From cd26d337f06af54e1c2b41734eccbc0b1ecc3dc5 Mon Sep 17 00:00:00 2001
From: bjackson312006 <blakejackson312006@gmail.com>
Date: Tue, 27 May 2025 18:02:56 -0400
Subject: [PATCH 01/10] I think I have added CAN receiving to MSB

---
 Core/Inc/can_handler.h |  6 ++++
 Core/Inc/msb_conf.h    |  4 +++
 Core/Src/can_handler.c | 81 +++++++++++++++++++++++++++++++++++++++++-
 Core/Src/main.c        |  3 ++
 4 files changed, 93 insertions(+), 1 deletion(-)

diff --git a/Core/Inc/can_handler.h b/Core/Inc/can_handler.h
index 7d97fe4..d4c1c28 100644
--- a/Core/Inc/can_handler.h
+++ b/Core/Inc/can_handler.h
@@ -19,10 +19,16 @@
 
 //void can1_callback(CAN_HandleTypeDef *hcan);
 
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
+
 void vCanDispatch(void *pv_params);
 extern osThreadId_t can_dispatch_handle;
 extern const osThreadAttr_t can_dispatch_attributes;
 
+void vCanReceive(void *pv_params);
+extern osThreadId_t can_receive_thread;
+extern const osThreadAttr_t can_receive_attributes;
+
 int8_t queue_can_msg(can_msg_t msg);
 void can1_init();
 
diff --git a/Core/Inc/msb_conf.h b/Core/Inc/msb_conf.h
index 00fc0ee..9040752 100644
--- a/Core/Inc/msb_conf.h
+++ b/Core/Inc/msb_conf.h
@@ -25,6 +25,10 @@
 #define CANID_TOF	      0x607
 #define CANID_WHEEL_TEMP      0x608
 #define CANID_IMU_ORIENTATION 0x609
+#define CANID_IMUZERO_FRONTLEFT 0x60A
+#define CANID_IMUZERO_FRONTRIGHT 0x60B
+#define CANID_IMUZERO_BACKLEFT 0x60C
+#define CANID_IMUZERO_BACKRIGHT 0x60D
 
 // Sensors to use, comment out to disable
 
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index af8f191..60ce009 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -12,6 +12,7 @@
 #include "can_handler.h"
 #include "can.h"
 #include "msb_conf.h"
+#include "msb.h"
 
 #include "stdio.h"
 #include <assert.h>
@@ -20,10 +21,14 @@
 
 #define CAN_MSG_QUEUE_SIZE 25 /* messages */
 static osMessageQueueId_t can_outbound_queue;
+static osMessageQueueId_t can_inbound_queue;
 
-static uint16_t id_list[4] = { 0x000, 0x000, 0x000, 0x002 };
+static uint16_t id_list[4] = {
+	0x000, 0x000, 0x000, 0x002
+}; // id_list[0] is reserved for the IMU Zero CAN ID, which is added in can1_init().
 
 extern CAN_HandleTypeDef hcan1;
+extern device_loc_t device_loc;
 
 can_t *can1;
 
@@ -35,11 +40,56 @@ void can1_init()
 
 	can1->hcan = &hcan1;
 	assert(!can_init(can1));
+
+	/* Add the correct IMU Zero CAN ID to the filter depending on the location of the MSB. */
+	switch (device_loc) {
+	case DEVICE_FRONT_LEFT:
+		id_list[0] = CANID_IMUZERO_FRONTLEFT;
+	case:
+DEVICE_FRONT_RIGHT:
+		id_list[0] = CANID_IMUZERO_FRONTRIGHT;
+	case DEVICE_BACK_LEFT:
+		id_list[0] = CANID_IMUZERO_BACKLEFT;
+	case:
+DEVICE_BACK_RIGHT:
+		id_list[0] = CANID_IMUZERO_BACKRIGHT;
+	}
+
 	assert(!can_add_filter_standard(can1, id_list));
 #endif
 
 	can_outbound_queue =
 		osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+	can_inbound_queue =
+		osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+}
+
+/* Callback to be called when we get a CAN message */
+void can1_callback(CAN_HandleTypeDef *hcan)
+{
+	CAN_RxHeaderTypeDef rx_header;
+	can_msg_t new_msg;
+
+	/* Read in CAN message */
+	if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header,
+				 new_msg.data) != HAL_OK) {
+		printf("Failed to recieve CAN message.\n");
+		return;
+	}
+
+	new_msg.len = rx_header.DLC;
+
+	if (rx_header.IDE == CAN_ID_EXT) {
+		// If the message has an extended CAN ID, save the message accordingly.
+		new_msg.id = rx_header.ExtId;
+		new_msg.id_is_extended = true;
+	} else {
+		// If the message has a standard CAN ID, save the message accordingly.
+		new_msg.id = rx_header.StdId;
+		new_msg.id_is_extended = false;
+	}
+
+	osMessageQueuePut(can_inbound_queue, &new_msg, 0U, 0U);
 }
 
