Add gyro firmware for open cube

oc_sensors/open_gyro/.mxproject

+[PreviousLibFiles]
+LibFiles=Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_i2c.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_i2c.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_i2c_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_rcc.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_rcc_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_rcc.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_bus.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_system.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_utils.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_flash.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_flash_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_flash_ramfunc.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_gpio.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_gpio_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_gpio.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_dma.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_dma_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_pwr.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_pwr_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_pwr.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_cortex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_cortex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_def.h;Drivers/STM32G0xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_exti.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_exti.h;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_utils.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_exti.c;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_dma.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_dmamux.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_spi.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_spi.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_spi_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_tim.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_tim_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_tim.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_usart.h;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_i2c.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_i2c_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_rcc.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_gpio.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma_ex.c;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_dma.h;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_dma.c;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_dmamux.h;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_cortex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_exti.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_usart.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_gpio.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_exti.c;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_i2c.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_i2c.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_i2c_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_rcc.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_rcc_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_rcc.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_bus.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_system.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_utils.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_flash.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_flash_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_flash_ramfunc.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_gpio.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_gpio_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_gpio.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_dma.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_dma_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_pwr.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_pwr_ex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_pwr.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_cortex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_cortex.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_def.h;Drivers/STM32G0xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_hal_exti.h;Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_exti.h;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_utils.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_exti.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+
+[PreviousUsedCubeIDEFiles]
+SourceFiles=Core/Src/main.c;Core/Src/stm32g0xx_it.c;Core/Src/stm32g0xx_hal_msp.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_utils.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_exti.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_i2c.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_i2c_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_rcc.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_gpio.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_dma.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_cortex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_exti.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_usart.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_gpio.c;Drivers/CMSIS/Device/ST/STM32G0xx/Source/Templates/system_stm32g0xx.c;Core/Src/system_stm32g0xx.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_utils.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_exti.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_i2c.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_i2c_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_rcc.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_gpio.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_dma.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_cortex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_exti.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim_ex.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_usart.c;Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_gpio.c;Drivers/CMSIS/Device/ST/STM32G0xx/Source/Templates/system_stm32g0xx.c;Core/Src/system_stm32g0xx.c;;;
+HeaderPath=Drivers/STM32G0xx_HAL_Driver/Inc;Drivers/STM32G0xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32G0xx/Include;Drivers/CMSIS/Include;Core/Inc;
+CDefines=USE_FULL_LL_DRIVER;USE_HAL_DRIVER;STM32G030xx;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;
+
+[PreviousGenFiles]
+AdvancedFolderStructure=true
+HeaderFileListSize=4
+HeaderFiles#0=../Core/Inc/stm32g0xx_it.h
+HeaderFiles#1=../Core/Inc/stm32_assert.h
+HeaderFiles#2=../Core/Inc/stm32g0xx_hal_conf.h
+HeaderFiles#3=../Core/Inc/main.h
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+SourceFiles#2=../Core/Src/main.c
+SourceFolderListSize=1
+SourcePath#0=../Core/Src
+SourceFiles=;
+

oc_sensors/open_gyro/.project

+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>open_gyro</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>

oc_sensors/open_gyro/Core/Inc/Fusion.h

+/**
+ * @file Fusion.h
+ * @author Seb Madgwick
+ * @brief Main header file for the Fusion library.  This is the only file that
+ * needs to be included when using the library.
+ */
+
+#ifndef FUSION_H
+#define FUSION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "FusionAhrs.h"
+#include "FusionAxes.h"
+#include "FusionCalibration.h"
+#include "FusionCompass.h"
+#include "FusionConvention.h"
+#include "FusionMath.h"
+#include "FusionOffset.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+//------------------------------------------------------------------------------
+// End of file

oc_sensors/open_gyro/Core/Inc/FusionAhrs.h

+/**
+ * @file FusionAhrs.h
+ * @author Seb Madgwick
+ * @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
+ * measurements into a single measurement of orientation relative to the Earth.
+ */
+
+#ifndef FUSION_AHRS_H
+#define FUSION_AHRS_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionConvention.h"
+#include "FusionMath.h"
+#include <stdbool.h>
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief AHRS algorithm settings.
+ */
+typedef struct {
+    FusionConvention convention;
+    float gain;
+    float gyroscopeRange;
+    float accelerationRejection;
+    float magneticRejection;
+    unsigned int recoveryTriggerPeriod;
+} FusionAhrsSettings;
+
+/**
+ * @brief AHRS algorithm structure.  Structure members are used internally and
+ * must not be accessed by the application.
+ */
+typedef struct {
+    FusionAhrsSettings settings;
+    FusionQuaternion quaternion;
+    FusionVector accelerometer;
+    bool initialising;
+    float rampedGain;
+    float rampedGainStep;
+    bool angularRateRecovery;
+    FusionVector halfAccelerometerFeedback;
+    FusionVector halfMagnetometerFeedback;
+    bool accelerometerIgnored;
+    int accelerationRecoveryTrigger;
+    int accelerationRecoveryTimeout;
+    bool magnetometerIgnored;
+    int magneticRecoveryTrigger;
+    int magneticRecoveryTimeout;
+} FusionAhrs;
+
+/**
+ * @brief AHRS algorithm internal states.
+ */
+typedef struct {
+    float accelerationError;
+    bool accelerometerIgnored;
+    float accelerationRecoveryTrigger;
+    float magneticError;
+    bool magnetometerIgnored;
+    float magneticRecoveryTrigger;
+} FusionAhrsInternalStates;
+
+/**
+ * @brief AHRS algorithm flags.
+ */
+typedef struct {
+    bool initialising;
+    bool angularRateRecovery;
+    bool accelerationRecovery;
+    bool magneticRecovery;
+} FusionAhrsFlags;
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+void FusionAhrsInitialise(FusionAhrs *const ahrs);
+
+void FusionAhrsReset(FusionAhrs *const ahrs);
+
+void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings);
+
+void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const FusionVector magnetometer, const float deltaTime);
+
+void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float deltaTime);
+
+void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float heading, const float deltaTime);
+
+FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs);
+
+void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion);
+
+FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs);
+
+FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs);
+
+FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs);
+
+FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs);
+
+void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

