Motion Module Application#389
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Adds framework necessary to sample the IMU (LSM6DSV or BNO085) Adds motion sensing module application logic Adds DMA to mote SPI BSP along with correct interrupt handling on BM_INT pin.
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matt001k
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Jun 11, 2026
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| filt_settling_mask.drdy = PROPERTY_DISABLE; | ||
| filt_settling_mask.irq_xl = PROPERTY_DISABLE; | ||
| filt_settling_mask.irq_g = PROPERTY_DISABLE; |
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Disables any filtering the chipset might due, the IMU should be a raw pipeline and any filtering done externally (i.e. by the Stanford team for the CEC project)
matt001k
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Jun 11, 2026
| lsm6dsv_gy_mode_t mode; | ||
| lsm6dsv_data_rate_t rate; | ||
| } gyro; | ||
| lsm6dsv_data_rate_t sample_rate; |
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The gyro and accelerometer should be sampled at the same speed as the current streaming operation will only report data at the lowest configured frequency of the two.
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Jun 11, 2026
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| static constexpr uint32_t data_ready_poll_ms = 50; | ||
| BmErr err = motionSensorDataReady(data_ready_poll_ms); | ||
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| if (err == BmENODEV) { | ||
| bm_delay(data_ready_poll_ms); | ||
| continue; | ||
| } else if (err != BmOK) { | ||
| continue; | ||
| } | ||
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| MotionSensorReading reading = {}; | ||
| while (motionSensorGet(&reading) == BmOK) { | ||
| bm_debug("imu: %" PRIu64 ",%f,%f,%f,%f,%f,%f\n", reading.ns, reading.acc.x, reading.acc.y, | ||
| reading.acc.z, reading.gyro.x, reading.gyro.y, reading.gyro.z); | ||
| } | ||
| } |
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Only logic worth reviewing here. Everything else is boilerplate.
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