sl-firmware
9ed678ca35
Issue #680 — IMU mount angle calibration: - imu_cal_flash.h/.c: store pitch/roll offsets in flash sector 7 (0x0807FF00, 64 bytes; preserves PID records across sector erase) - mpu6000_set_mount_offset(): subtracts offsets from pitch/roll output - mpu6000_has_mount_offset(): reports cal_status=2 to Orin - 'O' CDC command: capture current pitch/roll → save to flash → ACK JSON - Load offsets on boot; report in printf log CAN telemetry correction (Tee: production has no USB to Orin): - FC_IMU (0x402): pitch/roll/yaw/cal_status/balance_state at 50 Hz - orin_can_broadcast_imu() rate-limited to ORIN_IMU_TLM_HZ (50 Hz) - FC_BARO (0x403): pressure_pa/temp_x10/alt_cm at 1 Hz (Issue #672) - orin_can_broadcast_baro() rate-limited to ORIN_BARO_TLM_HZ (1 Hz) Issue #685 — LED CAN override: - ORIN_CAN_ID_LED_CMD (0x304): pattern/brightness/duration_ms from Orin - orin_can_led_override volatile state + orin_can_led_updated flag - main.c: apply pattern to LED state machine on each LED_CMD received Orin side: - saltybot_can_node.py: production SocketCAN bridge — reads 0x400-0x403, publishes /saltybot/imu, /saltybot/balance_state, /saltybot/barometer; subscribes /cmd_vel → 0x301 DRIVE; /saltybot/leds → 0x304 LED_CMD; sends 0x300 HEARTBEAT at 5 Hz; sends 0x303 ESTOP on shutdown - setup.py: register saltybot_can_node entry point + uart_bridge launch Fix: re-apply --defsym __stack_end=_estack-0x1000 linker fix to branch Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
44 lines
1.4 KiB
C
44 lines
1.4 KiB
C
#ifndef MPU6000_H
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#define MPU6000_H
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#include <stdint.h>
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#include <stdbool.h>
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typedef struct {
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float pitch; // degrees, filtered (complementary filter)
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float pitch_rate; // degrees/sec (raw gyro pitch axis)
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float roll; // degrees, filtered (complementary filter)
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float yaw; // degrees, gyro-integrated (drifts — no magnetometer)
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float yaw_rate; // degrees/sec (raw gyro Z / board_gz, Issue #616)
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float accel_x; // g
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float accel_z; // g
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} IMUData;
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bool mpu6000_init(void);
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/*
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* Sample gyro for ~1s to compute per-axis bias offsets.
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* Must be called after mpu6000_init() with the board held still.
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* Blocks ~1s. LED1+LED2 solid during calibration.
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* IWDG must NOT be running when this is called (call before safety_init()).
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*/
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void mpu6000_calibrate(void);
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/* Returns true once mpu6000_calibrate() has completed. */
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bool mpu6000_is_calibrated(void);
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void mpu6000_read(IMUData *data);
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/*
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* mpu6000_set_mount_offset(pitch_deg, roll_deg) — set mount angle offsets.
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* These are subtracted from the pitch and roll outputs in mpu6000_read().
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* Load via imu_cal_flash_load() on boot; update after 'O' CDC command.
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* Issue #680.
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*/
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void mpu6000_set_mount_offset(float pitch_deg, float roll_deg);
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/* Returns true if non-zero mount offsets have been applied (Issue #680). */
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bool mpu6000_has_mount_offset(void);
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#endif
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