Initial commit

2025-08-17 00:56:10 +00:00 · 2020-02-07 16:37:13 +01:00
commit 23929c5884
386 changed files with 235248 additions and 0 deletions
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -0,0 +1,82 @@
+/**
+  * This file is part of the hoverboard-sideboard-hack project.
+  *
+  * Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
+  *
+  * This program is free software: you can redistribute it and/or modify
+  * it under the terms of the GNU General Public License as published by
+  * the Free Software Foundation, either version 3 of the License, or
+  * (at your option) any later version.
+  *
+  * This program is distributed in the hope that it will be useful,
+  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  * GNU General Public License for more details.
+  *
+  * You should have received a copy of the GNU General Public License
+  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+// Define to prevent recursive inclusion
+#ifndef CONFIG_H
+#define CONFIG_H
+
+/* ==================================== VARIANT SELECTION ==================================== */
+#if !defined(PLATFORMIO)
+  #define VARIANT_DEBUG     									// Variant for debugging and checking the capabilities of the side-board
+  //#define VARIANT_HOVERBOARD  								// Variant for using the side-boards connected to the Hoverboard mainboard
+#endif
+
+/* ==================================== DO NOT TOUCH SETTINGS ==================================== */
+//#define PRINTF_FLOAT_SUPPORT                // [-] Uncomment this for printf to support float. It will increase code size!
+#define BYPASS_CUBEMX_DEFINES                 // [-] Use this flag to bypass the Ports definitions generated by CUBE MX in main.h and use the ones in defines.h
+#define MPU6050																// [-] Define IMU sensor type
+#define MPU_GYRO_FSR							2000				// [deg/s] Set Gyroscope Full Scale Range: 250 deg/s, 500 deg/s, 1000 deg/s, 2000 deg/s. !! DMP sensor fusion works only with 2000 deg/s !!
+#define MPU_ACCEL_FSR							2						// [g] Set Acceleromenter Full Scale Range: 2g, 4g, 8g, 16g. !! DMP sensor fusion works only with 2g !!
+#ifdef BYPASS_CUBEMX_DEFINES
+  #define MPU_I2C_SPEED						400000			// [bit/s] Define I2C speed for communicating with the MPU6050
+#endif
+#define DELAY_IN_MAIN_LOOP 				1						// [ms] Delay in the main loop
+/* =============================================================================================== */
+
+
+/* ==================================== SETTINGS MPU-6050 ==================================== */
+#define MPU_DMP_ENABLE												// [-] Enable flag for MPU-6050 DMP (Digital Motion Processing) functionality.
+#define MPU_DEFAULT_HZ  					20 					// [Hz] Default MPU frequecy: must be between 1Hz and 200Hz.
+#define TEMP_READ_MS    					500					// [ms] Temperature read time interval
+#define PEDO_READ_MS    					1000				// [ms] Pedometer read time interval
+// #define USE_CAL_HW_REGISTERS							    // [-] Uncommnent this to SAVE the sensor calibration to the MPU-6050 registers after the Self-test was run
+
+// DMP Tap Detection Settings
+#define DMP_TAP_AXES							TAP_XYZ 		// [-] Set which axes will register a tap: TAP_XYZ, TAP_X, TAP_Y, TAP_Z
+#define DMP_TAP_THRESH 						250 				// [mg/ms] Set tap threshold for the selected axis.
+#define DMP_TAP_COUNT 						1 					// [-] Set minimum number of taps needed for an interrupt. Minimum consecutive taps: 1 to 4
+#define DMP_TAP_TIME 							100					// [ms] Set time length between valid taps.
+#define DMP_TAP_TIME_MULTI 				500	 				// [ms] Set max time between taps to register as a multi-tap.
+#define DMP_SHAKE_REJECT_THRESH 	200 				// [deg/s] Set shake rejection threshold in degree per second (dps). If the DMP detects a gyro sample larger than the thresh, taps are rejected.
+#define DMP_SHAKE_REJECT_TIME 		40 					// [ms] Set shake rejection time. Sets the length of time that the gyro must be outside of the DMP_SHAKE_REJECT_THRESH before taps are rejected. A mandatory 60 ms is added to this parameter.
+#define DMP_SHAKE_REJECT_TIMEOUT 	10 					// [ms] Set shake rejection timeout. Sets the length of time after a shake rejection that the gyro must stay inside of the threshold before taps can be detected again. A mandatory 60 ms is added to this parameter.
+
+
+/* ==================================== SETTINGS USART ==================================== */
+#if defined(VARIANT_DEBUG)
+	#define SERIAL_DEBUG												// [-] Define for Serial Debug via the serial port
+#elif defined(VARIANT_HOVERBOARD)
+	#define SERIAL_CONTROL											// [-] Define for Serial Control via the serial port
+	#define SERIAL_FEEDBACK											// [-] Define for Serial Feedback via the serial port
+#endif
+#ifdef BYPASS_CUBEMX_DEFINES
+  #define USART_MAIN_BAUD					38400				// [bit/s] MAIN Serial Tx/Rx baud rate
+#endif
+#define SERIAL_START_FRAME   			0xAAAA     	// [-] Start frame definition for reliable serial communication
+#define SERIAL_TIMEOUT          	300         // [-] Numer of wrong received data for Serial timeout detection
+
+
+/* ==================================== VALIDATE SETTINGS ==================================== */
+#if defined(SERIAL_DEBUG) && defined(SERIAL_CONTROL)
+  #error SERIAL_DEBUG and SERIAL_CONTROL not allowed. It is on the same cable.
+#endif
+
+
+#endif
+
--- a/Inc/defines.h
+++ b/Inc/defines.h
@@ -0,0 +1,131 @@
+/**
+  * This file is part of the hoverboard-sideboard-hack project.