oc_sensors/open_gyro/Core/Inc/FusionAxes.h

+/**
+ * @file FusionAxes.h
+ * @author Seb Madgwick
+ * @brief Swaps sensor axes for alignment with the body axes.
+ */
+
+#ifndef FUSION_AXES_H
+#define FUSION_AXES_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Axes alignment describing the sensor axes relative to the body axes.
+ * For example, if the body X axis is aligned with the sensor Y axis and the
+ * body Y axis is aligned with sensor X axis but pointing the opposite direction
+ * then alignment is +Y-X+Z.
+ */
+typedef enum {
+    FusionAxesAlignmentPXPYPZ, /* +X+Y+Z */
+    FusionAxesAlignmentPXNZPY, /* +X-Z+Y */
+    FusionAxesAlignmentPXNYNZ, /* +X-Y-Z */
+    FusionAxesAlignmentPXPZNY, /* +X+Z-Y */
+    FusionAxesAlignmentNXPYNZ, /* -X+Y-Z */
+    FusionAxesAlignmentNXPZPY, /* -X+Z+Y */
+    FusionAxesAlignmentNXNYPZ, /* -X-Y+Z */
+    FusionAxesAlignmentNXNZNY, /* -X-Z-Y */
+    FusionAxesAlignmentPYNXPZ, /* +Y-X+Z */
+    FusionAxesAlignmentPYNZNX, /* +Y-Z-X */
+    FusionAxesAlignmentPYPXNZ, /* +Y+X-Z */
+    FusionAxesAlignmentPYPZPX, /* +Y+Z+X */
+    FusionAxesAlignmentNYPXPZ, /* -Y+X+Z */
+    FusionAxesAlignmentNYNZPX, /* -Y-Z+X */
+    FusionAxesAlignmentNYNXNZ, /* -Y-X-Z */
+    FusionAxesAlignmentNYPZNX, /* -Y+Z-X */
+    FusionAxesAlignmentPZPYNX, /* +Z+Y-X */
+    FusionAxesAlignmentPZPXPY, /* +Z+X+Y */
+    FusionAxesAlignmentPZNYPX, /* +Z-Y+X */
+    FusionAxesAlignmentPZNXNY, /* +Z-X-Y */
+    FusionAxesAlignmentNZPYPX, /* -Z+Y+X */
+    FusionAxesAlignmentNZNXPY, /* -Z-X+Y */
+    FusionAxesAlignmentNZNYNX, /* -Z-Y-X */
+    FusionAxesAlignmentNZPXNY, /* -Z+X-Y */
+} FusionAxesAlignment;
+
+//------------------------------------------------------------------------------
+// Inline functions
+
+/**
+ * @brief Swaps sensor axes for alignment with the body axes.
+ * @param sensor Sensor axes.
+ * @param alignment Axes alignment.
+ * @return Sensor axes aligned with the body axes.
+ */
+static inline FusionVector FusionAxesSwap(const FusionVector sensor, const FusionAxesAlignment alignment) {
+    FusionVector result;
+    switch (alignment) {
+        case FusionAxesAlignmentPXPYPZ:
+            break;
+        case FusionAxesAlignmentPXNZPY:
+            result.axis.x = +sensor.axis.x;
+            result.axis.y = -sensor.axis.z;
+            result.axis.z = +sensor.axis.y;
+            return result;
+        case FusionAxesAlignmentPXNYNZ:
+            result.axis.x = +sensor.axis.x;
+            result.axis.y = -sensor.axis.y;
+            result.axis.z = -sensor.axis.z;
+            return result;
+        case FusionAxesAlignmentPXPZNY:
+            result.axis.x = +sensor.axis.x;
+            result.axis.y = +sensor.axis.z;
+            result.axis.z = -sensor.axis.y;
+            return result;
+        case FusionAxesAlignmentNXPYNZ:
+            result.axis.x = -sensor.axis.x;
+            result.axis.y = +sensor.axis.y;
+            result.axis.z = -sensor.axis.z;
+            return result;
+        case FusionAxesAlignmentNXPZPY:
+            result.axis.x = -sensor.axis.x;
+            result.axis.y = +sensor.axis.z;
+            result.axis.z = +sensor.axis.y;
+            return result;
+        case FusionAxesAlignmentNXNYPZ:
+            result.axis.x = -sensor.axis.x;
+            result.axis.y = -sensor.axis.y;
+            result.axis.z = +sensor.axis.z;
+            return result;
+        case FusionAxesAlignmentNXNZNY:
+            result.axis.x = -sensor.axis.x;
+            result.axis.y = -sensor.axis.z;
+            result.axis.z = -sensor.axis.y;
+            return result;
+        case FusionAxesAlignmentPYNXPZ:
+            result.axis.x = +sensor.axis.y;
+            result.axis.y = -sensor.axis.x;
+            result.axis.z = +sensor.axis.z;
+            return result;
+        case FusionAxesAlignmentPYNZNX:
+            result.axis.x = +sensor.axis.y;
+            result.axis.y = -sensor.axis.z;
+            result.axis.z = -sensor.axis.x;
+            return result;
+        case FusionAxesAlignmentPYPXNZ:
+            result.axis.x = +sensor.axis.y;
+            result.axis.y = +sensor.axis.x;
+            result.axis.z = -sensor.axis.z;
+            return result;
+        case FusionAxesAlignmentPYPZPX:
+            result.axis.x = +sensor.axis.y;
+            result.axis.y = +sensor.axis.z;
+            result.axis.z = +sensor.axis.x;
+            return result;
+        case FusionAxesAlignmentNYPXPZ:
+            result.axis.x = -sensor.axis.y;
+            result.axis.y = +sensor.axis.x;
+            result.axis.z = +sensor.axis.z;
+            return result;
+        case FusionAxesAlignmentNYNZPX:
+            result.axis.x = -sensor.axis.y;
+            result.axis.y = -sensor.axis.z;
+            result.axis.z = +sensor.axis.x;
+            return result;
+        case FusionAxesAlignmentNYNXNZ:
+            result.axis.x = -sensor.axis.y;
+            result.axis.y = -sensor.axis.x;
+            result.axis.z = -sensor.axis.z;
+            return result;
+        case FusionAxesAlignmentNYPZNX:
+            result.axis.x = -sensor.axis.y;
+            result.axis.y = +sensor.axis.z;
+            result.axis.z = -sensor.axis.x;
+            return result;
+        case FusionAxesAlignmentPZPYNX:
+            result.axis.x = +sensor.axis.z;
+            result.axis.y = +sensor.axis.y;
+            result.axis.z = -sensor.axis.x;
+            return result;
+        case FusionAxesAlignmentPZPXPY:
+            result.axis.x = +sensor.axis.z;
+            result.axis.y = +sensor.axis.x;
+            result.axis.z = +sensor.axis.y;
+            return result;
+        case FusionAxesAlignmentPZNYPX:
+            result.axis.x = +sensor.axis.z;
+            result.axis.y = -sensor.axis.y;
+            result.axis.z = +sensor.axis.x;
+            return result;
+        case FusionAxesAlignmentPZNXNY:
+            result.axis.x = +sensor.axis.z;
+            result.axis.y = -sensor.axis.x;
+            result.axis.z = -sensor.axis.y;
+            return result;
+        case FusionAxesAlignmentNZPYPX:
+            result.axis.x = -sensor.axis.z;
+            result.axis.y = +sensor.axis.y;
+            result.axis.z = +sensor.axis.x;
+            return result;
+        case FusionAxesAlignmentNZNXPY:
+            result.axis.x = -sensor.axis.z;
+            result.axis.y = -sensor.axis.x;
+            result.axis.z = +sensor.axis.y;
+            return result;
+        case FusionAxesAlignmentNZNYNX:
+            result.axis.x = -sensor.axis.z;
+            result.axis.y = -sensor.axis.y;
+            result.axis.z = -sensor.axis.x;
+            return result;
+        case FusionAxesAlignmentNZPXNY:
+            result.axis.x = -sensor.axis.z;
+            result.axis.y = +sensor.axis.x;
+            result.axis.z = -sensor.axis.y;
+            return result;
+    }
+    return sensor; // avoid compiler warning
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

oc_sensors/open_gyro/Core/Inc/FusionCalibration.h

+/**
+ * @file FusionCalibration.h
+ * @author Seb Madgwick
+ * @brief Gyroscope, accelerometer, and magnetometer calibration models.
+ */
+
+#ifndef FUSION_CALIBRATION_H
+#define FUSION_CALIBRATION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Inline functions
+
+/**
+ * @brief Gyroscope and accelerometer calibration model.
+ * @param uncalibrated Uncalibrated measurement.
+ * @param misalignment Misalignment matrix.
+ * @param sensitivity Sensitivity.
+ * @param offset Offset.
+ * @return Calibrated measurement.
+ */
+static inline FusionVector FusionCalibrationInertial(const FusionVector uncalibrated, const FusionMatrix misalignment, const FusionVector sensitivity, const FusionVector offset) {
+    return FusionMatrixMultiplyVector(misalignment, FusionVectorHadamardProduct(FusionVectorSubtract(uncalibrated, offset), sensitivity));
+}
+
+/**
+ * @brief Magnetometer calibration model.
+ * @param uncalibrated Uncalibrated measurement.
+ * @param softIronMatrix Soft-iron matrix.
+ * @param hardIronOffset Hard-iron offset.
+ * @return Calibrated measurement.
+ */
+static inline FusionVector FusionCalibrationMagnetic(const FusionVector uncalibrated, const FusionMatrix softIronMatrix, const FusionVector hardIronOffset) {
+    return FusionMatrixMultiplyVector(softIronMatrix, FusionVectorSubtract(uncalibrated, hardIronOffset));
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

oc_sensors/open_gyro/Core/Inc/FusionCompass.h

+/**
+ * @file FusionCompass.h
+ * @author Seb Madgwick
+ * @brief Tilt-compensated compass to calculate the magnetic heading using
+ * accelerometer and magnetometer measurements.
+ */
+
+#ifndef FUSION_COMPASS_H
+#define FUSION_COMPASS_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionConvention.h"
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+float FusionCompassCalculateHeading(const FusionConvention convention, const FusionVector accelerometer, const FusionVector magnetometer);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

oc_sensors/open_gyro/Core/Inc/FusionConvention.h

+/**
+ * @file FusionConvention.h
+ * @author Seb Madgwick
+ * @brief Earth axes convention.
+ */
+
+#ifndef FUSION_CONVENTION_H
+#define FUSION_CONVENTION_H
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Earth axes convention.
+ */
+typedef enum {
+    FusionConventionNwu, /* North-West-Up */
+    FusionConventionEnu, /* East-North-Up */
+    FusionConventionNed, /* North-East-Down */
+} FusionConvention;
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