 osThreadId_t can_dispatch_handle;
@@ -86,3 +136,32 @@ int8_t queue_can_msg(can_msg_t msg)
 	osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
 	return 0;
 }
+
+osThreadId_t can_receive_thread;
+const osThreadAttr_t can_receive_attributes = {
+	.name = "CanProcessing",
+	.stack_size = 128 * 8,
+	.priority = (osPriority_t)osPriorityRealtime,
+};
+
+void vCanReceive(void *pv_params)
+{
+	can_msg_t msg;
+
+	for (;;) {
+		while (osOK ==
+		       osMessageQueueGet(can_inbound_queue, &msg, 0U, 0U)) {
+			switch (msg.id) {
+			case CANID_IMUZERO_BACKLEFT ||
+				CANID_IMUZERO_BACKRIGHT ||
+				CANID_IMUZERO_FRONTLEFT ||
+				CANID_IMUZERO_FRONTRIGHT:
+				// do thing()
+				// also don't need to check device_loc here since only the correct CANID should be added to the filter
+				break;
+			default:
+				break;
+			}
+		}
+	}
+}
diff --git a/Core/Src/main.c b/Core/Src/main.c
index d93dac1..a65fe1f 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -233,6 +233,9 @@ int main(void)
   /* add queues, ... */
   can_dispatch_handle = osThreadNew(vCanDispatch, NULL, &can_dispatch_attributes);
   assert(can_dispatch_handle);
+
+  can_receive_thread = osThreadNew(vCanReceive, NULL, &can_receive_attributes);
+  assert(can_receive_thread);
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */

From 94184ebf5fd410152dd38ed701471811ff6a0340 Mon Sep 17 00:00:00 2001
From: bjackson312006 <blakejackson312006@gmail.com>
Date: Tue, 27 May 2025 18:07:25 -0400
Subject: [PATCH 02/10] clang format

---
 Core/Inc/msb_conf.h | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/Core/Inc/msb_conf.h b/Core/Inc/msb_conf.h
index 9040752..85a2591 100644
--- a/Core/Inc/msb_conf.h
+++ b/Core/Inc/msb_conf.h
@@ -17,18 +17,18 @@
 #define DELAY_CAN_DISPATCH 2
 
 // CAN IDS
-#define CANID_TEMP_SENSOR     0x602
-#define CANID_IMU_ACCEL	      0x603
-#define CANID_IMU_GYRO	      0x604
-#define CANID_STRAIN_SENSE    0x605
-#define CANID_SHOCK_SENSE     0x606
-#define CANID_TOF	      0x607
-#define CANID_WHEEL_TEMP      0x608
-#define CANID_IMU_ORIENTATION 0x609
-#define CANID_IMUZERO_FRONTLEFT 0x60A
+#define CANID_TEMP_SENSOR	 0x602
+#define CANID_IMU_ACCEL		 0x603
+#define CANID_IMU_GYRO		 0x604
+#define CANID_STRAIN_SENSE	 0x605
+#define CANID_SHOCK_SENSE	 0x606
+#define CANID_TOF		 0x607
+#define CANID_WHEEL_TEMP	 0x608
+#define CANID_IMU_ORIENTATION	 0x609
+#define CANID_IMUZERO_FRONTLEFT	 0x60A
 #define CANID_IMUZERO_FRONTRIGHT 0x60B
-#define CANID_IMUZERO_BACKLEFT 0x60C
-#define CANID_IMUZERO_BACKRIGHT 0x60D
+#define CANID_IMUZERO_BACKLEFT	 0x60C
+#define CANID_IMUZERO_BACKRIGHT	 0x60D
 
 // Sensors to use, comment out to disable
 
@@ -39,7 +39,7 @@
 #define SENSOR_TEMP	// SHT30
 #define SENSOR_SHOCKPOT // ADC1
 #define SENSOR_STRAIN	// ADC1
-#define SENSOR_TOF       // VL6180X
+#define SENSOR_TOF	// VL6180X
 
 #define SENSOR_IMU // LSM6DSO
 

From dd6d7daac5ef9870e4eef71d64f9758e47e8c441 Mon Sep 17 00:00:00 2001
From: bjackson312006 <blakejackson312006@gmail.com>
Date: Tue, 27 May 2025 18:11:27 -0400
Subject: [PATCH 03/10] Fixed switch statement

---
 Core/Inc/can_handler.h | 4 +---
 Core/Src/can_handler.c | 6 ++----
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/Core/Inc/can_handler.h b/Core/Inc/can_handler.h
index d4c1c28..c451120 100644
--- a/Core/Inc/can_handler.h
+++ b/Core/Inc/can_handler.h
@@ -17,9 +17,7 @@
 #include "can.h"
 #include "cmsis_os.h"
 
-//void can1_callback(CAN_HandleTypeDef *hcan);
-
-void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
+void can1_callback(CAN_HandleTypeDef *hcan);
 
 void vCanDispatch(void *pv_params);
 extern osThreadId_t can_dispatch_handle;
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 60ce009..302861a 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -45,13 +45,11 @@ void can1_init()
 	switch (device_loc) {
 	case DEVICE_FRONT_LEFT:
 		id_list[0] = CANID_IMUZERO_FRONTLEFT;
-	case:
-DEVICE_FRONT_RIGHT:
+	case DEVICE_FRONT_RIGHT:
 		id_list[0] = CANID_IMUZERO_FRONTRIGHT;
 	case DEVICE_BACK_LEFT:
 		id_list[0] = CANID_IMUZERO_BACKLEFT;
-	case:
-DEVICE_BACK_RIGHT:
+	case DEVICE_BACK_RIGHT:
 		id_list[0] = CANID_IMUZERO_BACKRIGHT;
 	}
 

From 7482a91aec48a63d4f353ccb5431151b17bcd85e Mon Sep 17 00:00:00 2001
From: bjackson312006 <blakejackson312006@gmail.com>
Date: Wed, 28 May 2025 12:55:14 -0400
Subject: [PATCH 04/10] Added imu_zero()