+  *
+  * Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
+  *
+  * This program is free software: you can redistribute it and/or modify
+  * it under the terms of the GNU General Public License as published by
+  * the Free Software Foundation, either version 3 of the License, or
+  * (at your option) any later version.
+  *
+  * This program is distributed in the hope that it will be useful,
+  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  * GNU General Public License for more details.
+  *
+  * You should have received a copy of the GNU General Public License
+  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+// Define to prevent recursive inclusion
+#ifndef DEFINES_H
+#define DEFINES_H
+
+
+// Includes
+#include "stm32f1xx_hal.h"
+#include "config.h"
+#include "util.h"
+
+#define UART_DMA_CHANNEL_TX 			DMA1_Channel7
+#define UART_DMA_CHANNEL_RX 			DMA1_Channel6
+
+#if defined(PRINTF_FLOAT_SUPPORT) && defined(SERIAL_DEBUG) && defined(__GNUC__)
+	asm(".global _printf_float"); 		// this is the magic trick for printf to support float
+#endif
+
+/* =========================== Defines General =========================== */
+// #define _BV(bit) 	(1 << (bit)) 
+// #define ARRAYNUM(arr_nanme)      (uint32_t)(sizeof(arr_nanme) / sizeof(*(arr_nanme)))
+#define min(a, b) (((a) < (b)) ? (a) : (b))
+#define max(a, b) (((a) > (b)) ? (a) : (b))
+#define i2c_write   i2c_writeBytes
+#define i2c_read    i2c_readBytes 
+#define delay_ms    HAL_Delay
+#define get_ms      get_tick_count_ms
+
+#ifdef BYPASS_CUBEMX_DEFINES
+
+/* =========================== Defines LEDs =========================== */
+#define LED1_GPIO_Port 					GPIOA
+#define LED1_Pin 						GPIO_PIN_0		// RED
+#define LED2_GPIO_Port 					GPIOB
+#define LED2_Pin 						GPIO_PIN_9		// GREEN
+#define LED3_GPIO_Port 					GPIOB
+#define LED3_Pin 						GPIO_PIN_8		// YELLOW
+#define LED4_GPIO_Port 					GPIOB
+#define LED4_Pin 						GPIO_PIN_5		// BLUE1
+#define LED5_GPIO_Port 					GPIOB
+#define LED5_Pin 						GPIO_PIN_4		// BLUE2
+
+/* =========================== Defines SENSORS =========================== */
+#define SENSOR1_GPIO_Port 				GPIOA
+#define SENSOR1_Pin 					GPIO_PIN_4
+#define SENSOR2_GPIO_Port 				GPIOC
+#define SENSOR2_Pin 					GPIO_PIN_14
+
+/* =========================== Defines AUX =========================== */
+#define AUX1_PU_GPIO_Port				GPIOC
+#define AUX1_PU_Pin						GPIO_PIN_15
+#define AUX2_GPIO_Port 					GPIOA
+#define AUX2_Pin 						GPIO_PIN_1
+#define AUX3_PU_GPIO_Port				GPIOB
+#define AUX3_PU_Pin						GPIO_PIN_11
+
+/* =========================== Defines I2C =========================== */
+#define MPU_SCL_GPIO_Port 				GPIOB
+#define MPU_SCL_Pin 					GPIO_PIN_6
+#define MPU_SDA_GPIO_Port 				GPIOB
+#define MPU_SDA_Pin 					GPIO_PIN_7
+// #define I2C_OWN_ADDRESS7    			0x24
+
+#endif
+
+/* =========================== Defines MPU-6050 =========================== */
+#define log_i       					printf				// redirect the log_i debug function to printf
+#define RAD2DEG 						57.295779513082323  // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
+#define ACCEL_ON        				(0x01)
+#define GYRO_ON         				(0x02)
+#define COMPASS_ON      				(0x04)
+
+#define PRINT_ACCEL     				(0x01)
+#define PRINT_GYRO      				(0x02)
+#define PRINT_QUAT      				(0x04)
+#define PRINT_EULER     				(0x08)
+#define PRINT_TEMP     					(0x10)
+#define PRINT_PEDO      				(0x20)
+
+typedef struct{
+	int16_t  	x;
+	int16_t  	y;
+	int16_t  	z; 
+} Gyro;
+
+typedef struct{
+	int16_t  	x;
+	int16_t  	y;
+	int16_t  	z; 
+} Accel;
+
+typedef struct{
+	int32_t  	w;
+	int32_t  	x;
+	int32_t  	y;
+	int32_t  	z; 
+} Quaternion;
+
+typedef struct{
+	int16_t  	roll;
+	int16_t  	pitch;
+	int16_t  	yaw;
+} Euler;
+
+typedef struct {
+	Gyro 		gyro;
+	Accel 		accel;
+	Quaternion 	quat;
+	Euler 		euler;
+	int16_t 	temp;
+} MPU_Data;
+
+#endif
--- a/Inc/dma.h
+++ b/Inc/dma.h
@@ -0,0 +1,56 @@
+/**
+  ******************************************************************************
+  * File Name          : dma.h
+  * Description        : This file contains all the function prototypes for
+  *                      the dma.c file
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __dma_H
+#define __dma_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_DMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __dma_H */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Inc/gpio.h
+++ b/Inc/gpio.h
@@ -0,0 +1,57 @@
+/**
+  ******************************************************************************
+  * File Name          : gpio.h
+  * Description        : This file contains all the functions prototypes for 
+  *                      the gpio  
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __gpio_H
+#define __gpio_H
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_GPIO_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+#endif /*__ pinoutConfig_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Inc/i2c.h
+++ b/Inc/i2c.h
@@ -0,0 +1,58 @@
+/**
+  ******************************************************************************
+  * File Name          : I2C.h
+  * Description        : This file provides code for the configuration
+  *                      of the I2C instances.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __i2c_H
+#define __i2c_H
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern I2C_HandleTypeDef hi2c1;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_I2C1_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+#endif /*__ i2c_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Inc/main.h
+++ b/Inc/main.h
@@ -0,0 +1,99 @@
+/* USER CODE BEGIN Header */
+/**
+  * This file is part of the hoverboard-sideboard-hack project.