oc_sensors/open_gyro/Core/Inc/FusionMath.h

+/**
+ * @file FusionMath.h
+ * @author Seb Madgwick
+ * @brief Math library.
+ */
+
+#ifndef FUSION_MATH_H
+#define FUSION_MATH_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include <math.h> // M_PI, sqrtf, atan2f, asinf
+#include <stdbool.h>
+#include <stdint.h>
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief 3D vector.
+ */
+typedef union {
+    float array[3];
+
+    struct {
+        float x;
+        float y;
+        float z;
+    } axis;
+} FusionVector;
+
+/**
+ * @brief Quaternion.
+ */
+typedef union {
+    float array[4];
+
+    struct {
+        float w;
+        float x;
+        float y;
+        float z;
+    } element;
+} FusionQuaternion;
+
+/**
+ * @brief 3x3 matrix in row-major order.
+ * See http://en.wikipedia.org/wiki/Row-major_order
+ */
+typedef union {
+    float array[3][3];
+
+    struct {
+        float xx;
+        float xy;
+        float xz;
+        float yx;
+        float yy;
+        float yz;
+        float zx;
+        float zy;
+        float zz;
+    } element;
+} FusionMatrix;
+
+/**
+ * @brief Euler angles.  Roll, pitch, and yaw correspond to rotations around
+ * X, Y, and Z respectively.
+ */
+typedef union {
+    float array[3];
+
+    struct {
+        float roll;
+        float pitch;
+        float yaw;
+    } angle;
+} FusionEuler;
+
+/**
+ * @brief Vector of zeros.
+ */
+#define FUSION_VECTOR_ZERO ((FusionVector){ .array = {0.0f, 0.0f, 0.0f} })
+
+/**
+ * @brief Vector of ones.
+ */
+#define FUSION_VECTOR_ONES ((FusionVector){ .array = {1.0f, 1.0f, 1.0f} })
+
+/**
+ * @brief Identity quaternion.
+ */
+#define FUSION_IDENTITY_QUATERNION ((FusionQuaternion){ .array = {1.0f, 0.0f, 0.0f, 0.0f} })
+
+/**
+ * @brief Identity matrix.
+ */
+#define FUSION_IDENTITY_MATRIX ((FusionMatrix){ .array = {{1.0f, 0.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 0.0f, 1.0f}} })
+
+/**
+ * @brief Euler angles of zero.
+ */
+#define FUSION_EULER_ZERO ((FusionEuler){ .array = {0.0f, 0.0f, 0.0f} })
+
+/**
+ * @brief Pi. May not be defined in math.h.
+ */
+#ifndef M_PI
+#define M_PI (3.14159265358979323846)
+#endif
+
+/**
+ * @brief Include this definition or add as a preprocessor definition to use
+ * normal square root operations.
+ */
+//#define FUSION_USE_NORMAL_SQRT
+
+//------------------------------------------------------------------------------
+// Inline functions - Degrees and radians conversion
+
+/**
+ * @brief Converts degrees to radians.
+ * @param degrees Degrees.
+ * @return Radians.
+ */
+static inline float FusionDegreesToRadians(const float degrees) {
+    return degrees * ((float) M_PI / 180.0f);
+}
+
+/**
+ * @brief Converts radians to degrees.
+ * @param radians Radians.
+ * @return Degrees.
+ */
+static inline float FusionRadiansToDegrees(const float radians) {
+    return radians * (180.0f / (float) M_PI);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Arc sine
+
+/**
+ * @brief Returns the arc sine of the value.
+ * @param value Value.
+ * @return Arc sine of the value.
+ */
+static inline float FusionAsin(const float value) {
+    if (value <= -1.0f) {
+        return (float) M_PI / -2.0f;
+    }
+    if (value >= 1.0f) {
+        return (float) M_PI / 2.0f;
+    }
+    return asinf(value);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Fast inverse square root
+
+#ifndef FUSION_USE_NORMAL_SQRT
+
+/**
+ * @brief Calculates the reciprocal of the square root.
+ * See https://pizer.wordpress.com/2008/10/12/fast-inverse-square-root/
+ * @param x Operand.
+ * @return Reciprocal of the square root of x.
+ */
+static inline float FusionFastInverseSqrt(const float x) {
+
+    typedef union {
+        float f;
+        int32_t i;
+    } Union32;
+
+    Union32 union32 = {.f = x};
+    union32.i = 0x5F1F1412 - (union32.i >> 1);
+    return union32.f * (1.69000231f - 0.714158168f * x * union32.f * union32.f);
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// Inline functions - Vector operations
+
+/**
+ * @brief Returns true if the vector is zero.
+ * @param vector Vector.
+ * @return True if the vector is zero.
+ */
+static inline bool FusionVectorIsZero(const FusionVector vector) {
+    return (vector.axis.x == 0.0f) && (vector.axis.y == 0.0f) && (vector.axis.z == 0.0f);
+}
+
+/**
+ * @brief Returns the sum of two vectors.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Sum of two vectors.
+ */
+static inline FusionVector FusionVectorAdd(const FusionVector vectorA, const FusionVector vectorB) {
+    const FusionVector result = {.axis = {
+            .x = vectorA.axis.x + vectorB.axis.x,
+            .y = vectorA.axis.y + vectorB.axis.y,
+            .z = vectorA.axis.z + vectorB.axis.z,
+    }};
+    return result;
+}
+
+/**
+ * @brief Returns vector B subtracted from vector A.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Vector B subtracted from vector A.
+ */
+static inline FusionVector FusionVectorSubtract(const FusionVector vectorA, const FusionVector vectorB) {
+    const FusionVector result = {.axis = {
+            .x = vectorA.axis.x - vectorB.axis.x,
+            .y = vectorA.axis.y - vectorB.axis.y,
+            .z = vectorA.axis.z - vectorB.axis.z,
+    }};
+    return result;
+}
+
+/**
+ * @brief Returns the sum of the elements.
+ * @param vector Vector.
+ * @return Sum of the elements.
+ */
+static inline float FusionVectorSum(const FusionVector vector) {
+    return vector.axis.x + vector.axis.y + vector.axis.z;
+}
+
+/**
+ * @brief Returns the multiplication of a vector by a scalar.
+ * @param vector Vector.
+ * @param scalar Scalar.
+ * @return Multiplication of a vector by a scalar.
+ */
+static inline FusionVector FusionVectorMultiplyScalar(const FusionVector vector, const float scalar) {
+    const FusionVector result = {.axis = {
+            .x = vector.axis.x * scalar,
+            .y = vector.axis.y * scalar,
+            .z = vector.axis.z * scalar,
+    }};
+    return result;
+}
+
+/**
+ * @brief Calculates the Hadamard product (element-wise multiplication).
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Hadamard product.
+ */
+static inline FusionVector FusionVectorHadamardProduct(const FusionVector vectorA, const FusionVector vectorB) {
+    const FusionVector result = {.axis = {
+            .x = vectorA.axis.x * vectorB.axis.x,
+            .y = vectorA.axis.y * vectorB.axis.y,
+            .z = vectorA.axis.z * vectorB.axis.z,
+    }};
+    return result;
+}
+
+/**
+ * @brief Returns the cross product.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Cross product.
+ */
+static inline FusionVector FusionVectorCrossProduct(const FusionVector vectorA, const FusionVector vectorB) {
+#define A vectorA.axis
+#define B vectorB.axis
+    const FusionVector result = {.axis = {
+            .x = A.y * B.z - A.z * B.y,
+            .y = A.z * B.x - A.x * B.z,
+            .z = A.x * B.y - A.y * B.x,
+    }};
+    return result;
+#undef A
+#undef B
+}
+
+/**
+ * @brief Returns the dot product.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Dot product.
+ */
+static inline float FusionVectorDotProduct(const FusionVector vectorA, const FusionVector vectorB) {
+    return FusionVectorSum(FusionVectorHadamardProduct(vectorA, vectorB));
+}
+
+/**
+ * @brief Returns the vector magnitude squared.
+ * @param vector Vector.
+ * @return Vector magnitude squared.
+ */
+static inline float FusionVectorMagnitudeSquared(const FusionVector vector) {
+    return FusionVectorSum(FusionVectorHadamardProduct(vector, vector));
+}
+
+/**
+ * @brief Returns the vector magnitude.
+ * @param vector Vector.
+ * @return Vector magnitude.
+ */
+static inline float FusionVectorMagnitude(const FusionVector vector) {
+    return sqrtf(FusionVectorMagnitudeSquared(vector));
+}
+
+/**
+ * @brief Returns the normalised vector.
+ * @param vector Vector.
+ * @return Normalised vector.
+ */
+static inline FusionVector FusionVectorNormalise(const FusionVector vector) {
+#ifdef FUSION_USE_NORMAL_SQRT
+    const float magnitudeReciprocal = 1.0f / sqrtf(FusionVectorMagnitudeSquared(vector));
+#else
+    const float magnitudeReciprocal = FusionFastInverseSqrt(FusionVectorMagnitudeSquared(vector));
+#endif
+    return FusionVectorMultiplyScalar(vector, magnitudeReciprocal);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Quaternion operations
+
+/**
+ * @brief Returns the sum of two quaternions.
+ * @param quaternionA Quaternion A.
+ * @param quaternionB Quaternion B.
+ * @return Sum of two quaternions.
+ */
+static inline FusionQuaternion FusionQuaternionAdd(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB) {
+    const FusionQuaternion result = {.element = {
+            .w = quaternionA.element.w + quaternionB.element.w,
+            .x = quaternionA.element.x + quaternionB.element.x,
+            .y = quaternionA.element.y + quaternionB.element.y,
+            .z = quaternionA.element.z + quaternionB.element.z,
+    }};
+    return result;
+}
+
+/**
+ * @brief Returns the multiplication of two quaternions.
+ * @param quaternionA Quaternion A (to be post-multiplied).
+ * @param quaternionB Quaternion B (to be pre-multiplied).
+ * @return Multiplication of two quaternions.
+ */
+static inline FusionQuaternion FusionQuaternionMultiply(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB) {
+#define A quaternionA.element
+#define B quaternionB.element
+    const FusionQuaternion result = {.element = {
+            .w = A.w * B.w - A.x * B.x - A.y * B.y - A.z * B.z,
+            .x = A.w * B.x + A.x * B.w + A.y * B.z - A.z * B.y,
+            .y = A.w * B.y - A.x * B.z + A.y * B.w + A.z * B.x,
+            .z = A.w * B.z + A.x * B.y - A.y * B.x + A.z * B.w,
+    }};
+    return result;
+#undef A
+#undef B
+}
+
+/**
+ * @brief Returns the multiplication of a quaternion with a vector.  This is a
+ * normal quaternion multiplication where the vector is treated a
+ * quaternion with a W element value of zero.  The quaternion is post-
+ * multiplied by the vector.
+ * @param quaternion Quaternion.
+ * @param vector Vector.
+ * @return Multiplication of a quaternion with a vector.
+ */
+static inline FusionQuaternion FusionQuaternionMultiplyVector(const FusionQuaternion quaternion, const FusionVector vector) {
+#define Q quaternion.element
+#define V vector.axis
+    const FusionQuaternion result = {.element = {
+            .w = -Q.x * V.x - Q.y * V.y - Q.z * V.z,
+            .x = Q.w * V.x + Q.y * V.z - Q.z * V.y,
+            .y = Q.w * V.y - Q.x * V.z + Q.z * V.x,
+            .z = Q.w * V.z + Q.x * V.y - Q.y * V.x,
+    }};
+    return result;
+#undef Q
+#undef V
+}
+
+/**
+ * @brief Returns the normalised quaternion.
+ * @param quaternion Quaternion.
+ * @return Normalised quaternion.
+ */
+static inline FusionQuaternion FusionQuaternionNormalise(const FusionQuaternion quaternion) {
+#define Q quaternion.element
+#ifdef FUSION_USE_NORMAL_SQRT
+    const float magnitudeReciprocal = 1.0f / sqrtf(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
+#else
+    const float magnitudeReciprocal = FusionFastInverseSqrt(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
+#endif
+    const FusionQuaternion result = {.element = {
+            .w = Q.w * magnitudeReciprocal,
+            .x = Q.x * magnitudeReciprocal,
+            .y = Q.y * magnitudeReciprocal,
+            .z = Q.z * magnitudeReciprocal,
+    }};
+    return result;
+#undef Q
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Matrix operations
+
+/**
+ * @brief Returns the multiplication of a matrix with a vector.
+ * @param matrix Matrix.
+ * @param vector Vector.
+ * @return Multiplication of a matrix with a vector.
+ */
+static inline FusionVector FusionMatrixMultiplyVector(const FusionMatrix matrix, const FusionVector vector) {
+#define R matrix.element
+    const FusionVector result = {.axis = {
+            .x = R.xx * vector.axis.x + R.xy * vector.axis.y + R.xz * vector.axis.z,
+            .y = R.yx * vector.axis.x + R.yy * vector.axis.y + R.yz * vector.axis.z,
+            .z = R.zx * vector.axis.x + R.zy * vector.axis.y + R.zz * vector.axis.z,
+    }};
+    return result;
+#undef R
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Conversion operations
+
+/**
+ * @brief Converts a quaternion to a rotation matrix.
+ * @param quaternion Quaternion.
+ * @return Rotation matrix.
+ */
+static inline FusionMatrix FusionQuaternionToMatrix(const FusionQuaternion quaternion) {
+#define Q quaternion.element
+    const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
+    const float qwqx = Q.w * Q.x;
+    const float qwqy = Q.w * Q.y;
+    const float qwqz = Q.w * Q.z;
+    const float qxqy = Q.x * Q.y;
+    const float qxqz = Q.x * Q.z;
+    const float qyqz = Q.y * Q.z;
+    const FusionMatrix matrix = {.element = {
+            .xx = 2.0f * (qwqw - 0.5f + Q.x * Q.x),
+            .xy = 2.0f * (qxqy - qwqz),
+            .xz = 2.0f * (qxqz + qwqy),
+            .yx = 2.0f * (qxqy + qwqz),
+            .yy = 2.0f * (qwqw - 0.5f + Q.y * Q.y),
+            .yz = 2.0f * (qyqz - qwqx),
+            .zx = 2.0f * (qxqz - qwqy),
+            .zy = 2.0f * (qyqz + qwqx),
+            .zz = 2.0f * (qwqw - 0.5f + Q.z * Q.z),
+    }};
+    return matrix;
+#undef Q
+}
+
+/**
+ * @brief Converts a quaternion to ZYX Euler angles in degrees.
+ * @param quaternion Quaternion.
+ * @return Euler angles in degrees.
+ */
+static inline FusionEuler FusionQuaternionToEuler(const FusionQuaternion quaternion) {
+#define Q quaternion.element
+    const float halfMinusQySquared = 0.5f - Q.y * Q.y; // calculate common terms to avoid repeated operations
+    const FusionEuler euler = {.angle = {
+            .roll = FusionRadiansToDegrees(atan2f(Q.w * Q.x + Q.y * Q.z, halfMinusQySquared - Q.x * Q.x)),
+            .pitch = FusionRadiansToDegrees(FusionAsin(2.0f * (Q.w * Q.y - Q.z * Q.x))),
+            .yaw = FusionRadiansToDegrees(atan2f(Q.w * Q.z + Q.x * Q.y, halfMinusQySquared - Q.z * Q.z)),
+    }};
+    return euler;
+#undef Q
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

