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Refactor MPU to use the built-in DMP coprocessor #76

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Refactor MPU to use the built-in DMP coprocessor #76

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52 changes: 51 additions & 1 deletion fw/rbcx-coprocessor/.vscode/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,5 +3,55 @@
"spellright.documentTypes": ["markdown", "latex", "plaintext", "cpp"],
"editor.formatOnSave": true,
"editor.formatOnPaste": false,
"C_Cpp.default.includePath": ["include/"]
"C_Cpp.default.includePath": [
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@Tasssadar Tasssadar Mar 2, 2024

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Tohle se mi pokaždé snaží uložit VScode, tak jsem to tam už nechal.

"include/"
],
"files.associations": {
"string_view": "cpp",
"array": "cpp",
"string": "cpp",
"atomic": "cpp",
"*.tcc": "cpp",
"cctype": "cpp",
"chrono": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"condition_variable": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdint": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"deque": "cpp",
"unordered_map": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"optional": "cpp",
"ratio": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"fstream": "cpp",
"initializer_list": "cpp",
"iosfwd": "cpp",
"istream": "cpp",
"limits": "cpp",
"mutex": "cpp",
"new": "cpp",
"ostream": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"thread": "cpp",
"typeinfo": "cpp"
}
}
6 changes: 6 additions & 0 deletions fw/rbcx-coprocessor/include/Bsp.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,8 @@ inline const PinDef debugUartTxPin = std::make_pair(GPIOC, GPIO_PIN_10);
inline const PinDef debugUartRxPin = std::make_pair(GPIOC, GPIO_PIN_11);
inline const PinDef servoUartTxRxPin = std::make_pair(GPIOC, GPIO_PIN_12);

inline const PinDef mpuIntPin = std::make_pair(GPIOD, GPIO_PIN_15);

inline const PinDef i2cSda = std::make_pair(GPIOB, GPIO_PIN_9);
inline const PinDef i2cScl = std::make_pair(GPIOB, GPIO_PIN_8);

Expand Down Expand Up @@ -384,6 +386,10 @@ inline void pinsInit() {
HAL_NVIC_SetPriority(EXTI9_5_IRQn, utsIRQPrio, 0); // Ultrasound
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);

// MPU interrupt
pinInit(mpuIntPin, GPIO_MODE_IT_RISING, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 7, 0);

HAL_NVIC_SetPriority(i2cEvIRQn, i2cIRQnPrio, 0);
HAL_NVIC_SetPriority(i2cErIRQn, i2cIRQnPrio, 0);
HAL_NVIC_EnableIRQ(i2cEvIRQn);
Expand Down
13 changes: 6 additions & 7 deletions fw/rbcx-coprocessor/include/I2cController.hpp
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Expand Up @@ -46,15 +46,14 @@ THE SOFTWARE.

enum I2cEvents : uint32_t {
I2C_NONE = 0,
I2C_MPU_TICK = 1,
I2C_MESSAGE = 2,
I2C_MPU_TICK = 1 << 0,
I2C_MESSAGE = 1 << 1,
};

extern TaskHandle_t i2cTaskHandle;
extern EventGroupHandle_t i2cEventGroup;

void i2cDispatch(const CoprocReq_I2cReq& req);
void i2cReset();
void i2cSetEventFlag(I2cEvents flag);
void i2cSetEventFlagFromIsr(I2cEvents flag);

#define I2CDEV_DEFAULT_READ_TIMEOUT 10

Expand Down Expand Up @@ -103,6 +102,6 @@ uint16_t I2Cdev_writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart,
uint16_t I2Cdev_writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
uint16_t I2Cdev_writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
uint16_t I2Cdev_writeBytes(
uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data);
uint8_t devAddr, uint8_t regAddr, uint8_t length, const uint8_t* data);
uint16_t I2Cdev_writeWords(
uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data);
uint8_t devAddr, uint8_t regAddr, uint8_t length, const uint16_t* data);
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