sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. 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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