this repo is just a practice of the course embedded system.Aiming at getting familiar with the fancy tools and fashion framework, I don`t take care of the quality of code.

use a opensource flight controller of quadrotor, which named CC3D.

use cubemx and platformio to replace rubbish software keil5.

I really take a hard time at writing the driver and initialization code of MPU6000 (who want to write the initialization code of MPU6000 should take care of the follow code).

  // disable I2C and enable SPI first
  // we should do this at the first time power on
  MPU6000_set_reg(MPU6000_USER_CTRL,BIT_I2C_IF_DIS,hspi);

remember to set uart as DMA mode.

change the source code of STM32Hardware.h.

the low level interface is nolonger

    int fputc(int char, FILE *stream);

and it changes to

    int _write (int fd, char *pBuffer, int size);

and remember to check your toolchains first!

origin the basic implement of rosserial on genericSTM32F103CB

SPI-test use SPI1 to read MPU6000, then use UART1 to send out data.

MPU_6050_DMP the implement of DMP on SPI MPU6000 and messages to ros via UART1.