data from Gyroscope and Linear Acceleration.
• Gyroscope data: D for x-axis (negated), I for y-axis (negated), Y for z-axis. Gyroscope data is in the form of velocity angle, rad/s, which is the orientation of the body frame
• Linear acceleration data: P for x-axis (negated), C for y-axis, T for z-axis.

Button

The button.cpp file contains the implementation of the ButtonControl class, which is responsible for handling button presses and executing corresponding actions. Below is a brief explanation of the key functions in this file:

Key Features:

• Debounce the button press.
• Execute the corresponding action based on the button state.

The data is sent in the following format:

• Button state: B for the state

Serial Data

The complete data is sent to the computer via USB Serial with this following format: "$U{}G{}M{}D{}I{}Y{}P{}C{}T{}B{}\n"

• $ is the initial marker
• \n is the end marker
• {} is the value placeholder