oc_sensors/open_gyro/Core/Inc/FusionOffset.h

+/**
+ * @file FusionOffset.h
+ * @author Seb Madgwick
+ * @brief Gyroscope offset correction algorithm for run-time calibration of the
+ * gyroscope offset.
+ */
+
+#ifndef FUSION_OFFSET_H
+#define FUSION_OFFSET_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Gyroscope offset algorithm structure.  Structure members are used
+ * internally and must not be accessed by the application.
+ */
+typedef struct {
+    float filterCoefficient;
+    unsigned int timeout;
+    unsigned int timer;
+    FusionVector gyroscopeOffset;
+} FusionOffset;
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+void FusionOffsetInitialise(FusionOffset *const offset, const unsigned int sampleRate);
+
+FusionVector FusionOffsetUpdate(FusionOffset *const offset, FusionVector gyroscope);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

oc_sensors/open_gyro/Core/Inc/main.h

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.h
+  * @brief          : Header for main.c file.
+  *                   This file contains the common defines of the application.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32g0xx_hal.h"
+#include "stm32g0xx_ll_usart.h"
+#include "stm32g0xx_ll_rcc.h"
+#include "stm32g0xx_ll_bus.h"
+#include "stm32g0xx_ll_cortex.h"
+#include "stm32g0xx_ll_system.h"
+#include "stm32g0xx_ll_utils.h"
+#include "stm32g0xx_ll_pwr.h"
+#include "stm32g0xx_ll_gpio.h"
+#include "stm32g0xx_ll_dma.h"
+
+#include "stm32g0xx_ll_exti.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void Error_Handler(void);
+
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+/* Private defines -----------------------------------------------------------*/
+#define ICM_CS_Pin GPIO_PIN_4
+#define ICM_CS_GPIO_Port GPIOA
+#define ICM_SCK_Pin GPIO_PIN_5
+#define ICM_SCK_GPIO_Port GPIOA
+#define ICM_SDO_Pin GPIO_PIN_6
+#define ICM_SDO_GPIO_Port GPIOA
+#define ICM_SDI_Pin GPIO_PIN_7
+#define ICM_SDI_GPIO_Port GPIOA
+#define ICM_INT2_Pin GPIO_PIN_1
+#define ICM_INT2_GPIO_Port GPIOB
+#define LED_G_Pin GPIO_PIN_2
+#define LED_G_GPIO_Port GPIOB
+#define LED_R_Pin GPIO_PIN_8
+#define LED_R_GPIO_Port GPIOA
+#define ICM_INT1_Pin GPIO_PIN_6
+#define ICM_INT1_GPIO_Port GPIOC
+#define ICM_INT1_EXTI_IRQn EXTI4_15_IRQn
+#define QMC_INT_Pin GPIO_PIN_15
+#define QMC_INT_GPIO_Port GPIOA
+#define QMC_INT_EXTI_IRQn EXTI4_15_IRQn
+
+/* USER CODE BEGIN Private defines */
+#define RED_on() HAL_GPIO_WritePin(LED_R_GPIO_Port,  LED_R_Pin, SET)
+#define RED_off() HAL_GPIO_WritePin(LED_R_GPIO_Port,  LED_R_Pin, RESET)
+#define GREEN_on() HAL_GPIO_WritePin(LED_G_GPIO_Port,  LED_G_Pin, SET)
+#define GREEN_off() HAL_GPIO_WritePin(LED_G_GPIO_Port,  LED_G_Pin, RESET)
+
+/* MAG I2C address and register addresses */
+#define MAG_I2C_ADDR			(uint16_t)(0x0D<<1)
+#define MAG_DATA_START_REG		0x00
+#define MAG_CTRL_REG1			0x09
+#define MAG_CTRL_REG2			0x0A
+#define MAG_SETRES_REG			0x0B
+
+/* MAG I2C register values */
+#define MAG_MODE_CONTINUOUS		0x01
+#define MAG_ODR_100HZ			0x08
+#define MAG_ODR_200HZ			0x0C
+
+#define MAG_RNG_8G				0x10
+#define MAG_RNG_2G				0x00
+
+#define MAG_OSR_64				0xC0
+
+#define MAG_SOFT_RESET			0x80
+#define MAG_PTR_ROLLOVER		0x40
+#define MAG_INT_ENABLE 			0x00
+#define MAG_INT_DISABLE			0x01
+
+#define MAG_SETRES_VAL			0x01
+
+/* ICM SPI register values */
+#define ICM_REG_WRITE			0x00
+#define ICM_REG_READ			0x80
+
+#define ICM_DEVICE_CONFIG_REG	0x11
+#define ICM_CONFIG				0x14
+#define ICM_PWR_MGMT0			0x4E
+#define ICM_GYRO_CONFIG0		0x4F
+#define ICM_ACCEL_CONFIG0		0x50
+#define ICM_INT_CONFIG1			0x64
+#define ICM_INT_SOURCE0			0x65
+
+#define ICM_RESET				0x01
+#define ICM_INT_PP_AL			0x12	/* INT1&INT2: push-pull, active-low */
+#define ICM_GYRO_LN_MODE		0x0C
+#define ICM_ACCEL_LN_MODE		0x03
+
+#define ICM_GYRO_2000_FS		0x00
+#define ICM_GYRO_1000_FS		0x01
+#define ICM_GYRO_500_FS			0x02
+#define ICM_GYRO_250_FS			0x03
+#define ICM_GYRO_125_FS			0x04
+#define ICM_GYRO_62_5_FS		0x05
+
+#define ICM_GYRO_100HZ_ODR		0x08
+#define ICM_GYRO_200HZ_ODR		0x07
+#define ICM_GYRO_500HZ_ODR		0x0F
+#define ICM_GYRO_1000HZ_ODR		0x06
+#define ICM_GYRO_2000HZ_ODR		0x05
+
+#define ICM_ACCEL_16_FS			0x00
+#define ICM_ACCEL_8_FS			0x01
+#define ICM_ACCEL_4_FS			0x02
+#define ICM_ACCEL_2_FS			0x03
+
+#define ICM_ACCEL_100HZ_ODR		0x08
+#define ICM_ACCEL_200HZ_ODR		0x07
+#define ICM_ACCEL_500HZ_ODR		0x0F
+#define ICM_ACCEL_1000HZ_ODR	0x06
+#define ICM_ACCEL_2000HZ_ODR	0x05
+
+#define ICM_INT_DUR_LONG		0x00	/* NOTE: Changes if ODR > 4kHz */
+
+#define ICM_INT1_DRDY			0x08
+
+/* Range constants */
+#define ACCEL_LSB_PER_G 		2048	/* NOTE: Changes with FS! */
+#define GYRO_LSB_PER_DPS 		16.4	/* NOTE: Changes with FS! */
+#define GYRO_LSB_PER_DPS_2 		32.8	/* NOTE: Changes with FS! */
+#define ACCEL_LSB_PER_G_2 		4096	/* NOTE: Changes with FS! */
+
+
+/* Other constants */
+//#define SAMPLE_RATE 			100		/* For 100Hz ODR of GYRO */
+#define SAMPLE_RATE 			200		/* For 200Hz ODR of GYRO */
+//#define SAMPLE_RATE 			500		/* NOTE: Changes with ODR! */
+#define UART_MSG_MAX_LEN 		500
+
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */

oc_sensors/open_gyro/Core/Inc/messages.h

+/**
+ * Definitions and helper functions for decoding EV3 UART packets
+ */
+#ifndef EV3_SENSOR_MESSAGES_H
+#define EV3_SENSOR_MESSAGES_H
+
+#include <stdint.h>
+#include <string.h>
+
+
+// Longest message that can be sent from a sensor
+#define EV3_MSG_BUFFER_SIZE 35
+// How often to poll UARTs
+#define EV3_MSG_POLL_PERIOD_MS 1
+// How often to send NACKs to sensors to keep their watchdogs in check
+#define EV3_HEARTBEAT_PERIOD_MS 100
+// Consider sensor dead after not sending any data after this many watchdog refreshes
+#define EV3_MAX_HEARTBEATS_WITHOUT_DATA 6
+// Similar to EV3_MAX_HEARTBEATS_WITHOUT_DATA, but for some quirky modes that are slow to get ready
+// (NOT IMPLEMENTED)
+#define EV3_MAX_HEARTBEATS_WITHOUT_DATA_LAX 100
+// Maximum number of payload bytes in a DATA message
+#define EV3_MAX_DATA_BYTES 32
+// Speed of the initial handshake
+#define EV3_UART_HANDSHAKE_BAUD 2400
+#define EV3_MAX_MODES 8
+
+typedef enum {
+  // System message. Used for low-level handshaking (ACK, NACK)
+  MTYPE_SYSTEM = 0b00,
+  // Command message. Doubles as a sensor-wide typedata and a real command message.
+  MTYPE_COMMAND = 0b01,
+  // Info message. Contains a bit of information about a single sensor mode.
+  MTYPE_INFO = 0b10,
+  // Data message. Contains data in a format described by previous INFO messages.
+  MTYPE_DATA = 0b11,
+} ev3_msg_type;
+
+typedef enum {
+  // Byte supposed to be sent at sensor start. Not sent.
+  // According to LEGO this was intended for clock synchronization.
+  MTYPE_SYSTEM_SYNC = 0b000,
+  // Retransmission request for data & simultaneous sensor watchdog refresh
+  MTYPE_SYSTEM_NACK = 0b010,
+  // Confirmation that the brick received all sensor information
+  MTYPE_SYSTEM_ACK = 0b100,
+  // Reserved?
+  MTYPE_SYSTEM_ESC = 0b110,
+} ev3_sysmsg_type;
+
+typedef enum {
+  // Sensor info: type code of the sensor
+  MTYPE_COMMAND_TYPE = 0b000,
+  // Sensor info: number of supported modes
+  MTYPE_COMMAND_MODES = 0b001,
+  // Sensor info: supported DATA communication speed
+  MTYPE_COMMAND_SPEED = 0b010,
+  // Command for the sensor: switch to a different mode
+  MTYPE_COMMAND_SELECT = 0b011,
+  // Raw command for the sensor. The payload has no common format,
+  // it is just a byte blob. It is used for e.g. firing the ultrasonic
+  // sensor, recalibrating the gyro or for confirming factory calibration
+  // on sensors.
+  MTYPE_COMMAND_WRITE = 0b100,
+} ev3_cmdmsg_type;
+
+// Type of information about a sensor mode
+typedef enum {
+  // Sensor mode name (e.g. COL-COLOR)
+  INFO_TYPE_NAME = 0b00000000,
+  // SI symbol associated with this mode (e.g. "deg")
+  INFO_TYPE_SYMBOL = 0b00000100,
+  // How are values encoded in the DATA message & how many of them are there
+  INFO_TYPE_FORMAT = 0b10000000,
+  // Scaling coefficients corresponding directly to how data is encoded in DATA messages
+  INFO_TYPE_RAW = 0b00000001,
+  // Scaling coefficients for converting data to percent representation
+  INFO_TYPE_PCT = 0b00000010,
+  // Scaling coefficients for converting data to a SI unit-based representation
+  INFO_TYPE_SI = 0b00000011,
+} ev3_infomsg_type;
+
+#define EV3_MESSAGE_TYPE_BITS 0b11
+#define EV3_MESSAGE_TYPE_SHIFT 6
+#define EV3_MESSAGE_LENGTH_BITS 0b111
+#define EV3_MESSAGE_LENGTH_SHIFT 3
+#define EV3_MESSAGE_SUBTYPE_BITS 0b111
+#define EV3_MESSAGE_SUBTYPE_SHIFT 0
+
+// Layout of the system message
+typedef struct __attribute__((packed)) {
+  uint8_t header;
+} ev3_sys;
+
+// Layout of the TYPE command message
+typedef struct __attribute__((packed)) {
+  uint8_t header;
+  uint8_t id;
+  uint8_t csum;
+} ev3_cmd_type;
+
+// Layout of the MODES command message
+typedef struct __attribute__((packed)) {
+  uint8_t header;
+  uint8_t mode_count;
+  uint8_t visible_mode_count;
+  uint8_t csum;
+} ev3_cmd_modes;
+
+// Layout of the SPEED command message
+typedef struct __attribute__((packed)) {
+  uint8_t header;
+  uint32_t baud_rate;
+  uint8_t csum;
+} ev3_cmd_speed;
+
+// Layout of the INFO message containing scaling coefficients
+typedef struct __attribute__((packed)) {
+  uint8_t header;
+  uint8_t info_type;
+  float lower;
+  float upper;
+  uint8_t csum;
+} ev3_info_limits;
+
+// Layout of the INFO message containing data format
+typedef struct __attribute__((packed)) {
+  uint8_t header;
+  uint8_t info_type;
+  uint8_t values;
+  uint8_t format;
+  uint8_t figures;
+  uint8_t decimals;
+  uint8_t csum;
+} ev3_info_format;
+
+typedef struct {
+	uint8_t mode;
+	uint8_t mode_name[EV3_MAX_DATA_BYTES];
+	uint8_t mode_name_len;
+	float raw_lim_low;
+	float raw_lim_high;
+	float pct_lim_low;
+	float pct_lim_high;
+	float si_lim_low;
+	float si_lim_high;
+	uint8_t symbol[EV3_MAX_DATA_BYTES];
+	uint8_t symbol_len;
+	uint8_t values;
+	uint8_t format;
+	uint8_t digits;
+	uint8_t decimals;
+} ev3_mode_info;
+
+typedef struct {
+	uint8_t header;
+	uint8_t data[EV3_MAX_DATA_BYTES];
+	uint8_t csum;
+} data_message;
+
+static inline ev3_msg_type type_of_message(uint8_t header) {
+  return (ev3_msg_type) ((header >> EV3_MESSAGE_TYPE_SHIFT) & EV3_MESSAGE_TYPE_BITS);
+}
+
+static inline unsigned int payload_len_of_message(uint8_t header) {
+  int exponent = (header >> EV3_MESSAGE_LENGTH_SHIFT) & EV3_MESSAGE_LENGTH_BITS;
+  // EV3 messages contain payload length only as a base-2 exponent
+  return 1 << exponent;
+}
+
+static inline unsigned int subtype_of_message(uint8_t header) {
+  return (header >> EV3_MESSAGE_SUBTYPE_SHIFT) & EV3_MESSAGE_SUBTYPE_BITS;
+}
+
+/**
+ * Determine how many bytes have to be read/written from/to UART to transport this message.
+ * @param header Header of the message.
+ * @return Number of bytes in range 1-35.
+ */
+extern size_t full_length_of_message(uint8_t header);
+
+/**
+ * Make a new message header.
+ * @param type Main message type.
+ * @param subtype Message subtype.
+ * @param payload_length Length of wanted payload, without padding.
+ * @param alloc_length Total number of bytes needed for representing the message.
+ * @return Header byte to place at the beginning of the message.
+ */
+extern uint8_t make_message_header(
+    ev3_msg_type type,
+	uint8_t subtype,
+	uint8_t payload_length,
+    size_t* alloc_length);
+
+extern ev3_sys make_sys_message(uint8_t subtype);
+extern ev3_cmd_type make_cmd_type_message(uint8_t sensor_type);
+extern ev3_cmd_modes make_cmd_modes_message(uint8_t mode_count, uint8_t visible_mode_count);
+extern ev3_cmd_speed make_cmd_speed_message(uint32_t baud_rate);
+extern ev3_info_limits make_info_limits_message(uint8_t mode, uint8_t info_type, float lower, float upper);
+extern void make_info_string_message(uint8_t mode, uint8_t info_type, uint8_t* str, size_t str_len, size_t* total_size, uint8_t* msg);
+extern ev3_info_format make_info_format_message(uint8_t mode, uint8_t values, uint8_t format, uint8_t figures, uint8_t decimals);
+
+/**
+ * Calculate the XOR checksum of the EV3 packet.
+ * @param buffer Data buffer over which to do the checksum.
+ * @param length Length of the buffer.
+ * @return XOR of all provided bytes and 0xFF.
+ */
+extern uint8_t calculate_message_checksum(const void *buffer, size_t length);
+
+// how many bytes of the total is just fixed frame
+#define EV3_NORMAL_MSG_FRAME_OVERHEAD 2 // initial byte + xor checksum at the end
+#define EV3_INFO_MSG_FRAME_OVERHEAD 3 // initial byte + info type + xor checksum at the end
+
+enum {
+  // Retransmission request for data & simultaneous sensor watchdog refresh
+  EV3_MSG_NACK = (MTYPE_SYSTEM << EV3_MESSAGE_TYPE_SHIFT) |
+                 (MTYPE_SYSTEM_NACK << EV3_MESSAGE_SUBTYPE_SHIFT),
+  // Confirmation that the brick received all sensor information
+  EV3_MSG_ACK = (MTYPE_SYSTEM << EV3_MESSAGE_TYPE_SHIFT) |
+                (MTYPE_SYSTEM_ACK << EV3_MESSAGE_SUBTYPE_SHIFT),
+  // First byte of the sensor handshake
+  EV3_INITIAL_MSG = (MTYPE_COMMAND << EV3_MESSAGE_TYPE_SHIFT) |
+                    (MTYPE_COMMAND_TYPE << EV3_MESSAGE_SUBTYPE_SHIFT) |
+                    (0 << EV3_MESSAGE_LENGTH_SHIFT)
+};
+
+
+#endif //EV3_SENSOR_MESSAGES_H