---
 Core/Inc/msb.h         |  1 +
 Core/Src/can_handler.c | 17 +++++++++++------
 Core/Src/monitor.c     | 15 ++++++++++++---
 Core/Src/msb.c         | 17 +++++++++++++++++
 4 files changed, 41 insertions(+), 9 deletions(-)

diff --git a/Core/Inc/msb.h b/Core/Inc/msb.h
index d30f1b3..83f2c4c 100644
--- a/Core/Inc/msb.h
+++ b/Core/Inc/msb.h
@@ -76,6 +76,7 @@ void strain2_read(uint32_t strain2);
 void motion_fx_init(void);
 void process_motion_fx(MFX_input_t *data_in, MFX_output_t *data_out,
 		       float delta_time);
+void imu_zero();
 
 #endif
 
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 302861a..219933e 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -45,12 +45,16 @@ void can1_init()
 	switch (device_loc) {
 	case DEVICE_FRONT_LEFT:
 		id_list[0] = CANID_IMUZERO_FRONTLEFT;
+		break;
 	case DEVICE_FRONT_RIGHT:
 		id_list[0] = CANID_IMUZERO_FRONTRIGHT;
+		break;
 	case DEVICE_BACK_LEFT:
 		id_list[0] = CANID_IMUZERO_BACKLEFT;
+		break;
 	case DEVICE_BACK_RIGHT:
 		id_list[0] = CANID_IMUZERO_BACKRIGHT;
+		break;
 	}
 
 	assert(!can_add_filter_standard(can1, id_list));
@@ -150,12 +154,13 @@ void vCanReceive(void *pv_params)
 		while (osOK ==
 		       osMessageQueueGet(can_inbound_queue, &msg, 0U, 0U)) {
 			switch (msg.id) {
-			case CANID_IMUZERO_BACKLEFT ||
-				CANID_IMUZERO_BACKRIGHT ||
-				CANID_IMUZERO_FRONTLEFT ||
-				CANID_IMUZERO_FRONTRIGHT:
-				// do thing()
-				// also don't need to check device_loc here since only the correct CANID should be added to the filter
+			case CANID_IMUZERO_BACKLEFT:
+			case CANID_IMUZERO_BACKRIGHT:
+			case CANID_IMUZERO_FRONTLEFT:
+			case CANID_IMUZERO_FRONTRIGHT:
+				if (msg.data[0] > 0) {
+					imu_zero();
+				}
 				break;
 			default:
 				break;
diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
index b3c1631..6ba3925 100644
--- a/Core/Src/monitor.c
+++ b/Core/Src/monitor.c
@@ -13,6 +13,8 @@
 #include "monitor.h"
 
 extern device_loc_t device_loc;
+extern float imu_rotation_data[3];
+extern float imu_zero_reference[3];
 
 uint16_t convert_can(uint16_t original_value, device_loc_t mode)
 {
@@ -184,9 +186,16 @@ void vIMUMonitor(void *pv_params)
 
 		process_motion_fx(&mFXInput, &mFXOutput, 0.05f);
 
-		orientation_data.yaw = (int16_t)mFXOutput.rotation[0];
-		orientation_data.pitch = (int16_t)mFXOutput.rotation[1];
-		orientation_data.roll = (int16_t)mFXOutput.rotation[2];
+		imu_rotation_data[0] = mFXOutput.rotation[0]; // Yaw
+		imu_rotation_data[1] = mFXOutput.rotation[1]; // Pitch
+		imu_rotation_data[2] = mFXOutput.rotation[2]; // Roll
+
+		orientation_data.yaw = (int16_t)(mFXOutput.rotation[0] -
+						 imu_zero_reference[0]);
+		orientation_data.pitch = (int16_t)(mFXOutput.rotation[1] -
+						   imu_zero_reference[1]);
+		orientation_data.roll = (int16_t)(mFXOutput.rotation[2] -
+						  imu_zero_reference[2]);
 
 #ifdef LOG_VERBOSE
 		printf("IMU Accel x: %d y: %d z: %d \r\n", accel_data.accel_x,
diff --git a/Core/Src/msb.c b/Core/Src/msb.c
index 149b926..451b158 100644
--- a/Core/Src/msb.c
+++ b/Core/Src/msb.c
@@ -250,4 +250,21 @@ void process_motion_fx(MFX_input_t *data_in, MFX_output_t *data_out,
 
 	MotionFX_update(mFXState, data_out, data_in, &delta_time, NULL);
 }
+
+float imu_rotation_data[3] = {
+	0.0f, 0.0f, 0.0f
+}; /* Yaw, pitch, and roll. Updated by vIMUMonitor(). */
+float imu_zero_reference[3] = {
+	0.0f, 0.0f, 0.0f
+}; /* Reference values for zeroing IMU data. Defaults to 0 (i.e. no zeroing by default)*/
+void imu_zero()
+{
+	/* Stores the current IMU rotation data in imu_zero_reference. These values will be subtracted from future mFXOutput.rotation data in vIMUMonitor(). */
+	imu_zero_reference[0] = imu_rotation_data[0];
+	imu_zero_reference[1] = imu_rotation_data[1];
+	imu_zero_reference[2] = imu_rotation_data[2];
+	printf("IMU zeroed to: Yaw: %f, Pitch: %f, Roll: %f\r\n",
+	       imu_zero_reference[0], imu_zero_reference[1],
+	       imu_zero_reference[2]);
+}
 #endif
\ No newline at end of file

From 2d78fb2968e7d51e34b915b6699ef51a849e05f5 Mon Sep 17 00:00:00 2001
From: Blake Jackson <blakejackson312006@gmail.com>
Date: Wed, 28 May 2025 13:03:24 -0400
Subject: [PATCH 05/10] Update Core/Src/can_handler.c

