Initial commit

Source/BSP/Inc/imu.h

@@ -0,0 +1,34 @@
+#ifndef IMU_H
+#define IMU_H
+
+#include "stm32g431xx.h"
+
+#define ICM_ADDR                0x68
+#define REG_PWR_MGMT_1          0x06
+#define REG_BANK_SEL            0x7F
+#define REG_GYRO_CONFIG_1       0x01
+#define REG_ACCEL_CONFIG        0x14
+#define IMU_RATE_HZ             1000                    // 1 ms
+#define IMU_DT                  0.002f   // 2 ms
+
+typedef struct
+{
+  int16_t ax, ay, az; // lsb
+  int16_t gx, gy, gz; // lsb
+} imu_raw_t;
+
+void i2c_gpio_init();
+
+void i2c1_init();
+
+void icm_init();
+
+void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len);
+
+void i2c_write(uint8_t addr, uint8_t reg, uint8_t data);
+
+void icm_read_raw(imu_raw_t* data);
+
+static void i2c_wait_idle(I2C_TypeDef* i2c);
+
+#endif

Source/BSP/Inc/imu_processing.h

@@ -0,0 +1,23 @@
+#ifndef IMU_PROCESSING_H
+#define IMU_PROCESSING_H
+
+#include "imu.h"
+
+
+#define ACCEL_SENS_SCALE_FACTOR         8192.0f
+#define GYRO_SENS_SCALE_FACTOR          16.4f
+#define PI                              3.14159265359f
+
+typedef struct
+{
+  float ax, ay, az; // g
+  float gx, gy, gz; // dps
+} imu_scaled_t;
+
+void imu_processing_init();
+
+void imu_read_scaled(imu_scaled_t* out);
+
+void imu_calibrate();
+
+#endif

Source/BSP/Inc/motors.h

@@ -0,0 +1,24 @@
+#ifndef MOTORS_H
+#define MOTORS_H
+
+#include <stdint.h>
+#include "pid.h"
+
+void motors_init();
+void motor_gpio_tim1_ch3_init();
+void motor_gpio_tim1_ch4_init();
+void motors_tim1_ch3_4_init();
+
+void motor_gpio_tim2_ch1_init();
+void motor_gpio_tim2_ch2_init();
+void motors_tim2_ch1_2_init();
+
+void motors_set_throttle_mix(const int16_t throttle, const control_channels_t* chs, const int8_t armed);
+void motor_set_throttle(int8_t motor_number, int16_t us, int8_t armed);
+void motors_turn_off();
+void motor1_set_throttle(int16_t us);
+void motor2_set_throttle(int16_t us);
+void motor3_set_throttle(int16_t us);
+void motor4_set_throttle(int16_t us);
+
+#endif

Source/BSP/Inc/radio_receiver.h

@@ -0,0 +1,34 @@
+#ifndef RADIO_RECEIVER_H
+#define RADIO_RECEIVER_H
+
+#include "stm32g431xx.h"
+#include <stdint.h>
+
+#define SBUS_FRAME_SIZE 25
+#define SBUS_START_BYTE 0X0F
+
+typedef struct
+{
+  int16_t rc_roll;     // -500 - 500
+  int16_t rc_pitch;    // -500 - 500
+  int16_t rc_throttle; // 1000 - 2000
+  int16_t rc_yaw;      // -500 - 500
+  int16_t rc_armed;    // 0/1
+} rc_channels;
+
+void receiver_gpio_init();
+void receiver_lpuart_clock_init();
+void receiver_uart_init();
+void receiver_init();
+void LPUART1_IRQHandler();
+void receiver_update(rc_channels* chs);
+void receiver_parse_frame();
+rc_channels normalize_channels(rc_channels chs);
+int16_t int_mapping(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
+int8_t bool_mapping_gt(int16_t x, int16_t boundary);
+
+
+void led_init();
+void toggle_led();
+
+#endif