oc_sensors/open_gyro/Core/Inc/oc_st_sensor.h

+/**
+ *  Open-Cube STM helper functions for sending EV3 UART protocol messages
+ */
+#ifndef OC_ST_SENSOR_MESSAGES_H
+#define OC_ST_SENSOR_MESSAGES_H
+#include "main.h"
+#include "messages.h"
+
+#define MODE_DEFAULT 0
+
+typedef struct {
+	uint8_t type;
+	uint8_t num_modes;
+	uint8_t num_visible_modes;
+	uint32_t baud_rate;
+	ev3_mode_info modes[EV3_MAX_MODES];
+} sensor_info;
+
+extern void uart_send_length(const void *data, uint16_t length, USART_TypeDef* usart);
+extern void send_metadata(const sensor_info* s_info, USART_TypeDef* usart);
+extern void send_data(int sensor_state, void* data, size_t size, USART_TypeDef* usart);
+
+#endif //OC_ST_SENSOR_MESSAGES_H

oc_sensors/open_gyro/Core/Inc/stm32_assert.h

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32_assert.h
+  * @author  MCD Application Team
+  * @brief   STM32 assert file.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2018-2020 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32_ASSERT_H
+#define __STM32_ASSERT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+/* Includes ------------------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr: If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed.
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+void assert_failed(uint8_t *file, uint32_t line);
+#else
+#define assert_param(expr) ((void)0U)
+#endif /* USE_FULL_ASSERT */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32_ASSERT_H */
+