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
---
 Core/Src/can_handler.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 219933e..13f3ad0 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -75,7 +75,7 @@ void can1_callback(CAN_HandleTypeDef *hcan)
 	/* Read in CAN message */
 	if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header,
 				 new_msg.data) != HAL_OK) {
-		printf("Failed to recieve CAN message.\n");
+		printf("Failed to receive CAN message.\n");
 		return;
 	}
 

From 0c57968cde9bf8137fcf76ed2deaee49417ac81e Mon Sep 17 00:00:00 2001
From: bjackson312006 <blakejackson312006@gmail.com>
Date: Thu, 29 May 2025 11:43:46 -0400
Subject: [PATCH 06/10] Added wraparound logic for yaw

---
 Core/Src/monitor.c | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
index 6ba3925..578fa6b 100644
--- a/Core/Src/monitor.c
+++ b/Core/Src/monitor.c
@@ -190,10 +190,18 @@ void vIMUMonitor(void *pv_params)
 		imu_rotation_data[1] = mFXOutput.rotation[1]; // Pitch
 		imu_rotation_data[2] = mFXOutput.rotation[2]; // Roll
 
-		orientation_data.yaw = (int16_t)(mFXOutput.rotation[0] -
-						 imu_zero_reference[0]);
+		/* Handle yaw zeroing */
+		float diff = mFXOutput.rotation[0] - imu_zero_reference[0];
+		if (diff < 0.0f) {
+			diff += 360.0f; // Make sure all yaw data is in the 0 to 360 degree range.
+		}
+		orientation_data.yaw = (int16_t)diff;
+
+		/* Handle pitch zeroing */
 		orientation_data.pitch = (int16_t)(mFXOutput.rotation[1] -
 						   imu_zero_reference[1]);
+
+		/* Handle roll zeroing */
 		orientation_data.roll = (int16_t)(mFXOutput.rotation[2] -
 						  imu_zero_reference[2]);
 

From 77a95f2f267eff8ee94be34ca3f4b31113962ff0 Mon Sep 17 00:00:00 2001
From: bjackson312006 <blakejackson312006@gmail.com>
Date: Thu, 29 May 2025 11:54:09 -0400
Subject: [PATCH 07/10] CAN msg bytes

---
 Core/Inc/msb.h         |  2 +-
 Core/Src/can_handler.c |  4 +---
 Core/Src/msb.c         | 22 ++++++++++++++--------
 3 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/Core/Inc/msb.h b/Core/Inc/msb.h
index 83f2c4c..0ca0433 100644
--- a/Core/Inc/msb.h
+++ b/Core/Inc/msb.h
@@ -76,7 +76,7 @@ void strain2_read(uint32_t strain2);
 void motion_fx_init(void);
 void process_motion_fx(MFX_input_t *data_in, MFX_output_t *data_out,
 		       float delta_time);
-void imu_zero();
+void imu_zero(uint8_t yaw_byte, uint8_t pitch_byte, uint8_t roll_byte);
 
 #endif
 
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 13f3ad0..09f581a 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -158,9 +158,7 @@ void vCanReceive(void *pv_params)
 			case CANID_IMUZERO_BACKRIGHT:
 			case CANID_IMUZERO_FRONTLEFT:
 			case CANID_IMUZERO_FRONTRIGHT:
-				if (msg.data[0] > 0) {
-					imu_zero();
-				}
+				imu_zero(msg.data[0], msg.data[1], msg.data[2]);
 				break;
 			default:
 				break;
diff --git a/Core/Src/msb.c b/Core/Src/msb.c
index 451b158..2a89260 100644
--- a/Core/Src/msb.c
+++ b/Core/Src/msb.c
@@ -257,14 +257,20 @@ float imu_rotation_data[3] = {
 float imu_zero_reference[3] = {
 	0.0f, 0.0f, 0.0f
 }; /* Reference values for zeroing IMU data. Defaults to 0 (i.e. no zeroing by default)*/
-void imu_zero()
+void imu_zero(uint8_t yaw_byte, uint8_t pitch_byte, uint8_t roll_byte)
 {
-	/* Stores the current IMU rotation data in imu_zero_reference. These values will be subtracted from future mFXOutput.rotation data in vIMUMonitor(). */
-	imu_zero_reference[0] = imu_rotation_data[0];
-	imu_zero_reference[1] = imu_rotation_data[1];
-	imu_zero_reference[2] = imu_rotation_data[2];
-	printf("IMU zeroed to: Yaw: %f, Pitch: %f, Roll: %f\r\n",
-	       imu_zero_reference[0], imu_zero_reference[1],
-	       imu_zero_reference[2]);
+	/* Stores the current IMU rotation data in imu_zero_reference for selected axes only. */
+	if (yaw_byte > 0) {
+		imu_zero_reference[0] = imu_rotation_data[0];
+		printf("Zeroed yaw.\n");
+	}
+	if (pitch_byte > 0) {
+		imu_zero_reference[1] = imu_rotation_data[1];
+		printf("Zeroed pitch.\n");
+	}
+	if (roll_byte > 0) {
+		imu_zero_reference[2] = imu_rotation_data[2];
+		printf("Zeroed roll.\n");
+	}
 }
 #endif
\ No newline at end of file

From caa33a5baa9d778bd9ddcecacaf00cd43fa3eff6 Mon Sep 17 00:00:00 2001
From: bjackson312006 <blakejackson312006@gmail.com>
Date: Thu, 29 May 2025 12:14:49 -0400
Subject: [PATCH 08/10] Changed BACKRIGHT CAN ID

