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Наведён порядок в коде

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This commit is contained in:
Radzhab Bisultanov
2026-02-18 14:23:01 +03:00
parent eecf8f2cc2
commit f9b7277a33
20 changed files with 647 additions and 928 deletions
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25
Source/BSP/Inc/imu.h
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@@ -3,31 +3,34 @@
#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
#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_DT 0.002f // 2 ms
typedef struct
{
int16_t ax, ay, az; // lsb
int16_t gx, gy, gz; // lsb
int16_t ax, ay, az; // lsb
int16_t gx, gy, gz; // lsb
} imu_raw_t;
void imu_pow_init();
void i2c_gpio_init();
void i2c1_init();
void icm_init();
void imu_init();
void imu_tim6_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);
void imu_read_raw(imu_raw_t* data);
static void i2c_wait_idle(I2C_TypeDef* i2c);

10
Source/BSP/Inc/imu_processing.h
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@@ -4,14 +4,14 @@
#include "imu.h"
#define ACCEL_SENS_SCALE_FACTOR 8192.0f
#define GYRO_SENS_SCALE_FACTOR 16.4f
#define PI 3.14159265359f
#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
float ax, ay, az; // g
float gx, gy, gz; // dps
} imu_scaled_t;
void imu_processing_init();

10
Source/BSP/Inc/radio_receiver.h
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@@ -9,11 +9,11 @@
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
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();