LIS2MDL & LSM6DSV & MotionFX PR #16
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dnakhooda
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caiodasilva2005
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Jan 28, 2026
caiodasilva2005
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caiodasilva2005
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quick note: HAL_Delay will likely not work on _delay on the imu due to ThreadX scheduler taking over. that should be changed to a tx_thread_sleep
as for iknob orientations, I believe your current one should be fine as we will have one msb in the front and in the back. As long as they share the same orientation physically (depends how they end up being harnessed), I believe we are good with this orientation on the software side)
| .function = sensors_thread /* Thread Function */ | ||
| }; | ||
| void sensors_thread(ULONG thread_input) { | ||
| uint32_t count = 25; |
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we should probably use a ner_timer with a set timeout for running code here less frequently instead of a magic number count that since this may be a bit undeterministic.
| #include "u_can.h" | ||
| #include "u_statemachine.h" | ||
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| void inbox_can(can_msg_t *message) { |
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is this copied from lightning?
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LIS2MDL & LSM6DSV & MotionFX
This is a large pull requests for many MSB related things.
Most of what makes this PR so large is adding the motionfx library to the pinout updates. So, the important files to look at are: u_sensors.c and u_threads.c.
Closes #10, #11