---
 Core/Inc/msb_conf.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Core/Inc/msb_conf.h b/Core/Inc/msb_conf.h
index 85a2591..0abb9c6 100644
--- a/Core/Inc/msb_conf.h
+++ b/Core/Inc/msb_conf.h
@@ -28,7 +28,7 @@
 #define CANID_IMUZERO_FRONTLEFT	 0x60A
 #define CANID_IMUZERO_FRONTRIGHT 0x60B
 #define CANID_IMUZERO_BACKLEFT	 0x60C
-#define CANID_IMUZERO_BACKRIGHT	 0x60D
+#define CANID_IMUZERO_BACKRIGHT	 0x60E
 
 // Sensors to use, comment out to disable
 

From b8ddc009acd8dfb3aad954a82dea313182e8d1e6 Mon Sep 17 00:00:00 2001
From: Caio <caiodasilva05@outlook.com>
Date: Tue, 29 Jul 2025 21:03:41 -0400
Subject: [PATCH 09/10] zero imu data with wheel data

---
 Core/Inc/monitor.h     |  4 ++++
 Core/Inc/msb_conf.h    |  3 ++-
 Core/Src/can_handler.c |  6 +++++-
 Core/Src/monitor.c     | 13 +++++++++++++
 4 files changed, 24 insertions(+), 2 deletions(-)

diff --git a/Core/Inc/monitor.h b/Core/Inc/monitor.h
index 21283ef..9294e1a 100644
--- a/Core/Inc/monitor.h
+++ b/Core/Inc/monitor.h
@@ -5,6 +5,10 @@
 #include "stm32f4xx_hal.h"
 #include "msb_conf.h"
 
+#ifdef CAN_ENABLE // TODO change to wheel sensor flag  
+void record_wheel_angle(uint8_t *data);
+#endif
+
 #ifdef SENSOR_TEMP
 /* Defining Temperature Monitor Task */
 void vTempMonitor(void *pv_params);
diff --git a/Core/Inc/msb_conf.h b/Core/Inc/msb_conf.h
index 0abb9c6..f475d06 100644
--- a/Core/Inc/msb_conf.h
+++ b/Core/Inc/msb_conf.h
@@ -29,11 +29,12 @@
 #define CANID_IMUZERO_FRONTRIGHT 0x60B
 #define CANID_IMUZERO_BACKLEFT	 0x60C
 #define CANID_IMUZERO_BACKRIGHT	 0x60E
+#define CANID_WHEEL_ANGLE	 0x630
 
 // Sensors to use, comment out to disable
 
 // internal
-// #define CAN_ENABLE
+#define CAN_ENABLE
 
 // on central
 #define SENSOR_TEMP	// SHT30
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 09f581a..32cc4b7 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -13,6 +13,7 @@
 #include "can.h"
 #include "msb_conf.h"
 #include "msb.h"
+#include "monitor.h"
 
 #include "stdio.h"
 #include <assert.h>
@@ -24,7 +25,7 @@ static osMessageQueueId_t can_outbound_queue;
 static osMessageQueueId_t can_inbound_queue;
 
 static uint16_t id_list[4] = {
-	0x000, 0x000, 0x000, 0x002
+	0x000, CANID_WHEEL_ANGLE, 0x000, 0x002
 }; // id_list[0] is reserved for the IMU Zero CAN ID, which is added in can1_init().
 
 extern CAN_HandleTypeDef hcan1;
@@ -160,7 +161,10 @@ void vCanReceive(void *pv_params)
 			case CANID_IMUZERO_FRONTRIGHT:
 				imu_zero(msg.data[0], msg.data[1], msg.data[2]);
 				break;
+			case CANID_WHEEL_ANGLE:
+				break;
 			default:
+				record_wheel_angle(msg.data);
 				break;
 			}
 		}
diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
index 578fa6b..95539a5 100644
--- a/Core/Src/monitor.c
+++ b/Core/Src/monitor.c
@@ -16,6 +16,8 @@ extern device_loc_t device_loc;
 extern float imu_rotation_data[3];
 extern float imu_zero_reference[3];
 
+float wheel_angle = 0.0;
+
 uint16_t convert_can(uint16_t original_value, device_loc_t mode)
 {
 	switch (mode) {
@@ -157,6 +159,10 @@ void vIMUMonitor(void *pv_params)
 			printf("Failed to get IMU data \r\n");
 		}
 
+		if (wheel_angle <= 0.1) {
+			imu_zero(mFXOutput.rotation[0], mFXOutput.rotation[1], mFXOutput.rotation[2]);
+		}
+
 		/* Run values through LPF of sample size  */
 		accel_data.accel_x = imu_data_temp.ui.xl.mg[0];
 		accel_data.accel_y = imu_data_temp.ui.xl.mg[1];
@@ -186,6 +192,7 @@ void vIMUMonitor(void *pv_params)
 
 		process_motion_fx(&mFXInput, &mFXOutput, 0.05f);
 
+
 		imu_rotation_data[0] = mFXOutput.rotation[0]; // Yaw
 		imu_rotation_data[1] = mFXOutput.rotation[1]; // Pitch
 		imu_rotation_data[2] = mFXOutput.rotation[2]; // Roll
@@ -376,4 +383,10 @@ void vStrainMonitor(void *pv_params)
 		osDelay(DELAY_SHOCKPOT_REFRESH);
 	}
 }
+#endif
+
+#ifdef CAN_ENABLE
+void record_wheel_angle(uint8_t data[8]) {
+	wheel_angle = data[0] | data[1] << 8 | data[2] << 16 | data[3] << 24;
+}
 #endif
\ No newline at end of file

From 5ecfafcade96a8f390a496338da9dd8d747fe8f8 Mon Sep 17 00:00:00 2001
From: Caio <caiodasilva05@outlook.com>
Date: Thu, 31 Jul 2025 08:10:52 -0400
Subject: [PATCH 10/10] zero working

