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Integration with xiaomi cybergear #71

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Integration with xiaomi cybergear #71

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ba7986d
cybergear working on typeC
alvinsunyixiao Feb 11, 2024
b1ceabd
add multicybergear
alvinsunyixiao Feb 11, 2024
8fa29a5
some unfinished changes
alvinsunyixiao Feb 12, 2024
0977d9d
working again
alvinsunyixiao Feb 12, 2024
5539c0f
implement position control
alvinsunyixiao Mar 13, 2024
4f53e5a
kalman filter working
alvinsunyixiao Apr 11, 2024
4bb7114
gravity compensation working
alvinsunyixiao Apr 19, 2024
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2 changes: 1 addition & 1 deletion boards/DJI_Board_TypeC/Core/Inc/FreeRTOSConfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -97,7 +97,7 @@
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 2 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 256
#define configTIMER_TASK_STACK_DEPTH 1024

/* CMSIS-RTOS V2 flags */
#define configUSE_OS2_THREAD_SUSPEND_RESUME 1
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4 changes: 3 additions & 1 deletion boards/DJI_Board_TypeC/Core/Src/main.c
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Expand Up @@ -112,7 +112,9 @@ int main(void)
/* USER CODE END 2 */

/* Init scheduler */
osKernelInitialize(); /* Call init function for freertos objects (in freertos.c) */
osKernelInitialize();

/* Call init function for freertos objects (in freertos.c) */
MX_FREERTOS_Init();

/* Start scheduler */
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9 changes: 5 additions & 4 deletions boards/DJI_Board_TypeC/DJI_Board_TypeC.ioc
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Original file line number Diff line number Diff line change
Expand Up @@ -99,11 +99,12 @@ Dma.USART6_TX.4.PeriphInc=DMA_PINC_DISABLE
Dma.USART6_TX.4.Priority=DMA_PRIORITY_MEDIUM
Dma.USART6_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configTOTAL_HEAP_SIZE,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,FootprintOK
FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configTOTAL_HEAP_SIZE,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,FootprintOK,configTIMER_TASK_STACK_DEPTH
FREERTOS.Tasks01=defaultTask,24,1024,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
FREERTOS.configENABLE_FPU=1
FREERTOS.configGENERATE_RUN_TIME_STATS=1
FREERTOS.configTIMER_TASK_STACK_DEPTH=1024
FREERTOS.configTOTAL_HEAP_SIZE=65536
File.Version=6
GPIO.groupedBy=Group By Peripherals
Expand Down Expand Up @@ -195,8 +196,8 @@ Mcu.PinsNb=54
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
MxCube.Version=6.9.0
MxDb.Version=DB.6.0.90
MxCube.Version=6.10.0
MxDb.Version=DB.6.0.100
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
Expand Down Expand Up @@ -460,7 +461,7 @@ ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x2000
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=false
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
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