oc_sensors/open_gyro/Core/Inc/stm32g0xx_hal_conf.h

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32g0xx_hal_conf.h
+  * @author  MCD Application Team
+  * @brief   HAL configuration file.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2018 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32G0xx_HAL_CONF_H
+#define STM32G0xx_HAL_CONF_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/* ########################## Module Selection ############################## */
+/**
+  * @brief This is the list of modules to be used in the HAL driver
+  */
+#define HAL_MODULE_ENABLED
+/* #define HAL_ADC_MODULE_ENABLED   */
+/* #define HAL_CEC_MODULE_ENABLED   */
+/* #define HAL_COMP_MODULE_ENABLED   */
+/* #define HAL_CRC_MODULE_ENABLED   */
+/* #define HAL_CRYP_MODULE_ENABLED   */
+/* #define HAL_DAC_MODULE_ENABLED   */
+/* #define HAL_EXTI_MODULE_ENABLED   */
+/* #define HAL_FDCAN_MODULE_ENABLED   */
+/* #define HAL_HCD_MODULE_ENABLED   */
+#define HAL_I2C_MODULE_ENABLED
+/* #define HAL_I2S_MODULE_ENABLED   */
+/* #define HAL_IWDG_MODULE_ENABLED   */
+/* #define HAL_IRDA_MODULE_ENABLED   */
+/* #define HAL_LPTIM_MODULE_ENABLED   */
+/* #define HAL_PCD_MODULE_ENABLED   */
+/* #define HAL_RNG_MODULE_ENABLED   */
+/* #define HAL_RTC_MODULE_ENABLED   */
+/* #define HAL_SMARTCARD_MODULE_ENABLED   */
+/* #define HAL_SMBUS_MODULE_ENABLED   */
+#define HAL_SPI_MODULE_ENABLED
+#define HAL_TIM_MODULE_ENABLED
+/* #define HAL_UART_MODULE_ENABLED   */
+/* #define HAL_USART_MODULE_ENABLED   */
+/* #define HAL_WWDG_MODULE_ENABLED   */
+#define HAL_GPIO_MODULE_ENABLED
+#define HAL_EXTI_MODULE_ENABLED
+#define HAL_DMA_MODULE_ENABLED
+#define HAL_RCC_MODULE_ENABLED
+#define HAL_FLASH_MODULE_ENABLED
+#define HAL_PWR_MODULE_ENABLED
+#define HAL_CORTEX_MODULE_ENABLED
+
+/* ########################## Register Callbacks selection ############################## */
+/**
+  * @brief This is the list of modules where register callback can be used
+  */
+#define USE_HAL_ADC_REGISTER_CALLBACKS    0u
+#define USE_HAL_CEC_REGISTER_CALLBACKS    0u
+#define USE_HAL_COMP_REGISTER_CALLBACKS   0u
+#define USE_HAL_CRYP_REGISTER_CALLBACKS   0u
+#define USE_HAL_DAC_REGISTER_CALLBACKS    0u
+#define USE_HAL_FDCAN_REGISTER_CALLBACKS  0u
+#define USE_HAL_HCD_REGISTER_CALLBACKS    0u
+#define USE_HAL_I2C_REGISTER_CALLBACKS    0u
+#define USE_HAL_I2S_REGISTER_CALLBACKS    0u
+#define USE_HAL_IRDA_REGISTER_CALLBACKS   0u
+#define USE_HAL_LPTIM_REGISTER_CALLBACKS  0u
+#define USE_HAL_PCD_REGISTER_CALLBACKS    0u
+#define USE_HAL_RNG_REGISTER_CALLBACKS    0u
+#define USE_HAL_RTC_REGISTER_CALLBACKS    0u
+#define USE_HAL_SMBUS_REGISTER_CALLBACKS  0u
+#define USE_HAL_SPI_REGISTER_CALLBACKS    0u
+#define USE_HAL_TIM_REGISTER_CALLBACKS    0u
+#define USE_HAL_UART_REGISTER_CALLBACKS   0u
+#define USE_HAL_USART_REGISTER_CALLBACKS  0u
+#define USE_HAL_WWDG_REGISTER_CALLBACKS   0u
+
+/* ########################## Oscillator Values adaptation ####################*/
+/**
+  * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSE is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSE_VALUE)
+#define HSE_VALUE    (8000000UL)         /*!< Value of the External oscillator in Hz */
+#endif /* HSE_VALUE */
+
+#if !defined  (HSE_STARTUP_TIMEOUT)
+#define HSE_STARTUP_TIMEOUT    (100UL)         /*!< Time out for HSE start up, in ms */
+#endif /* HSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief Internal High Speed oscillator (HSI) value.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSI is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSI_VALUE)
+#define HSI_VALUE    (16000000UL)            /*!< Value of the Internal oscillator in Hz*/
+#endif /* HSI_VALUE */
+
+#if defined(STM32G0C1xx) || defined(STM32G0B1xx) || defined(STM32G0B0xx)
+/**
+  * @brief Internal High Speed oscillator (HSI48) value for USB FS, SDMMC and RNG.
+  *        This internal oscillator is mainly dedicated to provide a high precision clock to
+  *        the USB peripheral by means of a special Clock Recovery System (CRS) circuitry.
+  *        When the CRS is not used, the HSI48 RC oscillator runs on it default frequency
+  *        which is subject to manufacturing process variations.
+  */
+#if !defined  (HSI48_VALUE)
+  #define HSI48_VALUE   48000000U             /*!< Value of the Internal High Speed oscillator for USB FS/SDMMC/RNG in Hz.
+                                               The real value my vary depending on manufacturing process variations.*/
+#endif /* HSI48_VALUE */
+#endif
+
+/**
+  * @brief Internal Low Speed oscillator (LSI) value.
+  */
+#if !defined  (LSI_VALUE)
+#define LSI_VALUE  (32000UL)                /*!< LSI Typical Value in Hz*/
+#endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
+The real value may vary depending on the variations
+in voltage and temperature.*/
+/**
+  * @brief External Low Speed oscillator (LSE) value.
+  *        This value is used by the UART, RTC HAL module to compute the system frequency
+  */
+#if !defined  (LSE_VALUE)
+#define LSE_VALUE    (32768UL)               /*!< Value of the External oscillator in Hz*/
+#endif /* LSE_VALUE */
+
+#if !defined  (LSE_STARTUP_TIMEOUT)
+#define LSE_STARTUP_TIMEOUT    (5000UL)      /*!< Time out for LSE start up, in ms */
+#endif /* LSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief External clock source for I2S1 peripheral
+  *        This value is used by the RCC HAL module to compute the I2S1 clock source
+  *        frequency.
+  */
+#if !defined  (EXTERNAL_I2S1_CLOCK_VALUE)
+#define EXTERNAL_I2S1_CLOCK_VALUE    (12288000UL) /*!< Value of the I2S1 External clock source in Hz*/
+#endif /* EXTERNAL_I2S1_CLOCK_VALUE */
+
+#if defined(STM32G0C1xx) || defined(STM32G0B1xx) || defined(STM32G0B0xx)
+/**
+  * @brief External clock source for I2S2 peripheral
+  *        This value is used by the RCC HAL module to compute the I2S2 clock source
+  *        frequency.
+  */
+#if !defined  (EXTERNAL_I2S2_CLOCK_VALUE)
