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License: GNU General Public License v3.0
***************************************************************************** *** Karstens und Dennis Quadrocopter Projekt *** ***************************************************************************** ChibiOS based Quadrocopter firmware for STM32F407 with MPU6050 Sensor
Statt zyklisch auf neue Werte abzufragen, IMU_update bei externem interrupt durchführen.
Notwendig:
Konfiguration der externen Interrupts für Fernsteuerung und MPU6050 in einem separaten Modul "Externe Interrupts"
f_sync blockiert Regelungsthread:
Niederpriorer Thread der alle X Sekunden f_sync ausführt
in 9DOF Header auf 50HZ konfiguriert
zZt: Zeit merken, Regelung rechnen, gemerkte Zeit +10ms = Zeitpunkt für nächsten Aufruf.
Problem: Zeit+10ms kann kleiner als Systemzeit sein, wenn Regelung>10ms rechnet.
Lösungsansatz: If-Abfrage einbauen.
MPU6050_DEFAULT_ADDRESS je nach Hardware als MPU6050_ADDRESS_AD0_LOW oder MPU6050_ADDRESS_AD0_HIGH definieren
Behebt gleichzeitig 50Hz MPU6050 Bug
Derzeit unterstütz die EEPROM Emulation nur uint16 Daten.
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