---
 Core/Inc/msb.h          |  6 +++---
 Core/Inc/msb_conf.h     | 16 ++++++++--------
 Core/Src/can_handler.c  |  8 ++++++--
 Core/Src/main.c         | 35 +++++------------------------------
 Core/Src/monitor.c      | 27 ++++++++++++++++++++-------
 Core/Src/msb.c          | 23 ++++++++++++-----------
 Core/Src/stm32f4xx_it.c |  3 ++-
 MSB-FW.ioc              | 14 ++++++++------
 Makefile                |  4 ++--
 9 files changed, 66 insertions(+), 70 deletions(-)

diff --git a/Core/Inc/msb.h b/Core/Inc/msb.h
index 0ca0433..90d8b2b 100644
--- a/Core/Inc/msb.h
+++ b/Core/Inc/msb.h
@@ -38,12 +38,12 @@ int32_t imu_data_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
 		     lsm6dso_md_t *imu_md_temp, lsm6dso_data_t *imu_data_temp);
 
 #ifdef SENSOR_SHOCKPOT
-void shockpot_read(uint32_t shockpot_sense);
+void shockpot_read(uint32_t *shockpot_sense);
 #endif
 
 #ifdef SENSOR_STRAIN
-void strain1_read(uint32_t strain1);
-void strain2_read(uint32_t strain2);
+void strain1_read(uint32_t *strain1);
+void strain2_read(uint32_t *strain2);
 #endif
 
 #ifdef SENSOR_IMU
diff --git a/Core/Inc/msb_conf.h b/Core/Inc/msb_conf.h
index f475d06..3075ad3 100644
--- a/Core/Inc/msb_conf.h
+++ b/Core/Inc/msb_conf.h
@@ -5,8 +5,8 @@
 
 // MONITOR
 #define DELAY_TEMP_SENSOR_REFRESH 500
-#define DELAY_IMU_REFRESH	  50
-#define DELAY_SHOCKPOT_REFRESH	  500
+#define DELAY_IMU_REFRESH	  10
+#define DELAY_SHOCKPOT_REFRESH	  5
 #define DELAY_STRAIN_REFRESH	  500
 #define DELAY_TOF_REFRESH	  500
 #define DELAY_WHEEL_TEMP_REFRESH  500
@@ -37,15 +37,15 @@
 #define CAN_ENABLE
 
 // on central
-#define SENSOR_TEMP	// SHT30
-#define SENSOR_SHOCKPOT // ADC1
-#define SENSOR_STRAIN	// ADC1
-#define SENSOR_TOF	// VL6180X
+//#define SENSOR_TEMP	// SHT30
+//#define SENSOR_SHOCKPOT // ADC1
+//#define SENSOR_STRAIN	// ADC1
+//#define SENSOR_TOF	// VL6180X
 
 #define SENSOR_IMU // LSM6DSO
 
 // VERBOSE LOGGING
-#define LOG_VERBOSE
+//#define LOG_VERBOSE
 
 // Note
 // STACK SIZES
@@ -55,5 +55,5 @@
 #define TEMP_MONITOR_STACK_SIZE	    64 * 16 // temp_monitor_handle
 #define IMU_MONITOR_STACK_SIZE	    128 * 32 // imu_monitor_handle
 #define TOF_MONITOR_STACK_SIZE	    128 * 8 // tof_monitor_handle
-#define SHOCKPOT_MONITOR_STACK_SIZE 64 * 8 // shockpot_monitor_handle
+#define SHOCKPOT_MONITOR_STACK_SIZE 128 * 8 // shockpot_monitor_handle
 #define STRAIN_MONITOR_STACK_SIZE   64 * 8 // strain_monitor_handle
\ No newline at end of file
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 32cc4b7..205acf7 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -115,6 +115,10 @@ void vCanDispatch(void *pv_params)
 					      &msg_from_queue, NULL,
 					      osWaitForever)) {
 #ifdef CAN_ENABLE
+while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0) {
+				osDelay(1);
+			}
+
 			msg_status = can_send_msg(can1, &msg_from_queue);
 			if (msg_status != HAL_OK) {
 				printf("Failed to send CAN message");
@@ -153,7 +157,7 @@ void vCanReceive(void *pv_params)
 
 	for (;;) {
 		while (osOK ==
-		       osMessageQueueGet(can_inbound_queue, &msg, 0U, 0U)) {
+		       osMessageQueueGet(can_inbound_queue, &msg, 0U, osWaitForever)) {
 			switch (msg.id) {
 			case CANID_IMUZERO_BACKLEFT:
 			case CANID_IMUZERO_BACKRIGHT:
@@ -162,9 +166,9 @@ void vCanReceive(void *pv_params)
 				imu_zero(msg.data[0], msg.data[1], msg.data[2]);
 				break;
 			case CANID_WHEEL_ANGLE:
+				record_wheel_angle(msg.data);
 				break;
 			default:
-				record_wheel_angle(msg.data);
 				break;
 			}
 		}
diff --git a/Core/Src/main.c b/Core/Src/main.c
index a65fe1f..d49cf60 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -121,7 +121,6 @@ int _write(int file, char* ptr, int len) {
   */
 int main(void)
 {
-
   /* USER CODE BEGIN 1 */
 
