IMU Zero

[bjackson312006]

Changes

Added a zeroing function to IMU

Notes

Not tested yet

[Copilot]

Pull Request Overview

Adds a zeroing feature for the IMU, allowing the current orientation to be used as a reference offset, and wires it up over CAN.

• Introduces imu_zero() plus global arrays to store raw and zero-reference rotation data.
• Updates the IMU monitor (vIMUMonitor) to apply the zero reference when publishing orientation.
• Adds CAN inbound handling for an IMU-zero command, including a new receive thread (vCanReceive) and CAN filter IDs.

Reviewed Changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
Core/Src/msb.c	Defined imu_rotation_data, imu_zero_reference, and imu_zero()
Core/Src/monitor.c	Changed orientation assignment to subtract zero reference
Core/Src/main.c	Started a new thread for CAN receive (vCanReceive)
Core/Src/can_handler.c	Created inbound queue, can1_callback, and vCanReceive to handle zero commands
Core/Inc/msb_conf.h	Added CAN IDs for IMU zero commands
Core/Inc/msb.h	Added prototype for imu_zero()
Core/Inc/can_handler.h	Declared can1_callback, vCanReceive, and their thread IDs/attributes

Comments suppressed due to low confidence (1)

Core/Src/can_handler.c:144

• [nitpick] The thread name 'CanProcessing' is ambiguous for the receive thread; consider renaming it to 'CanReceive' for clarity.

.name = "CanProcessing",

[jr1221]

test then merge. cool