Merge pull request #9 from Northeastern-Electric-Racing/testing-imu

Updated MSB for Platform Agnostic IMU driver

Core/Src/monitor.c

@@ -34,7 +34,7 @@ uint16_t convert_can(uint16_t original_value, device_loc_t mode)
 osThreadId_t temp_monitor_handle;
 const osThreadAttr_t temp_monitor_attributes = {
 	.name = "TempMonitor",
-	.stack_size = 64 * 8,
+	.stack_size = 64 * 16,
 	.priority = (osPriority_t)osPriorityHigh1,
 };
 

Core/Src/msb.c

@@ -14,6 +14,22 @@ extern device_loc_t device_loc;
 
 osMutexId_t i2c_mutex;
 
+// reads imu reg
+static inline int imu_read_reg(uint8_t *data, uint8_t reg, uint8_t length)
+{
+	return HAL_I2C_Mem_Read(&hi2c3, LSM6DSO_I2C_ADDRESS, reg,
+				I2C_MEMADD_SIZE_8BIT, data, length,
+				HAL_MAX_DELAY);
+}
+
+// read imu write
+static inline int imu_write_reg(uint8_t *data, uint8_t reg, uint8_t length)
+{
+	return HAL_I2C_Mem_Write(&hi2c3, LSM6DSO_I2C_ADDRESS, reg,
+				 I2C_MEMADD_SIZE_8BIT, data, length,
+				 HAL_MAX_DELAY);
+}
+
 #ifdef SENSOR_TEMP
 sht30_t temp_sensor;
 #endif
@@ -42,8 +58,8 @@ int8_t msb_init()
 
 #ifdef SENSOR_IMU
 	/* Initialize the IMU */
-	imu = (lsm6dso_t){ .i2c_handle = &hi2c3 };
-	assert(!lsm6dso_init(&imu, &hi2c3)); /* This is always connected */
+	assert(!lsm6dso_init(&imu, imu_read_reg,
+			     imu_write_reg)); /* This is always connected */
 #endif
 
 #ifdef SENSOR_TOF

Core/Src/stm32f4xx_it.c

@@ -86,11 +86,24 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
   /* USER CODE BEGIN HardFault_IRQn 0 */
-
   /* USER CODE END HardFault_IRQn 0 */
   while (1)
   {
     /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+    // this is an ISR where the MCU doesnt have an intact stack frame or peripherals, so its ok to f around
+    // no sleep exists in an ISR, for good reason
+    volatile uint32_t i = 0;
+    while (i < 120000) {
+      i += 1;
+    }
+    HAL_GPIO_WritePin(Debug_LED_1_GPIO_Port, Debug_LED_1_Pin, 0);
+    HAL_GPIO_WritePin(Debug_LED_2_GPIO_Port, Debug_LED_2_Pin, 0);
+    i = 0;
+    while (i < 120000) {
+      i += 1;
+    }
+    HAL_GPIO_WritePin(Debug_LED_1_GPIO_Port, Debug_LED_1_Pin, 1);
+    HAL_GPIO_WritePin(Debug_LED_2_GPIO_Port, Debug_LED_2_Pin, 1);
     /* USER CODE END W1_HardFault_IRQn 0 */
   }
 }