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feat(IMU): Improve IMU Data Retrieval Speed #22

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feat(IMU): Improve IMU Data Retrieval Speed #22

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d9a87f9
refactor(IMU): Switch to Built-in Hardware DLPF
dark-sorceror Feb 4, 2026
3823ec6
refactor(IMU): Modify and seperate IMU calibration
dark-sorceror Feb 5, 2026
2c971eb
chore(IMU): Migrate changes to LSM6DS3TR
dark-sorceror Feb 13, 2026
7efa761
feat(IMU): Enable I2C DMA
dark-sorceror Feb 14, 2026
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33 changes: 17 additions & 16 deletions stm32-tests/imu-uart/Core/Inc/mpu9250.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,25 +11,25 @@
#include "stm32f4xx_hal.h"
#include <stdint.h>

#define DEVICE_ADDRESS 0b1101000
#define MPU9250_ADDRESS (DEVICE_ADDRESS << 1)
#define DEVICE_ADDRESS 0b1101000
#define MPU9250_ADDRESS (DEVICE_ADDRESS << 1)

#define FS_GYRO_250 0b00000000
#define FS_GYRO_500 0b00001000
#define FS_GYRO_1000 0b00010000
#define FS_GYRO_2000 0b00011000
#define FS_GYRO_250 0b00000000
#define FS_GYRO_500 0b00001000
#define FS_GYRO_1000 0b00010000
#define FS_GYRO_2000 0b00011000

#define FS_ACCEL_2G 0b00000000
#define FS_ACCEL_4G 0b00001000
#define FS_ACCEL_8G 0b00010000
#define FS_ACCEL_16G 0b00011000
#define FS_ACCEL_2G 0b00000000
#define FS_ACCEL_4G 0b00001000
#define FS_ACCEL_8G 0b00010000
#define FS_ACCEL_16G 0b00011000

#define REG_CONFIG_GYRO 27
#define REG_CONFIG_ACCEL 28
#define REG_POW_MAN 107
#define REG_CONFIG_GYRO 27
#define REG_CONFIG_ACCEL 28
#define REG_POW_MAN 107

#define REG_ACCEL_DATA 59
#define REG_GYRO_DATA 67
#define REG_ACCEL_DATA 59
#define REG_GYRO_DATA 67

typedef enum
{
Expand Down Expand Up @@ -60,8 +60,9 @@ typedef struct

void mpu9250_init_driver(I2C_HandleTypeDef *hi2c);
uint8_t mpu9250_check_connection(void);
void mpu9250_calibrate(void);
uint8_t mpu9250_configure(void);
uint8_t mpu9250_read(void);
MPU9250_Data_t* mpu9250_get_data(void);
MPU9250_Data_t *mpu9250_get_data(void);

#endif /* INC_MPU9250_H_ */
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