   /* USER CODE END 1 */
@@ -153,7 +152,7 @@ int main(void)
   MX_USART2_UART_Init();
   MX_CRC_Init();
   /* USER CODE BEGIN 2 */
-  printf("INIT MSB... FINDING ID");
+
   // determine MSB location
   bool loc1 = HAL_GPIO_ReadPin(Addr0_GPIO_Port, Addr0_Pin);
   bool loc2 = HAL_GPIO_ReadPin(Addr1_GPIO_Port, Addr1_Pin);
@@ -180,30 +179,6 @@ int main(void)
     device_loc = DEVICE_FRONT_LEFT;
   }
   HAL_Delay(500);
-  uint8_t devices = 0u;
-  printf("Searching for I2C devices on the bus...\n");
-  /* Values outside 0x03 and 0x77 are invalid. */
-  for (uint8_t i = 0x03u; i < 0x78u; i++)
-  {
-    HAL_IWDG_Refresh(&hiwdg);
-    uint8_t address = i << 1u ;
-    /* In case there is a positive feedback, print it out. */
-    if (HAL_OK == HAL_I2C_IsDeviceReady(&hi2c3, address, 3u, 10u))
-    {
-      printf("Device found: 0x%02X\n", address);
-      devices++;
-    }
-  }
-  /* Feedback of the total number of devices. */
-  if (0u == devices)
-  {
-    printf("No device found.\n");
-  }
-  else
-  {
-    printf("Total found devices: %d\n", devices);
-  }
-
 
   /* USER CODE END 2 */
 
@@ -216,7 +191,7 @@ int main(void)
   // determine the configuration of the device
 
   msb_init();
-  vcc5_en_write(true);
+  vcc5_en_write(false);
   can1_init();
 
   /* USER CODE END RTOS_MUTEX */
@@ -332,7 +307,7 @@ void SystemClock_Config(void)
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
 
   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
   {
@@ -361,7 +336,7 @@ static void MX_ADC1_Init(void)
   /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
   */
   hadc1.Instance = ADC1;
-  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV6;
+  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV8;
   hadc1.Init.Resolution = ADC_RESOLUTION_12B;
   hadc1.Init.ScanConvMode = ENABLE;
   hadc1.Init.ContinuousConvMode = ENABLE;
@@ -371,7 +346,7 @@ static void MX_ADC1_Init(void)
   hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
   hadc1.Init.NbrOfConversion = 3;
   hadc1.Init.DMAContinuousRequests = ENABLE;
-  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  hadc1.Init.EOCSelection = ADC_EOC_SEQ_CONV;
   if (HAL_ADC_Init(&hadc1) != HAL_OK)
   {
     Error_Handler();
diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
index 95539a5..590bf2d 100644
--- a/Core/Src/monitor.c
+++ b/Core/Src/monitor.c
@@ -159,8 +159,8 @@ void vIMUMonitor(void *pv_params)
 			printf("Failed to get IMU data \r\n");
 		}
 
-		if (wheel_angle <= 0.1) {
-			imu_zero(mFXOutput.rotation[0], mFXOutput.rotation[1], mFXOutput.rotation[2]);
+		if (fabs(wheel_angle) <= 1.0) {
+			imu_zero(1, 1, 1); // zero all axes
 		}
 
 		/* Run values through LPF of sample size  */
@@ -311,21 +311,33 @@ void vShockpotMonitor(void *pv_params)
 {
 	can_msg_t shockpot_msg = { .id = convert_can(CANID_SHOCK_SENSE,
 						     device_loc),
-				   .len = 4,
+				   .len = 6,
 				   .data = { 0 } };
 
 	uint32_t shock_value = 0;
 
+	struct __attribute__((__packed__)) {
+		float in;
+		uint16_t raw;
+	} shockpot_data;
+
+
 	for (;;) {
-		shockpot_read(shock_value);
+		shockpot_read(&shock_value);
 
 #ifdef LOG_VERBOSE
 		printf("Shock value:\t%ld\r\n", shock_value);
 #endif
+		//printf("Shock value:\t%ld\r\n", shock_value);
 
-		endian_swap(&shock_value, sizeof(shock_value));
+		// convert to inches, get percent and multiply by 50 mm (stroke length) then convert to inches
+		float in = (shock_value / 4095.0) * 54.44 * (1/25.4);	
+		
+		shockpot_data.in = in;
+		endian_swap(&shockpot_data.in, sizeof(shockpot_data.in));
+		shockpot_data.raw = shock_value;
 
-		memcpy(shockpot_msg.data, &shock_value, shockpot_msg.len);
+		memcpy(shockpot_msg.data, &shockpot_data, shockpot_msg.len);
 		/* Send CAN message */
 		if (queue_can_msg(shockpot_msg)) {
 			printf("Failed to send CAN message\r\n");
@@ -387,6 +399,7 @@ void vStrainMonitor(void *pv_params)
 
 #ifdef CAN_ENABLE
 void record_wheel_angle(uint8_t data[8]) {
-	wheel_angle = data[0] | data[1] << 8 | data[2] << 16 | data[3] << 24;
+	endian_swap(data, 4);
+	wheel_angle = *((float *)data);
 }
 #endif
\ No newline at end of file
diff --git a/Core/Src/msb.c b/Core/Src/msb.c
index 2a89260..c6105aa 100644
--- a/Core/Src/msb.c
+++ b/Core/Src/msb.c
@@ -64,12 +64,13 @@ int8_t msb_init()
 	/* Initialize the IMU */
 	assert(!LSM6DSO_Init(&imu)); /* This is always connected */
 
-	/* Setup IMU Accelerometer */
+	/* Setup IMU Accelerometer - default 104Hz */
 	LSM6DSO_ACC_Enable(&imu);
-
 	/* Setup IMU Gyroscope */
 	LSM6DSO_GYRO_Enable(&imu);
 
+	LSM6DSO_ACC_Set_Filter_Mode(&imu, 0, 4);
+
 	LSM6DSO_FIFO_Set_Mode(&imu, 0);
 	LSM6DSO_ACC_Disable_Inactivity_Detection(&imu);
 
