[IMU] massive cleanup

- Luos msgHandler are not in IRQ since Luos 2.0
- Complete Robus config is done on RobusHAL
- Do not poll IMU without detection
- Remove warnings

examples/projects/l0/imu/include/main.h

@@ -93,30 +93,12 @@ void Error_Handler(void);
 #define INVEN_INT_EXTI_IRQn EXTI0_1_IRQn
 #define CS_Pin GPIO_PIN_1
 #define CS_GPIO_Port GPIOA
-#define POWER_SENSOR_Pin GPIO_PIN_2
-#define POWER_SENSOR_GPIO_Port GPIOA
 #define LED_Pin GPIO_PIN_3
 #define LED_GPIO_Port GPIOA
-#define COM_LVL_DOWN_Pin GPIO_PIN_5
-#define COM_LVL_DOWN_GPIO_Port GPIOA
-#define COM_LVL_UP_Pin GPIO_PIN_6
-#define COM_LVL_UP_GPIO_Port GPIOA
 #define SCL_Pin GPIO_PIN_10
 #define SCL_GPIO_Port GPIOB
 #define SDA_Pin GPIO_PIN_11
 #define SDA_GPIO_Port GPIOB
-#define PTPB_Pin GPIO_PIN_13
-#define PTPB_GPIO_Port GPIOB
-#define RX_EN_Pin GPIO_PIN_14
-#define RX_EN_GPIO_Port GPIOB
-#define TX_EN_Pin GPIO_PIN_15
-#define TX_EN_GPIO_Port GPIOB
-#define PTPA_Pin GPIO_PIN_8
-#define PTPA_GPIO_Port GPIOA
-#define COM_TX_Pin GPIO_PIN_9
-#define COM_TX_GPIO_Port GPIOA
-#define COM_RX_Pin GPIO_PIN_10
-#define COM_RX_GPIO_Port GPIOA
 /* USER CODE BEGIN Private defines */
 #define FIRM_REV "0.5.1"
     void gyro_data_ready_cb(void);

examples/projects/l0/imu/lib/Imu/imu.c

@@ -6,7 +6,8 @@
  ******************************************************************************/
 #include "main.h"
 #include "imu.h"
-#include <mpu_configuration.h>
+#include "mpu_configuration.h"
+#include "data_builder.h"
 
 /*******************************************************************************
  * Definitions
@@ -18,10 +19,6 @@
 volatile uint32_t hal_timestamp = 0;
 unsigned char *mpl_key          = (unsigned char *)"eMPL 5.1";
 
-service_t *service_pointer;
-volatile msg_t pub_msg;
-volatile int pub = LUOS_LAST_STD_CMD;
-
 /*******************************************************************************
  * Function
  ******************************************************************************/
@@ -36,6 +33,7 @@ void Imu_Init(void)
 {
     revision_t revision = {.major = 1, .minor = 0, .build = 0};
     mpu_setup();
+    HAL_GPIO_WritePin(GPIOA, LED_Pin, GPIO_PIN_RESET);
     hal.report.quat = 1;
     Luos_CreateService(Imu_MsgHandler, IMU_TYPE, "Imu", revision);
 }
@@ -46,11 +44,15 @@ void Imu_Init(void)
  ******************************************************************************/
 void Imu_Loop(void)
 {
+    if (!Luos_IsDetected())
+    {
+        return;
+    }
+
     // *********************IMU management*******************************
     unsigned long sensor_timestamp;
-    unsigned long timestamp;
+    unsigned long timestamp       = Luos_GetSystick();
     int new_data                  = 0;
-    timestamp                     = HAL_GetTick();
     static unsigned char new_temp = 0;
 #ifdef COMPASS_ENABLED
     static unsigned char new_compass = 0;
@@ -226,11 +228,6 @@ void Imu_Loop(void)
          * rate requested by the host.
          */
     }
-    if (hal.update_request == 1)
-    {
-        read_from_mpl(service_pointer);
-        hal.update_request = 0;
-    }
 }
 /******************************************************************************
  * @brief Msg Handler call back when a msg receive for this service
@@ -242,19 +239,15 @@ static void Imu_MsgHandler(service_t *service, const msg_t *msg)
 {
     if (msg->header.cmd == GET_CMD)
     {
-        // fill the message infos
-        hal.update_request = 1;
-        service_pointer    = service;
-        hal.source_id      = msg->header.source;
-        pub                = LUOS_LAST_STD_CMD;
+        // Fill the message infos
+        hal.source_id = msg->header.source;
+        read_from_mpl(service);
         return;
     }
     if (msg->header.cmd == PARAMETERS)
     {
-        service_pointer = service;
-        // fill the message infos
+        // Get the message infos
         memcpy(&hal.report, msg->data, sizeof(short));
-        pub = LUOS_LAST_STD_CMD;
         return;
     }
 }
@@ -266,12 +259,3 @@ void gyro_data_ready_cb(void)
 {
     hal.new_gyro = 1;
 }
-
-void HAL_SYSTICK_Callback(void)
-{
-    if (pub != LUOS_LAST_STD_CMD)
-    {
-        Luos_SendMsg(service_pointer, (msg_t *)&pub_msg);
-        pub = LUOS_LAST_STD_CMD;
-    }
-}