Hala Sh.MummoAbdulrhman Batikh
Created April 29, 2021

IMU sensor controlling GUI using STM32CubeMonitor

Visualizing, live monitoring, and data controlling of gyroscope, accelerometer, and magnetometer sensors using STM32CubeMonitor

IntermediateWork in progress4 hours1
IMU sensor controlling GUI using STM32CubeMonitor

Things used in this project

Hardware components

Hexabitz IMU and Digital Compass (H0BR4x)
×1
Hexabitz BitzClamp
Hexabitz BitzClamp
×1
Hexabitz 4-Pin USB-Serial Prototype Cable
×1
Hexabitz E-Z-Hook Programming Kit
×1
5V / 8W Portable USB Soldering Iron
×1

Software apps and online services

STMicroelectronics STM32CubeIDE
STMicroelectronics STM32CubeMonitor

Hand tools and fabrication machines

4-Port USB 2.0 Hub with Individual Power Switches

Story

Read more

Code

H0BR4x module code using STM32CubeIDE

C/C++
/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2015 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written
  *      permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
	
/*
		MODIFIED by Hexabitz for BitzOS (BOS) V0.2.2 - Copyright (C) 2017-2020 Hexabitz
    All rights reserved
*/

/* Includes ------------------------------------------------------------------*/
#include "BOS.h"
#include "math.h"

/* Private variables ---------------------------------------------------------*/

float gx = 0.0f;
float gy = 0.0f;
float gz = 0.0f;
uint8_t select = 0;
uint8_t select1 =0;
uint8_t select2 =0;
float Ax = 0.0f;
float Ay = 0.0f;
float Az = 0.0f;
int magX = 0;
int magY = 0;
int magZ = 0;

/* Private function prototypes -----------------------------------------------*/


/* Main functions ------------------------------------------------------------*/

int main(void){


  /* MCU Configuration----------------------------------------------------------*/

  /* Reset all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all user peripherals */

	/* Initialize BitzOS */
	BOS_Init();

  /* Call init function for freertos objects (in freertos.c) */
  MX_FREERTOS_Init();

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

  /* Infinite loop */
  while (1)
  {

  }


}

/*-----------------------------------------------------------*/

/* User Task */
void UserTask(void * argument)
{
/* Infinite loop */
	  for(;;)
	  {
		  if (select == 0 )
		{
			  SampleGyroDPS(&gx, &gy, &gz);

		}
		  else if (select == 1)
		 {
			  SampleGyroDPS(&gx, &gy, &gz);
			  gy=0;
			  gz=0;
		 }
		  else if (select == 2)
		  {
			  SampleGyroDPS(&gx, &gy, &gz);
			  gx=0;
			  gz=0;
		  }
		  else if (select == 3)
		   {
		 	  SampleGyroDPS(&gx, &gy, &gz);
		 	  gx=0;
		 	  gy=0;
		   }
		  else if (select == 4)
		     {
			  gy=0;
			  gx=0;
			  gz=0;
		     }

		  if (select1 == 0 )
		 		{

		 			  SampleAccG(&Ax, &Ay, &Az);

		 		}
		 		  else if (select1 == 1)
		 		 {
		 			 SampleAccG(&Ax, &Ay, &Az);
		 			  Ay=0;
		 			  Az=0;
		 		 }
		 		  else if (select1 == 2)
		 		  {
		 			 SampleAccG(&Ax, &Ay, &Az);
		 			  Ax=0;
		 			  Az=0;
		 		  }
		 		  else if (select1 == 3)
		 		   {
		 			 SampleAccG(&Ax, &Ay, &Az);
		 		 	  Ax=0;
		 		 	  Ay=0;
		 		   }
		 		  else if (select1 == 4)
		 		     {
		 			  Ay=0;
		 			  Ax=0;
		 			  Az=0;
		 		     }

		  if (select2 == 0 )
		  		 		{

			  SampleMagMGauss(&magX, &magY, &magZ);


		  		 		}
		  		 		  else if (select2 == 1)
		  		 		 {
		  		 			SampleMagMGauss(&magX, &magY, &magZ);
		  		 			  magY=0;
		  		 			  magZ=0;
		  		 		 }
		  		 		  else if (select2 == 2)
		  		 		  {
		  		 			SampleMagMGauss(&magX, &magY, &magZ);
		  		 			  magX=0;
		  		 			  magZ=0;
		  		 		  }
		  		 		  else if (select2 == 3)
		  		 		   {
		  		 			SampleMagMGauss(&magX, &magY, &magZ);
		  		 		 	  magX=0;
		  		 		 	  magY=0;
		  		 		   }
		  		 		  else if (select2 == 4)
		  		 		     {
		  		 			  magX=0;
		  		 			  magY=0;
		  		 			  magZ=0;
		  		 		     }

	 Delay_ms(100);
			}
	}
/*-----------------------------------------------------------*/

/************************ (C) COPYRIGHT HEXABITZ *****END OF FILE****/

H0BR4x module dashboard using STM32CubeMonitor

JSON
[
    {
        "id": "98bb3798.d90928",
        "type": "tab",
        "label": "IMU dashboard",
        "disabled": false,
        "info": "# Basic flow to start with STM32CubeMonitor."
    },
    {
        "id": "8381c865.236028",
        "type": "subflow",
        "name": "Single value",
        "info": "The 'single value' subflow allows to :\r\n * Filter Data to extract only one variable after the \"processing node\" step .\r\n * Modify the message to fit with standard widgets such as gauges.\r\n * Limit the number of messages to a maximum of 10 msg per second.\r\n\r\n### **Input**\r\n\r\nThe subflow 'single value' takes in input the `msg.payload`\r\nfrom the processing output. All the messages sent by the processing node have the same structure.\r\n\r\n    \"payload\": {\r\n        \"groupname\": \"Snapshot2\",\r\n        \"variabledata\": [\r\n            {\r\n                \"y\": \"9\",\r\n                \"x\": \"1567509421459\"\r\n            },\r\n            {\r\n                \"y\": \"9\",\r\n                \"x\": \"1567509421459\"\r\n            },\r\n            {\r\n                \"y\": \"9\",\r\n                \"x\": \"1567509421459\"\r\n            }\r\n        ],\r\n        \"variablename\": \"int2\"\r\n      }\r\n    }\r\n\r\n### **Filter on selected variable**\r\nSeveral messages are sent by the processing node for each variable, so the first step of this 'single value' subflow is to filter and keep only messages related to the selected variable.\r\nThe 'filter variable' node will only keep messages with the right `variablename` key.\r\n\r\n### **Extract duplets table**\r\n\r\nThe received message is an Object containing {groupname, variabledata[array], variablename}.  \r\nThe array contains two variables :\r\n - `y` the value \r\n - `x` the time\r\n\r\nA single message contains multiple pairs of values extract at a regular time interval.\r\nThe time interval depends on the acquisition frequency.\r\nWith the 'change' node and the `set` property, the `msg.payload` is set to \r\n`msg.payload.variabledata`, only the data variable array is set into msg.payload.\r\n\r\n    \"payload\": {\r\n        \"variabledata\": [\r\n            {\r\n                \"y\": \"9\",\r\n                \"x\": \"1567509421459\"\r\n            },\r\n            {\r\n                \"y\": \"9\",\r\n                \"x\": \"1567509421459\"\r\n            },\r\n            {\r\n                \"y\": \"9\",\r\n                \"x\": \"1567509421459\"\r\n            }\r\n        ]\r\n    }\r\n\r\n### **Split duplets table**\r\n\r\nThe data variable array is split with a length of one in smaller objects by the 'split' node.\r\nEach new object contains two subvariables : `y` and `x`.\r\n\r\n    \"payload\": {\r\n        \"y\": \"9\",\r\n        \"x\": \"1567509421459\"\r\n    }\r\n\r\n\r\n### **Limit the number of messages**\r\n\r\nThe 'delay' node allows to limit the maximum number of message per second.\r\nIn the 'single value' subflow, one message is extracted per second.\r\n\r\n>_Be careful, a dashboard saturation risk exists if too many messages are received per second._\r\n\r\n### **Extract only y values**\r\n\r\nThe `msg.payload` is set to `msg.payload.y` with the `set` property. \r\nOnly `y` variable is set into msg.payload as single value.\r\n\r\n    \"payload\": { \r\n        \"y\": \"9\" \r\n    }\r\n\r\n### **Output** \r\n\r\nSome widgets such as the gauge and the text node are using the `msg.payload` property.  \r\nThe output node is linked to a gauge that allows to see the evolution \r\nof the `y` variable as a function of time.\r\n\r\n\r\n![subflow_gauge](images/subflow_gauge.png)\r\n\r\n### **Details**\r\n\r\nNote : The debug node allows to see clearly and easily the \r\nmessage at the node output.  \r\n\r\n\r\n> More details on [Node-Red][nr]\r\n[nr]: https://nodered.org/docs/user-guide/editor/workspace/subflows\r\n\r\n\r\n-------\r\n\r\n",
        "category": "",
        "in": [
            {
                "x": 40,
                "y": 60,
                "wires": [
                    {
                        "id": "3c5ffe0d.9063b2"
                    }
                ]
            }
        ],
        "out": [
            {
                "x": 780,
                "y": 140,
                "wires": [
                    {
                        "id": "66397fd3.d8111",
                        "port": 0
                    }
                ]
            }
        ],
        "env": [
            {
                "name": "varfilter",
                "type": "str",
                "value": ""
            }
        ],
        "color": "#DDAA99"
    },
    {
        "id": "3e22d2e2.f780fe",
        "type": "subflow",
        "name": "Subflow 2",
        "info": "",
        "category": "",
        "in": [
            {
                "x": 40,
                "y": 160,
                "wires": [
                    {
                        "id": "7e64eeec.9ed4a"
                    },
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                        "id": "bcc2f210.3e9f3"
                    },
                    {
                        "id": "3ec3a9f9.8ce516"
                    }
                ]
            }
        ],
        "out": [
            {
                "x": 680,
                "y": 100,
                "wires": [
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                        "id": "7e64eeec.9ed4a",
                        "port": 0
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                ]
            },
            {
                "x": 680,
                "y": 160,
                "wires": [
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                        "id": "bcc2f210.3e9f3",
                        "port": 0
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                ]
            },
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                "x": 680,
                "y": 280,
                "wires": [
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                        "port": 0
                    }
                ]
            }
        ],
        "env": [
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                "name": "some_var",
                "type": "str",
                "value": ""
            }
        ],
        "color": "#DDAA99"
    },
    {
        "id": "f9c34dde.1e2f4",
        "type": "ui_group",
        "z": "",
        "name": "                          IMU H0BR4 Hexabitz module data acquisition",
        "tab": "17d09b07.741a55",
        "order": 1,
        "disp": true,
        "width": 22,
        "collapse": false
    },
    {
        "id": "17d09b07.741a55",
        "type": "ui_tab",
        "z": "",
        "name": "IMU",
        "icon": "dashboard",
        "disabled": false,
        "hidden": false
    },
    {
        "id": "abdac593.c94498",
        "type": "exe-config",
        "z": "",
        "name": "Hala",
        "exefile": "C:\\Users\\HalaMummo\\Desktop\\H0BR4x\\STM32CubeIDE\\Debug\\H0BR4.elf",
        "exefolder": "C:\\Users\\HalaMummo\\Desktop\\H0BR4x\\STM32CubeIDE\\Debug",
        "exevariablelist": [
            {
                "address": "0x0801d934",
                "name": "aAPBAHBPrescTable[0]",
                "type": 1
            },
            {
                "address": "0x200013a8",
                "name": "acceptedMsg",
                "type": 3
            },
            {
                "address": "0x0801cbbc",
                "name": "actSnipCommandDefinition.cExpectedNumberOfParameters",
                "type": 2
            },
            {
                "address": "0x0801cbb0",
                "name": "actSnipCommandDefinition.pcCommand",
                "type": 5
            },
            {
                "address": "0x0801cbb4",
                "name": "actSnipCommandDefinition.pcHelpString",
                "type": 5
            },
            {
                "address": "0x0801cbb8",
                "name": "actSnipCommandDefinition.pxCommandInterpreter",
                "type": 5
            },
            {
                "address": "0x20000af4",
                "name": "AddBcastPayload",
                "type": 1
            },
            {
                "address": "0x0801cbcc",
                "name": "addbuttonCommandDefinition.cExpectedNumberOfParameters",
                "type": 2
            },
            {
                "address": "0x0801cbc0",
                "name": "addbuttonCommandDefinition.pcCommand",
                "type": 5
            },
            {
                "address": "0x0801cbc4",
                "name": "addbuttonCommandDefinition.pcHelpString",
                "type": 5,
                "checked": false
            },
            {
                "address": "0x0801cbc8",
                "name": "addbuttonCommandDefinition.pxCommandInterpreter",
                "type": 5
            },
            {
                "address": "0x20000af8",
                "name": "arrayPortsDir[0]",
                "type": 3
            },
            {
                "address": "0x20006580",
                "name": "Ax",
                "type": 9,
                "checked": false
            },
            {
                "address": "0x20006584",
                "name": "Ay",
                "type": 9,
                "checked": false
            },
            {
                "address": "0x20006588",
                "name": "Az",
                "type": 9,
                "checked": false
            },
            {
                "address": "0x20001388",
                "name": "BackEndTaskHandle",
                "type": 5
            },
            {
                "address": "0x20000afe",
                "name": "bcastID",
                "type": 1
            },
            {
                "address": "0x20000b00",
                "name": "bcastRoutes[0]",
                "type": 3
            },
            {
                "address": "0x0801cbdc",
                "name": "bootloaderUpdateCommandDefinition.cExpectedNumberOfParameters",
                "type": 2
            },
            {
                "address": "0x0801cbd0",
                "name": "bootloaderUpdateCommandDefinition.pcCommand",
                "type": 5
            },
            {
                "address": "0x0801cbd4",
                "name": "bootloaderUpdateCommandDefinition.pcHelpString",
                "type": 5
            },
            {
                "address": "0x0801cbd8",
                "name": "bootloaderUpdateCommandDefinition.pxCommandInterpreter",
                "type": 5
            },
            {
                "address": "0x20000b32",
                "name": "bootStatus",
                "type": 1
            },
            {
                "address": "0x20006698",
                "name": "BOS.buttons.debounce",
                "type": 3
            },
            {
                "address": "0x2000669d",
                "name": "BOS.buttons.maxInterClickTime",
                "type": 1
            },
            {
                "address": "0x2000669c",
                "name": "BOS.buttons.minInterClickTime",
                "type": 1
            },
            {
                "address": "0x2000669a",
                "name": "BOS.buttons.singleClickTime",
                "type": 3
            },
            {
                "address": "0x200066a0",
                "name": "BOS.clibaudrate",
                "type": 5
            },
            {
                "address": "0x200066ad",
                "name": "BOS.date.day",
                "type": 1
            },
            {
                "address": "0x200066ae",
                "name": "BOS.date.month",
                "type": 1
            },
            {
                "address": "0x200066ac",
                "name": "BOS.date.weekday",
                "type": 1
            },
            {
                "address": "0x200066b0",
                "name": "BOS.date.year",
                "type": 3
            },
            {
                "address": "0x200066a4",
                "name": "BOS.daylightsaving",
                "type": 1
            },
            {
                "address": "0x200066b3",
                "name": "BOS.disableCLI",
                "type": 1
            },
            {
                "address": "0x200066a5",
                "name": "BOS.hourformat",
                "type": 1
            },
            {
                "address": "0x200066b2",
                "name": "BOS.overrun",
                "type": 1
            },
            {
                "address": "0x2000669e",
                "name": "BOS.response",
                "type": 1
            },
            {
                "address": "0x200066ab",
                "name": "BOS.time.ampm",
                "type": 1
            },
            {
                "address": "0x200066aa",
                "name": "BOS.time.hours",
                "type": 1
            },
            {
                "address": "0x200066a9",
                "name": "BOS.time.minutes",
                "type": 1
            },
            {
                "address": "0x200066a6",
                "name": "BOS.time.msec",
                "type": 3
            },
            {
                "address": "0x200066a8",
                "name": "BOS.time.seconds",
                "type": 1
            },
            {
                "address": "0x2000669f",
                "name": "BOS.trace",
                "type": 2
            },
            {
                "address": "0x20000000",
                "name": "BOS_default.buttons.debounce",
                "type": 3
            },
            {
                "address": "0x20000005",
                "name": "BOS_default.buttons.maxInterClickTime",
                "type": 1
            },
            {
                "address": "0x20000004",
                "name": "BOS_default.buttons.minInterClickTime",
                "type": 1
            },
            {
                "address": "0x20000002",
                "name": "BOS_default.buttons.singleClickTime",
                "type": 3
            },
            {
                "address": "0x20000008",
                "name": "BOS_default.clibaudrate",
                "type": 5
            },
            {
                "address": "0x20000015",
                "name": "BOS_default.date.day",
                "type": 1
            },
            {
                "address": "0x20000016",
                "name": "BOS_default.date.month",
                "type": 1
            },
            {
                "address": "0x20000014",
                "name": "BOS_default.date.weekday",
                "type": 1
            },
            {
                "address": "0x20000018",
                "name": "BOS_default.date.year",
                "type": 3
            },
            {
                "address": "0x2000000c",
                "name": "BOS_default.daylightsaving",
                "type": 1
            },
            {
                "address": "0x2000001b",
                "name": "BOS_default.disableCLI",
                "type": 1
            },
            {
                "address": "0x2000000d",
                "name": "BOS_default.hourformat",
                "type": 1
            },
            {
                "address": "0x2000001a",
                "name": "BOS_default.overrun",
                "type": 1
            },
            {
                "address": "0x20000006",
                "name": "BOS_default.response",
                "type": 1
            },
            {
                "address": "0x20000013",
                "name": "BOS_default.time.ampm",
                "type": 1
            },
            {
                "address": "0x20000012",
                "name": "BOS_default.time.hours",
                "type": 1
            },
            {
                "address": "0x20000011",
                "name": "BOS_default.time.minutes",
                "type": 1
            },
            {
                "address": "0x2000000e",
                "name": "BOS_default.time.msec",
                "type": 3
            },
            {
                "address": "0x20000010",
                "name": "BOS_default.time.seconds",
                "type": 1
            },
            {
                "address": "0x20000007",
                "name": "BOS_default.trace",
                "type": 2
            },
            {
                "address": "0x20000af5",
                "name": "BOS_initialized",
                "type": 1
            },
            {
                "address": "0x20006620",
                "name": "BOS_var_reg[0]",
                "type": 5
            },
            {
                "address": "0x0801cbec",
                "name": "bridgeCommandDefinition.cExpectedNumberOfParameters",
                "type": 2
            },
            {
                "address": "0x0801cbe0",
                "name": "bridgeCommandDefinition.pcCommand",
                "type": 5
            },
            {
                "address": "0x0801cbe4",
                "name": "bridgeCommandDefinition.pcHelpString",
                "type": 5
            },
            {
                "address": "0x0801cbe8",
                "name": "bridgeCommandDefinition.pxCommandInterpreter",
                "type": 5
            },
            {
                "address": "0x20000b34",
                "name": "broadcastResponse[0]",
                "type": 1
            },
            {
                "address": "0x20000b40",
                "name": "button[0].events",
                "type": 1
            },
            {
                "address": "0x20000b3a",
                "name": "button[0].pressedX1Sec",
                "type": 1
            },
            {
                "address": "0x20000b3b",
                "name": "button[0].pressedX2Sec",
                "type": 1
            },
            {
                "address": "0x20000b3c",
                "name": "button[0].pressedX3Sec",
                "type": 1
            },
            {
                "address": "0x20000b3d",
                "name": "button[0].releasedY1Sec",
                "type": 1
            },
            {
                "address": "0x20000b3e",
                "name": "button[0].releasedY2Sec",
                "type": 1
            },
            {
                "address": "0x20000b3f",
                "name": "button[0].releasedY3Sec",
                "type": 1
            },
            {
                "address": "0x20000b38",
                "name": "button[0].state",
                "type": 1
            },
            {
                "address": "0x20000b39",
                "name": "button[0].type",
                "type": 1
            },
            {
                "address": "0x20000af6",
                "name": "CLI_LOW_Baudrate_Flag",
                "type": 1
            },
            {
                "address": "0x20001758",
                "name": "cOutputBuffer[0]",
                "type": 2
            },
            {
                "address": "0x20001304",
                "name": "crcBuffer[0]",
                "type": 1
            },
            {
                "address": "0x20000cfc",
                "name": "cRxedChar",
                "type": 2
            },
            {
                "address": "0x20001384",
                "name": "DataVar",
                "type": 3
            },
            {
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                "address": "0x200065f4",
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            {
                "address": "0x200065ec",
                "name": "htim15.Init.CounterMode",
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            },
...

This file has been truncated, please download it to see its full contents.

Credits

Hala Sh.Mummo

Hala Sh.Mummo

2 projects • 1 follower
MSc of Electronic Engineering
Abdulrhman Batikh

Abdulrhman Batikh

1 project • 0 followers
Thanks to Abdulrhman Batikh.

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