+  #define EXTERNAL_I2S2_CLOCK_VALUE    48000U /*!< Value of the I2S2 External clock source in Hz*/
+#endif /* EXTERNAL_I2S2_CLOCK_VALUE */
+#endif
+
+/* Tip: To avoid modifying this file each time you need to use different HSE,
+   ===  you can define the HSE value in your toolchain compiler preprocessor. */
+
+/* ########################### System Configuration ######################### */
+/**
+  * @brief This is the HAL system configuration section
+  */
+#define  VDD_VALUE                    (3300UL)                                        /*!< Value of VDD in mv */
+#define  TICK_INT_PRIORITY            3U /*!< tick interrupt priority */
+#define  USE_RTOS                     0U
+#define  PREFETCH_ENABLE              1U
+#define  INSTRUCTION_CACHE_ENABLE     1U
+
+/* ################## SPI peripheral configuration ########################## */
+
+/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
+* Activated: CRC code is present inside driver
+* Deactivated: CRC code cleaned from driver
+*/
+
+#define USE_SPI_CRC                     0U
+
+/* ################## CRYP peripheral configuration ########################## */
+
+#define USE_HAL_CRYP_SUSPEND_RESUME     1U
+
+/* ########################## Assert Selection ############################## */
+/**
+  * @brief Uncomment the line below to expanse the "assert_param" macro in the
+  *        HAL drivers code
+  */
+/* #define USE_FULL_ASSERT    1U */
+
+/* Includes ------------------------------------------------------------------*/
+/**
+  * @brief Include modules header file
+  */
+
+#ifdef HAL_RCC_MODULE_ENABLED
+#include "stm32g0xx_hal_rcc.h"
+#endif /* HAL_RCC_MODULE_ENABLED */
+
+#ifdef HAL_GPIO_MODULE_ENABLED
+#include "stm32g0xx_hal_gpio.h"
+#endif /* HAL_GPIO_MODULE_ENABLED */
+
+#ifdef HAL_DMA_MODULE_ENABLED
+#include "stm32g0xx_hal_dma.h"
+#endif /* HAL_DMA_MODULE_ENABLED */
+
+#ifdef HAL_CORTEX_MODULE_ENABLED
+#include "stm32g0xx_hal_cortex.h"
+#endif /* HAL_CORTEX_MODULE_ENABLED */
+
+#ifdef HAL_ADC_MODULE_ENABLED
+#include "stm32g0xx_hal_adc.h"
+#include "stm32g0xx_hal_adc_ex.h"
+#endif /* HAL_ADC_MODULE_ENABLED */
+
+#ifdef HAL_CEC_MODULE_ENABLED
+#include "stm32g0xx_hal_cec.h"
+#endif /* HAL_CEC_MODULE_ENABLED */
+
+#ifdef HAL_COMP_MODULE_ENABLED
+#include "stm32g0xx_hal_comp.h"
+#endif /* HAL_COMP_MODULE_ENABLED */
+
+#ifdef HAL_CRC_MODULE_ENABLED
+#include "stm32g0xx_hal_crc.h"
+#endif /* HAL_CRC_MODULE_ENABLED */
+
+#ifdef HAL_CRYP_MODULE_ENABLED
+#include "stm32g0xx_hal_cryp.h"
+#endif /* HAL_CRYP_MODULE_ENABLED */
+
+#ifdef HAL_DAC_MODULE_ENABLED
+#include "stm32g0xx_hal_dac.h"
+#endif /* HAL_DAC_MODULE_ENABLED */
+
+#ifdef HAL_EXTI_MODULE_ENABLED
+#include "stm32g0xx_hal_exti.h"
+#endif /* HAL_EXTI_MODULE_ENABLED */
+
+#ifdef HAL_FLASH_MODULE_ENABLED
+#include "stm32g0xx_hal_flash.h"
+#endif /* HAL_FLASH_MODULE_ENABLED */
+
+#ifdef HAL_FDCAN_MODULE_ENABLED
+#include "stm32g0xx_hal_fdcan.h"
+#endif /* HAL_FDCAN_MODULE_ENABLED */
+
+#ifdef HAL_HCD_MODULE_ENABLED
+#include "stm32g0xx_hal_hcd.h"
+#endif /* HAL_HCD_MODULE_ENABLED */
+
+#ifdef HAL_I2C_MODULE_ENABLED
+#include "stm32g0xx_hal_i2c.h"
+#endif /* HAL_I2C_MODULE_ENABLED */
+
+#ifdef HAL_I2S_MODULE_ENABLED
+#include "stm32g0xx_hal_i2s.h"
+#endif /* HAL_I2S_MODULE_ENABLED */
+
+#ifdef HAL_IRDA_MODULE_ENABLED
+#include "stm32g0xx_hal_irda.h"
+#endif /* HAL_IRDA_MODULE_ENABLED */
+
+#ifdef HAL_IWDG_MODULE_ENABLED
+#include "stm32g0xx_hal_iwdg.h"
+#endif /* HAL_IWDG_MODULE_ENABLED */
+
+#ifdef HAL_LPTIM_MODULE_ENABLED
+#include "stm32g0xx_hal_lptim.h"
+#endif /* HAL_LPTIM_MODULE_ENABLED */
+
+#ifdef HAL_PCD_MODULE_ENABLED
+#include "stm32g0xx_hal_pcd.h"
+#endif /* HAL_PCD_MODULE_ENABLED */
+
+#ifdef HAL_PWR_MODULE_ENABLED
+#include "stm32g0xx_hal_pwr.h"
+#endif /* HAL_PWR_MODULE_ENABLED */
+
+#ifdef HAL_RNG_MODULE_ENABLED
+#include "stm32g0xx_hal_rng.h"
+#endif /* HAL_RNG_MODULE_ENABLED */
+
+#ifdef HAL_RTC_MODULE_ENABLED
+#include "stm32g0xx_hal_rtc.h"
+#endif /* HAL_RTC_MODULE_ENABLED */
+
+#ifdef HAL_SMARTCARD_MODULE_ENABLED
+#include "stm32g0xx_hal_smartcard.h"
+#endif /* HAL_SMARTCARD_MODULE_ENABLED */
+
+#ifdef HAL_SMBUS_MODULE_ENABLED
+#include "stm32g0xx_hal_smbus.h"
+#endif /* HAL_SMBUS_MODULE_ENABLED */
+
+#ifdef HAL_SPI_MODULE_ENABLED
+#include "stm32g0xx_hal_spi.h"
+#endif /* HAL_SPI_MODULE_ENABLED */
+
+#ifdef HAL_TIM_MODULE_ENABLED
+#include "stm32g0xx_hal_tim.h"
+#endif /* HAL_TIM_MODULE_ENABLED */
+
+#ifdef HAL_UART_MODULE_ENABLED
+#include "stm32g0xx_hal_uart.h"
+#endif /* HAL_UART_MODULE_ENABLED */
+
+#ifdef HAL_USART_MODULE_ENABLED
+#include "stm32g0xx_hal_usart.h"
+#endif /* HAL_USART_MODULE_ENABLED */
+
+#ifdef HAL_WWDG_MODULE_ENABLED
+#include "stm32g0xx_hal_wwdg.h"
+#endif /* HAL_WWDG_MODULE_ENABLED */
+
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for functions parameters check.
+  * @param  expr If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed.
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+void assert_failed(uint8_t *file, uint32_t line);
+#else
+#define assert_param(expr) ((void)0U)
+#endif /* USE_FULL_ASSERT */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STM32G0xx_HAL_CONF_H */

oc_sensors/open_gyro/Core/Inc/stm32g0xx_it.h

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32g0xx_it.h
+  * @brief   This file contains the headers of the interrupt handlers.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+ ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32G0xx_IT_H
+#define __STM32G0xx_IT_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void NMI_Handler(void);
+void HardFault_Handler(void);
+void SVC_Handler(void);
+void PendSV_Handler(void);
+void SysTick_Handler(void);
+void EXTI4_15_IRQHandler(void);
+void DMA1_Channel1_IRQHandler(void);
+void DMA1_Channel2_3_IRQHandler(void);
+void DMA1_Ch4_5_DMAMUX1_OVR_IRQHandler(void);
+void TIM16_IRQHandler(void);
+void I2C2_IRQHandler(void);
+void SPI1_IRQHandler(void);
+void USART2_IRQHandler(void);
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32G0xx_IT_H */