@@ -134,21 +135,21 @@ void adc1_read(uint32_t result_buf[3])
 #endif
 
 #ifdef SENSOR_SHOCKPOT
-void shockpot_read(uint32_t shockpot_sense)
+void shockpot_read(uint32_t *shockpot_sense)
 {
-	memcpy((uint32_t *)shockpot_sense, adc1_buf, sizeof(shockpot_sense));
+	memcpy(shockpot_sense, adc1_buf, sizeof(shockpot_sense));
 }
 #endif
 
 #ifdef SENSOR_STRAIN
-void strain1_read(uint32_t strain1)
+void strain1_read(uint32_t *strain1)
 {
-	memcpy((uint32_t *)strain1, adc1_buf + 1, sizeof(strain1));
+	memcpy(strain1, adc1_buf + 1, sizeof(strain1));
 }
 
-void strain2_read(uint32_t strain2)
+void strain2_read(uint32_t *strain2)
 {
-	memcpy((uint32_t *)strain2, adc1_buf + 2, sizeof(strain2));
+	memcpy(strain2, adc1_buf + 2, sizeof(strain2));
 }
 #endif
 
@@ -262,15 +263,15 @@ void imu_zero(uint8_t yaw_byte, uint8_t pitch_byte, uint8_t roll_byte)
 	/* Stores the current IMU rotation data in imu_zero_reference for selected axes only. */
 	if (yaw_byte > 0) {
 		imu_zero_reference[0] = imu_rotation_data[0];
-		printf("Zeroed yaw.\n");
+		//printf("Zeroed yaw.\n");
 	}
 	if (pitch_byte > 0) {
 		imu_zero_reference[1] = imu_rotation_data[1];
-		printf("Zeroed pitch.\n");
+		//printf("Zeroed pitch.\n");
 	}
 	if (roll_byte > 0) {
 		imu_zero_reference[2] = imu_rotation_data[2];
-		printf("Zeroed roll.\n");
+		//printf("Zeroed roll.\n");
 	}
 }
 #endif
\ No newline at end of file
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index cb9f1d6..2ce3922 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -20,6 +20,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "stm32f4xx_it.h"
+#include "can_handler.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 /* USER CODE END Includes */
@@ -180,7 +181,7 @@ void DebugMon_Handler(void)
 void CAN1_RX0_IRQHandler(void)
 {
   /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
-
+  can1_callback(&hcan1);
   /* USER CODE END CAN1_RX0_IRQn 0 */
   HAL_CAN_IRQHandler(&hcan1);
   /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
diff --git a/MSB-FW.ioc b/MSB-FW.ioc
index 56c3c5a..672b4cf 100644
--- a/MSB-FW.ioc
+++ b/MSB-FW.ioc
@@ -2,10 +2,11 @@
 ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_0
 ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_5
 ADC1.Channel-2\#ChannelRegularConversion=ADC_CHANNEL_6
-ADC1.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV6
+ADC1.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV8
 ADC1.ContinuousConvMode=ENABLE
 ADC1.DMAContinuousRequests=ENABLE
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,ScanConvMode,ContinuousConvMode,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,Rank-2\#ChannelRegularConversion,Channel-2\#ChannelRegularConversion,SamplingTime-2\#ChannelRegularConversion,NbrOfConversion,DMAContinuousRequests
+ADC1.EOCSelection=ADC_EOC_SEQ_CONV
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,ScanConvMode,ContinuousConvMode,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,Rank-2\#ChannelRegularConversion,Channel-2\#ChannelRegularConversion,SamplingTime-2\#ChannelRegularConversion,NbrOfConversion,DMAContinuousRequests,EOCSelection
 ADC1.NbrOfConversion=3
 ADC1.NbrOfConversionFlag=1
 ADC1.Rank-0\#ChannelRegularConversion=1
@@ -226,7 +227,7 @@ ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
 ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
+ProjectManager.LastFirmware=false
 ProjectManager.LibraryCopy=1
 ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
@@ -248,8 +249,9 @@ RCC.AHBFreq_Value=84000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
 RCC.APB1Freq_Value=42000000
 RCC.APB1TimFreq_Value=84000000
-RCC.APB2Freq_Value=84000000
-RCC.APB2TimFreq_Value=84000000
+RCC.APB2CLKDivider=RCC_HCLK_DIV4
+RCC.APB2Freq_Value=21000000
+RCC.APB2TimFreq_Value=42000000
 RCC.CortexFreq_Value=84000000
 RCC.EthernetFreq_Value=84000000
 RCC.FCLKCortexFreq_Value=84000000
@@ -258,7 +260,7 @@ RCC.HCLKFreq_Value=84000000
 RCC.HSE_VALUE=8000000
 RCC.HSI_VALUE=16000000
 RCC.I2SClocksFreq_Value=192000000
-RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
+RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
 RCC.LSE_VALUE=32768
 RCC.LSI_VALUE=32000
 RCC.MCO2PinFreq_Value=84000000
diff --git a/Makefile b/Makefile
index 0d1465d..5abf5fd 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.5.0-RC5] date: [Tue May 06 13:07:23 EDT 2025] 
+# File automatically-generated by tool: [projectgenerator] version: [4.5.0-RC5] date: [Fri May 30 20:32:44 EDT 2025] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -189,7 +189,7 @@ LIBS = -lc -lm -lnosys  \
 -l:MotionFX_CM4F_wc32_ot_hard.a
 LIBDIR =  \
 -LMiddlewares/ST/STM32_MotionFX_Library/Lib
-LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -u printf_floats
+LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -u _printf_float
 
 # default action: build all
 all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin