Firmware to drive the foot processor of HEPL. Uses a dual-IMU sensor board to determine displacement. Implements a Kalman filter and ZUPT algorithms to reduce accumulated error due to sensor drift.
cd to the Python dir, and start the virtual environment:
source ./env/bin/activate
Run python3 -m pip install -r requirements.txt to install requirements
Run make copy to copy required files from STM32 project
Run make debug to compile processing.c from STM32 and run the plot util
Run make run if you want to skip compile step
The plot utility prints useful info to the console and makes a plot image called "Processed.png" using "processed.csv"