+  *
+  * Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
+  *
+  * This program is free software: you can redistribute it and/or modify
+  * it under the terms of the GNU General Public License as published by
+  * the Free Software Foundation, either version 3 of the License, or
+  * (at your option) any later version.
+  *
+  * This program is distributed in the hope that it will be useful,
+  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  * GNU General Public License for more details.
+  *
+  * You should have received a copy of the GNU General Public License
+  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f1xx_hal.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "defines.h"
+#include "config.h"
+/* 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 */
+#if !defined(BYPASS_CUBEMX_DEFINES)
+/* USER CODE END EFP */
+
+/* Private defines -----------------------------------------------------------*/
+#define USART_MAIN_BAUD 38400
+#define MPU_I2C_SPEED 400000
+#define SENSOR2_Pin GPIO_PIN_14
+#define SENSOR2_GPIO_Port GPIOC
+#define AUX1_PU_Pin GPIO_PIN_15
+#define AUX1_PU_GPIO_Port GPIOC
+#define LED1_Pin GPIO_PIN_0
+#define LED1_GPIO_Port GPIOA
+#define AUX2_Pin GPIO_PIN_1
+#define AUX2_GPIO_Port GPIOA
+#define SENSOR1_Pin GPIO_PIN_4
+#define SENSOR1_GPIO_Port GPIOA
+#define AUX3_PU_Pin GPIO_PIN_11
+#define AUX3_PU_GPIO_Port GPIOB
+#define LED5_Pin GPIO_PIN_4
+#define LED5_GPIO_Port GPIOB
+#define LED4_Pin GPIO_PIN_5
+#define LED4_GPIO_Port GPIOB
+#define MPU_SCL_Pin GPIO_PIN_6
+#define MPU_SCL_GPIO_Port GPIOB
+#define MPU_SDA_Pin GPIO_PIN_7
+#define MPU_SDA_GPIO_Port GPIOB
+#define LED3_Pin GPIO_PIN_8
+#define LED3_GPIO_Port GPIOB
+#define LED2_Pin GPIO_PIN_9
+#define LED2_GPIO_Port GPIOB
+/* USER CODE BEGIN Private defines */
+#endif
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Inc/mpu6050.h
+++ b/Inc/mpu6050.h
@@ -0,0 +1,144 @@
+/**
+  * This file was taken from InvenSense MotionApps v6.12 library and
+	* refactored for the hoverboard-sideboard-hack project.
+  *
+  * Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
+	* Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+  *
+  * This program is free software: you can redistribute it and/or modify
+  * it under the terms of the GNU General Public License as published by
+  * the Free Software Foundation, either version 3 of the License, or
+  * (at your option) any later version.
+  *
+  * This program is distributed in the hope that it will be useful,
+  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  * GNU General Public License for more details.
+  *
+  * You should have received a copy of the GNU General Public License
+  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+// Define to prevent recursive inclusion
+#ifndef MPU6050_H
+#define MPU6050_H
+
+#include <stdint.h>
+#include "defines.h"
+
+//--------------------------------------------
+#define INV_X_GYRO      (0x40)
+#define INV_Y_GYRO      (0x20)
+#define INV_Z_GYRO      (0x10)
+#define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
+#define INV_XYZ_ACCEL   (0x08)
+#define INV_XYZ_COMPASS (0x01)
+
+
+#define MPU_INT_STATUS_DATA_READY       (0x0001)
+#define MPU_INT_STATUS_DMP              (0x0002)
+#define MPU_INT_STATUS_PLL_READY        (0x0004)
+#define MPU_INT_STATUS_I2C_MST          (0x0008)
+#define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
+#define MPU_INT_STATUS_ZMOT             (0x0020)
+#define MPU_INT_STATUS_MOT              (0x0040)
+#define MPU_INT_STATUS_FREE_FALL        (0x0080)
+#define MPU_INT_STATUS_DMP_0            (0x0100)
+#define MPU_INT_STATUS_DMP_1            (0x0200)
+#define MPU_INT_STATUS_DMP_2            (0x0400)
+#define MPU_INT_STATUS_DMP_3            (0x0800)
+#define MPU_INT_STATUS_DMP_4            (0x1000)
+#define MPU_INT_STATUS_DMP_5            (0x2000)
+
+/* Set up APIs */
+int mpu_init(void);
+int mpu_init_slave(void);
+int mpu_set_bypass(unsigned char bypass_on);
+
+/* Configuration APIs */
+int mpu_lp_accel_mode(unsigned short rate);
+int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, unsigned short lpa_freq);
+int mpu_set_int_level(unsigned char active_low);
+int mpu_set_int_latched(unsigned char enable);
+
+int mpu_set_dmp_state(unsigned char enable);
+int mpu_get_dmp_state(unsigned char *enabled);
+
+int mpu_get_lpf(unsigned short *lpf);
+int mpu_set_lpf(unsigned short lpf);
+
+int mpu_get_gyro_fsr(unsigned short *fsr);
+int mpu_set_gyro_fsr(unsigned short fsr);
+
+int mpu_get_accel_fsr(unsigned char *fsr);
+int mpu_set_accel_fsr(unsigned char fsr);
+
+int mpu_get_compass_fsr(unsigned short *fsr);
+
+int mpu_get_gyro_sens(float *sens);
+int mpu_get_accel_sens(unsigned short *sens);
+
+int mpu_get_sample_rate(unsigned short *rate);
+int mpu_set_sample_rate(unsigned short rate);
+int mpu_get_compass_sample_rate(unsigned short *rate);
+int mpu_set_compass_sample_rate(unsigned short rate);
+
+int mpu_get_fifo_config(unsigned char *sensors);
+int mpu_configure_fifo(unsigned char sensors);
+
+int mpu_get_power_state(unsigned char *power_on);
+int mpu_set_sensors(unsigned char sensors);
+
+int mpu_read_6500_accel_bias(long *accel_bias);
+int mpu_set_gyro_bias_reg(long * gyro_bias);
+int mpu_set_accel_bias_6500_reg(const long *accel_bias);
+int mpu_read_6050_accel_bias(long *accel_bias);
+int mpu_set_accel_bias_6050_reg(const long *accel_bias);
+
+/* Data getter/setter APIs */
+int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
+int mpu_get_accel_reg(short *data, unsigned long *timestamp);
+int mpu_get_compass_reg(short *data, unsigned long *timestamp);
+int mpu_get_temperature(long *data, unsigned long *timestamp);
+
+int mpu_get_int_status(short *status);
+int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
+    unsigned char *sensors, unsigned char *more);
+int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
+    unsigned char *more);
+int mpu_reset_fifo(void);
+
+int mpu_write_mem(unsigned short mem_addr, unsigned short length,
+    unsigned char *data);
+int mpu_read_mem(unsigned short mem_addr, unsigned short length,
+    unsigned char *data);
+int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
+    unsigned short start_addr, unsigned short sample_rate);
+
+int mpu_reg_dump(void);
+int mpu_read_reg(unsigned char reg, unsigned char *data);
+int mpu_run_self_test(long *gyro, long *accel);
+int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug);
+void mpu_start_self_test(void);
+void mpu_setup_gyro(void);
+
+/* MPU configuration */
+int mpu_config(void);
+
+/* MPU get packet data */
+void mpu_get_data(void);
+
+/* Data post-processing */
+void mpu_read_gyro_raw(void);
+void mpu_read_accel_raw(void);
+void mpu_calc_euler_angles(void);
+void mpu_tap_func(unsigned char direction, unsigned char count);
+void mpu_android_orient_func(unsigned char orientation);
+
+/* Handle user input commands */
+void mpu_handle_input(char c);
+void mpu_print_to_console(void);
+
+
+#endif
--- a/Inc/mpu6050_dmp.h
+++ b/Inc/mpu6050_dmp.h
@@ -0,0 +1,107 @@
+/**
+  * This file was taken from InvenSense MotionApps v6.12 library and
+	* refactored for the hoverboard-sideboard-hack project.
+  *
+  * Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
+	* Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+  *
+  * This program is free software: you can redistribute it and/or modify
+  * it under the terms of the GNU General Public License as published by
+  * the Free Software Foundation, either version 3 of the License, or
+  * (at your option) any later version.
+  *
+  * This program is distributed in the hope that it will be useful,
+  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  * GNU General Public License for more details.
+  *
+  * You should have received a copy of the GNU General Public License
+  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+// Define to prevent recursive inclusion
+#ifndef MPU6050_DMP_H
+#define MPU6050_DMP_H
+
+#include <stdint.h>
+
+#define TAP_X               (0x01)
+#define TAP_Y               (0x02)
+#define TAP_Z               (0x04)
+#define TAP_XYZ             (0x07)
+
+#define TAP_X_UP            (0x01)
+#define TAP_X_DOWN          (0x02)
+#define TAP_Y_UP            (0x03)
+#define TAP_Y_DOWN          (0x04)
+#define TAP_Z_UP            (0x05)
+#define TAP_Z_DOWN          (0x06)
+
+#define ANDROID_ORIENT_PORTRAIT             (0x00)
+#define ANDROID_ORIENT_LANDSCAPE            (0x01)
+#define ANDROID_ORIENT_REVERSE_PORTRAIT     (0x02)
+#define ANDROID_ORIENT_REVERSE_LANDSCAPE    (0x03)
+
+#define DMP_INT_GESTURE     (0x01)
+#define DMP_INT_CONTINUOUS  (0x02)
+
+#define DMP_FEATURE_TAP             (0x001)
+#define DMP_FEATURE_ANDROID_ORIENT  (0x002)
+#define DMP_FEATURE_LP_QUAT         (0x004)
+#define DMP_FEATURE_PEDOMETER       (0x008)
+#define DMP_FEATURE_6X_LP_QUAT      (0x010)
+#define DMP_FEATURE_GYRO_CAL        (0x020)
+#define DMP_FEATURE_SEND_RAW_ACCEL  (0x040)
+#define DMP_FEATURE_SEND_RAW_GYRO   (0x080)
+#define DMP_FEATURE_SEND_CAL_GYRO   (0x100)
+
+#define INV_WXYZ_QUAT       (0x100)
+
+/* Set up functions. */
+int dmp_load_motion_driver_firmware(void);
+int dmp_set_fifo_rate(unsigned short rate);
+int dmp_get_fifo_rate(unsigned short *rate);
+int dmp_enable_feature(unsigned short mask);
+int dmp_get_enabled_features(unsigned short *mask);
+int dmp_set_interrupt_mode(unsigned char mode);
+int dmp_set_orientation(unsigned short orient);
+int dmp_set_gyro_bias(long *bias);
+int dmp_set_accel_bias(long *bias);
+
+/* Tap functions. */
+int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
+int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
+int dmp_set_tap_axes(unsigned char axis);
+int dmp_set_tap_count(unsigned char min_taps);
+int dmp_set_tap_time(unsigned short time);
+int dmp_set_tap_time_multi(unsigned short time);
+int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
+int dmp_set_shake_reject_time(unsigned short time);
+int dmp_set_shake_reject_timeout(unsigned short time);
+
+/* Android orientation functions. */
+int dmp_register_android_orient_cb(void (*func)(unsigned char));
+
+/* LP quaternion functions. */
+int dmp_enable_lp_quat(unsigned char enable);
+int dmp_enable_6x_lp_quat(unsigned char enable);
+
+/* Pedometer functions. */
+int dmp_get_pedometer_step_count(unsigned long *count);
+int dmp_set_pedometer_step_count(unsigned long count);
+int dmp_get_pedometer_walk_time(unsigned long *time);
+int dmp_set_pedometer_walk_time(unsigned long time);
+
+/* DMP gyro calibration functions. */
+int dmp_enable_gyro_cal(unsigned char enable);
+
+/* Read function. This function should be called whenever the MPU interrupt is
+ * detected.
+ */
+int dmp_read_fifo(short *gyro, short *accel, long *quat,
+    unsigned long *timestamp, short *sensors, unsigned char *more);
+
+
+#endif
+
--- a/Inc/mpu6050_dmpKey.h
+++ b/Inc/mpu6050_dmpKey.h
@@ -0,0 +1,495 @@
+/*
+ $License:
+    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+ $
+ */
+#ifndef DMPKEY_H__
+#define DMPKEY_H__
+
+
+#define KEY_CFG_25                  (0)
+#define KEY_CFG_24                  (KEY_CFG_25 + 1)
+#define KEY_CFG_26                  (KEY_CFG_24 + 1)
+#define KEY_CFG_27                  (KEY_CFG_26 + 1)
+#define KEY_CFG_21                  (KEY_CFG_27 + 1)
+#define KEY_CFG_20                  (KEY_CFG_21 + 1)
+#define KEY_CFG_TAP4                (KEY_CFG_20 + 1)
+#define KEY_CFG_TAP5                (KEY_CFG_TAP4 + 1)
+#define KEY_CFG_TAP6                (KEY_CFG_TAP5 + 1)
+#define KEY_CFG_TAP7                (KEY_CFG_TAP6 + 1)
+#define KEY_CFG_TAP0                (KEY_CFG_TAP7 + 1)
+#define KEY_CFG_TAP1                (KEY_CFG_TAP0 + 1)
+#define KEY_CFG_TAP2                (KEY_CFG_TAP1 + 1)
+#define KEY_CFG_TAP3                (KEY_CFG_TAP2 + 1)
+#define KEY_CFG_TAP_QUANTIZE        (KEY_CFG_TAP3 + 1)
+#define KEY_CFG_TAP_JERK            (KEY_CFG_TAP_QUANTIZE + 1)
+#define KEY_CFG_DR_INT              (KEY_CFG_TAP_JERK + 1)
+#define KEY_CFG_AUTH                (KEY_CFG_DR_INT + 1)
+#define KEY_CFG_TAP_SAVE_ACCB       (KEY_CFG_AUTH + 1)
+#define KEY_CFG_TAP_CLEAR_STICKY    (KEY_CFG_TAP_SAVE_ACCB + 1)
+#define KEY_CFG_FIFO_ON_EVENT       (KEY_CFG_TAP_CLEAR_STICKY + 1)
+#define KEY_FCFG_ACCEL_INPUT        (KEY_CFG_FIFO_ON_EVENT + 1)
+#define KEY_FCFG_ACCEL_INIT         (KEY_FCFG_ACCEL_INPUT + 1)
+#define KEY_CFG_23                  (KEY_FCFG_ACCEL_INIT + 1)
+#define KEY_FCFG_1                  (KEY_CFG_23 + 1)
+#define KEY_FCFG_3                  (KEY_FCFG_1 + 1)
+#define KEY_FCFG_2                  (KEY_FCFG_3 + 1)
+#define KEY_CFG_3D                  (KEY_FCFG_2 + 1)
+#define KEY_CFG_3B                  (KEY_CFG_3D + 1)
+#define KEY_CFG_3C                  (KEY_CFG_3B + 1)
+#define KEY_FCFG_5                  (KEY_CFG_3C + 1)
+#define KEY_FCFG_4                  (KEY_FCFG_5 + 1)
+#define KEY_FCFG_7                  (KEY_FCFG_4 + 1)
+#define KEY_FCFG_FSCALE             (KEY_FCFG_7 + 1)
+#define KEY_FCFG_AZ                 (KEY_FCFG_FSCALE + 1)
+#define KEY_FCFG_6                  (KEY_FCFG_AZ + 1)
+#define KEY_FCFG_LSB4               (KEY_FCFG_6 + 1)
+#define KEY_CFG_12                  (KEY_FCFG_LSB4 + 1)
+#define KEY_CFG_14                  (KEY_CFG_12 + 1)
+#define KEY_CFG_15                  (KEY_CFG_14 + 1)
+#define KEY_CFG_16                  (KEY_CFG_15 + 1)
+#define KEY_CFG_18                  (KEY_CFG_16 + 1)
+#define KEY_CFG_6                   (KEY_CFG_18 + 1)
+#define KEY_CFG_7                   (KEY_CFG_6 + 1)
+#define KEY_CFG_4                   (KEY_CFG_7 + 1)
+#define KEY_CFG_5                   (KEY_CFG_4 + 1)
+#define KEY_CFG_2                   (KEY_CFG_5 + 1)
+#define KEY_CFG_3                   (KEY_CFG_2 + 1)
+#define KEY_CFG_1                   (KEY_CFG_3 + 1)
+#define KEY_CFG_EXTERNAL            (KEY_CFG_1 + 1)
+#define KEY_CFG_8                   (KEY_CFG_EXTERNAL + 1)
+#define KEY_CFG_9                   (KEY_CFG_8 + 1)
+#define KEY_CFG_ORIENT_3            (KEY_CFG_9 + 1)
+#define KEY_CFG_ORIENT_2            (KEY_CFG_ORIENT_3 + 1)
+#define KEY_CFG_ORIENT_1            (KEY_CFG_ORIENT_2 + 1)
+#define KEY_CFG_GYRO_SOURCE         (KEY_CFG_ORIENT_1 + 1)
+#define KEY_CFG_ORIENT_IRQ_1        (KEY_CFG_GYRO_SOURCE + 1)
+#define KEY_CFG_ORIENT_IRQ_2        (KEY_CFG_ORIENT_IRQ_1 + 1)
+#define KEY_CFG_ORIENT_IRQ_3        (KEY_CFG_ORIENT_IRQ_2 + 1)
+#define KEY_FCFG_MAG_VAL            (KEY_CFG_ORIENT_IRQ_3 + 1)
+#define KEY_FCFG_MAG_MOV            (KEY_FCFG_MAG_VAL + 1)
+#define KEY_CFG_LP_QUAT             (KEY_FCFG_MAG_MOV + 1)
+
+/* MPU6050 keys */
+#define KEY_CFG_ACCEL_FILTER        (KEY_CFG_LP_QUAT + 1)
+#define KEY_CFG_MOTION_BIAS         (KEY_CFG_ACCEL_FILTER + 1)
+#define KEY_TEMPLABEL               (KEY_CFG_MOTION_BIAS + 1)
+
+#define KEY_D_0_22                  (KEY_TEMPLABEL + 1)
+#define KEY_D_0_24                  (KEY_D_0_22 + 1)
+#define KEY_D_0_36                  (KEY_D_0_24 + 1)
+#define KEY_D_0_52                  (KEY_D_0_36 + 1)
+#define KEY_D_0_96                  (KEY_D_0_52 + 1)
+#define KEY_D_0_104                 (KEY_D_0_96 + 1)
+#define KEY_D_0_108                 (KEY_D_0_104 + 1)
+#define KEY_D_0_163                 (KEY_D_0_108 + 1)
+#define KEY_D_0_188                 (KEY_D_0_163 + 1)
+#define KEY_D_0_192                 (KEY_D_0_188 + 1)
+#define KEY_D_0_224                 (KEY_D_0_192 + 1)
+#define KEY_D_0_228                 (KEY_D_0_224 + 1)
+#define KEY_D_0_232                 (KEY_D_0_228 + 1)
+#define KEY_D_0_236                 (KEY_D_0_232 + 1)
+
+#define KEY_DMP_PREVPTAT            (KEY_D_0_236 + 1)
+#define KEY_D_1_2                   (KEY_DMP_PREVPTAT + 1)
+#define KEY_D_1_4                   (KEY_D_1_2 + 1)
+#define KEY_D_1_8                   (KEY_D_1_4 + 1)
+#define KEY_D_1_10                  (KEY_D_1_8 + 1)
+#define KEY_D_1_24                  (KEY_D_1_10 + 1)
+#define KEY_D_1_28                  (KEY_D_1_24 + 1)
+#define KEY_D_1_36                  (KEY_D_1_28 + 1)
+#define KEY_D_1_40                  (KEY_D_1_36 + 1)
+#define KEY_D_1_44                  (KEY_D_1_40 + 1)
+#define KEY_D_1_72                  (KEY_D_1_44 + 1)
+#define KEY_D_1_74                  (KEY_D_1_72 + 1)
+#define KEY_D_1_79                  (KEY_D_1_74 + 1)
+#define KEY_D_1_88                  (KEY_D_1_79 + 1)
+#define KEY_D_1_90                  (KEY_D_1_88 + 1)
+#define KEY_D_1_92                  (KEY_D_1_90 + 1)
+#define KEY_D_1_96                  (KEY_D_1_92 + 1)
+#define KEY_D_1_98                  (KEY_D_1_96 + 1)
+#define KEY_D_1_100                 (KEY_D_1_98 + 1)
+#define KEY_D_1_106                 (KEY_D_1_100 + 1)
+#define KEY_D_1_108                 (KEY_D_1_106 + 1)
+#define KEY_D_1_112                 (KEY_D_1_108 + 1)
+#define KEY_D_1_128                 (KEY_D_1_112 + 1)
+#define KEY_D_1_152                 (KEY_D_1_128 + 1)
+#define KEY_D_1_160                 (KEY_D_1_152 + 1)
+#define KEY_D_1_168                 (KEY_D_1_160 + 1)
+#define KEY_D_1_175                 (KEY_D_1_168 + 1)
+#define KEY_D_1_176                 (KEY_D_1_175 + 1)
+#define KEY_D_1_178                 (KEY_D_1_176 + 1)
+#define KEY_D_1_179                 (KEY_D_1_178 + 1)
+#define KEY_D_1_218                 (KEY_D_1_179 + 1)
+#define KEY_D_1_232                 (KEY_D_1_218 + 1)
+#define KEY_D_1_236                 (KEY_D_1_232 + 1)
+#define KEY_D_1_240                 (KEY_D_1_236 + 1)
+#define KEY_D_1_244                 (KEY_D_1_240 + 1)
+#define KEY_D_1_250                 (KEY_D_1_244 + 1)
+#define KEY_D_1_252                 (KEY_D_1_250 + 1)
+#define KEY_D_2_12                  (KEY_D_1_252 + 1)
+#define KEY_D_2_96                  (KEY_D_2_12 + 1)
+#define KEY_D_2_108                 (KEY_D_2_96 + 1)
+#define KEY_D_2_208                 (KEY_D_2_108 + 1)
+#define KEY_FLICK_MSG               (KEY_D_2_208 + 1)
+#define KEY_FLICK_COUNTER           (KEY_FLICK_MSG + 1)
+#define KEY_FLICK_LOWER             (KEY_FLICK_COUNTER + 1)
+#define KEY_CFG_FLICK_IN            (KEY_FLICK_LOWER + 1)
+#define KEY_FLICK_UPPER             (KEY_CFG_FLICK_IN + 1)
+#define KEY_CGNOTICE_INTR           (KEY_FLICK_UPPER + 1)
+#define KEY_D_2_224                 (KEY_CGNOTICE_INTR + 1)
+#define KEY_D_2_244                 (KEY_D_2_224 + 1)
+#define KEY_D_2_248                 (KEY_D_2_244 + 1)
+#define KEY_D_2_252                 (KEY_D_2_248 + 1)
+
+#define KEY_D_GYRO_BIAS_X               (KEY_D_2_252 + 1)
+#define KEY_D_GYRO_BIAS_Y               (KEY_D_GYRO_BIAS_X + 1)
+#define KEY_D_GYRO_BIAS_Z               (KEY_D_GYRO_BIAS_Y + 1)
+#define KEY_D_ACC_BIAS_X                (KEY_D_GYRO_BIAS_Z + 1)
+#define KEY_D_ACC_BIAS_Y                (KEY_D_ACC_BIAS_X + 1)
+#define KEY_D_ACC_BIAS_Z                (KEY_D_ACC_BIAS_Y + 1)
+#define KEY_D_GYRO_ENABLE               (KEY_D_ACC_BIAS_Z + 1)
+#define KEY_D_ACCEL_ENABLE              (KEY_D_GYRO_ENABLE + 1)
+#define KEY_D_QUAT_ENABLE               (KEY_D_ACCEL_ENABLE +1)
+#define KEY_D_OUTPUT_ENABLE             (KEY_D_QUAT_ENABLE + 1)
+#define KEY_D_CR_TIME_G                 (KEY_D_OUTPUT_ENABLE + 1)
+#define KEY_D_CR_TIME_A                 (KEY_D_CR_TIME_G + 1)
+#define KEY_D_CR_TIME_Q                 (KEY_D_CR_TIME_A + 1)
+#define KEY_D_CS_TAX                    (KEY_D_CR_TIME_Q + 1)
+#define KEY_D_CS_TAY                    (KEY_D_CS_TAX + 1)
+#define KEY_D_CS_TAZ                    (KEY_D_CS_TAY + 1)
+#define KEY_D_CS_TGX                    (KEY_D_CS_TAZ + 1)
+#define KEY_D_CS_TGY                    (KEY_D_CS_TGX + 1)
+#define KEY_D_CS_TGZ                    (KEY_D_CS_TGY + 1)
+#define KEY_D_CS_TQ0                    (KEY_D_CS_TGZ + 1)
+#define KEY_D_CS_TQ1                    (KEY_D_CS_TQ0 + 1)
+#define KEY_D_CS_TQ2                    (KEY_D_CS_TQ1 + 1)
+#define KEY_D_CS_TQ3                    (KEY_D_CS_TQ2 + 1)
+
+/* Compass keys */
+#define KEY_CPASS_BIAS_X            (KEY_D_CS_TQ3 + 1)
+#define KEY_CPASS_BIAS_Y            (KEY_CPASS_BIAS_X + 1)
+#define KEY_CPASS_BIAS_Z            (KEY_CPASS_BIAS_Y + 1)
+#define KEY_CPASS_MTX_00            (KEY_CPASS_BIAS_Z + 1)
+#define KEY_CPASS_MTX_01            (KEY_CPASS_MTX_00 + 1)
+#define KEY_CPASS_MTX_02            (KEY_CPASS_MTX_01 + 1)
+#define KEY_CPASS_MTX_10            (KEY_CPASS_MTX_02 + 1)
+#define KEY_CPASS_MTX_11            (KEY_CPASS_MTX_10 + 1)
+#define KEY_CPASS_MTX_12            (KEY_CPASS_MTX_11 + 1)
+#define KEY_CPASS_MTX_20            (KEY_CPASS_MTX_12 + 1)
+#define KEY_CPASS_MTX_21            (KEY_CPASS_MTX_20 + 1)
+#define KEY_CPASS_MTX_22            (KEY_CPASS_MTX_21 + 1)
+
+/* Gesture Keys */
+#define KEY_DMP_TAPW_MIN            (KEY_CPASS_MTX_22 + 1)
+#define KEY_DMP_TAP_THR_X           (KEY_DMP_TAPW_MIN + 1)
+#define KEY_DMP_TAP_THR_Y           (KEY_DMP_TAP_THR_X + 1)
+#define KEY_DMP_TAP_THR_Z           (KEY_DMP_TAP_THR_Y + 1)
+#define KEY_DMP_SH_TH_Y             (KEY_DMP_TAP_THR_Z + 1)
+#define KEY_DMP_SH_TH_X             (KEY_DMP_SH_TH_Y + 1)
+#define KEY_DMP_SH_TH_Z             (KEY_DMP_SH_TH_X + 1)
+#define KEY_DMP_ORIENT              (KEY_DMP_SH_TH_Z + 1)
+#define KEY_D_ACT0                  (KEY_DMP_ORIENT + 1)
+#define KEY_D_ACSX                  (KEY_D_ACT0 + 1)
+#define KEY_D_ACSY                  (KEY_D_ACSX + 1)
+#define KEY_D_ACSZ                  (KEY_D_ACSY + 1)
+
+#define KEY_X_GRT_Y_TMP             (KEY_D_ACSZ + 1)
+#define KEY_SKIP_X_GRT_Y_TMP        (KEY_X_GRT_Y_TMP + 1)
+#define KEY_SKIP_END_COMPARE        (KEY_SKIP_X_GRT_Y_TMP + 1)
+#define KEY_END_COMPARE_Y_X_TMP2    (KEY_SKIP_END_COMPARE + 1)       
+#define KEY_CFG_ANDROID_ORIENT_INT  (KEY_END_COMPARE_Y_X_TMP2 + 1)
+#define KEY_NO_ORIENT_INTERRUPT     (KEY_CFG_ANDROID_ORIENT_INT + 1)
+#define KEY_END_COMPARE_Y_X_TMP     (KEY_NO_ORIENT_INTERRUPT + 1)
+#define KEY_END_ORIENT_1            (KEY_END_COMPARE_Y_X_TMP + 1)
+#define KEY_END_COMPARE_Y_X         (KEY_END_ORIENT_1 + 1) 
+#define KEY_END_ORIENT              (KEY_END_COMPARE_Y_X + 1)
+#define KEY_X_GRT_Y                 (KEY_END_ORIENT + 1)
+#define KEY_NOT_TIME_MINUS_1        (KEY_X_GRT_Y + 1)       
+#define KEY_END_COMPARE_Y_X_TMP3    (KEY_NOT_TIME_MINUS_1 + 1) 
+#define KEY_X_GRT_Y_TMP2            (KEY_END_COMPARE_Y_X_TMP3 + 1)
+
+/* Authenticate Keys */
+#define KEY_D_AUTH_OUT              (KEY_X_GRT_Y_TMP2 + 1)
+#define KEY_D_AUTH_IN               (KEY_D_AUTH_OUT + 1)
+#define KEY_D_AUTH_A                (KEY_D_AUTH_IN + 1)
+#define KEY_D_AUTH_B                (KEY_D_AUTH_A + 1)
+
+/* Pedometer standalone only keys */
+#define KEY_D_PEDSTD_BP_B           (KEY_D_AUTH_B + 1)
+#define KEY_D_PEDSTD_HP_A           (KEY_D_PEDSTD_BP_B + 1)
+#define KEY_D_PEDSTD_HP_B           (KEY_D_PEDSTD_HP_A + 1)
+#define KEY_D_PEDSTD_BP_A4          (KEY_D_PEDSTD_HP_B + 1)
+#define KEY_D_PEDSTD_BP_A3          (KEY_D_PEDSTD_BP_A4 + 1)
+#define KEY_D_PEDSTD_BP_A2          (KEY_D_PEDSTD_BP_A3 + 1)
+#define KEY_D_PEDSTD_BP_A1          (KEY_D_PEDSTD_BP_A2 + 1)
+#define KEY_D_PEDSTD_INT_THRSH      (KEY_D_PEDSTD_BP_A1 + 1)
+#define KEY_D_PEDSTD_CLIP           (KEY_D_PEDSTD_INT_THRSH + 1)
+#define KEY_D_PEDSTD_SB             (KEY_D_PEDSTD_CLIP + 1)
+#define KEY_D_PEDSTD_SB_TIME        (KEY_D_PEDSTD_SB + 1)
+#define KEY_D_PEDSTD_PEAKTHRSH      (KEY_D_PEDSTD_SB_TIME + 1)
+#define KEY_D_PEDSTD_TIML           (KEY_D_PEDSTD_PEAKTHRSH + 1)
+#define KEY_D_PEDSTD_TIMH           (KEY_D_PEDSTD_TIML + 1)
+#define KEY_D_PEDSTD_PEAK           (KEY_D_PEDSTD_TIMH + 1)
+#define KEY_D_PEDSTD_TIMECTR        (KEY_D_PEDSTD_PEAK + 1)
+#define KEY_D_PEDSTD_STEPCTR        (KEY_D_PEDSTD_TIMECTR + 1)
+#define KEY_D_PEDSTD_WALKTIME       (KEY_D_PEDSTD_STEPCTR + 1)
+#define KEY_D_PEDSTD_DECI           (KEY_D_PEDSTD_WALKTIME + 1)
+
+/*Host Based No Motion*/
+#define KEY_D_HOST_NO_MOT           (KEY_D_PEDSTD_DECI + 1)
+
+/* EIS keys */
+#define KEY_P_EIS_FIFO_FOOTER       (KEY_D_HOST_NO_MOT + 1)
+#define KEY_P_EIS_FIFO_YSHIFT       (KEY_P_EIS_FIFO_FOOTER + 1)
+#define KEY_P_EIS_DATA_RATE         (KEY_P_EIS_FIFO_YSHIFT + 1)
+#define KEY_P_EIS_FIFO_XSHIFT       (KEY_P_EIS_DATA_RATE + 1)
+#define KEY_P_EIS_FIFO_SYNC         (KEY_P_EIS_FIFO_XSHIFT + 1)
+#define KEY_P_EIS_FIFO_ZSHIFT       (KEY_P_EIS_FIFO_SYNC + 1)
+#define KEY_P_EIS_FIFO_READY        (KEY_P_EIS_FIFO_ZSHIFT + 1)
+#define KEY_DMP_FOOTER              (KEY_P_EIS_FIFO_READY + 1)
+#define KEY_DMP_INTX_HC             (KEY_DMP_FOOTER + 1)
+#define KEY_DMP_INTX_PH             (KEY_DMP_INTX_HC + 1)
+#define KEY_DMP_INTX_SH             (KEY_DMP_INTX_PH + 1)
+#define KEY_DMP_AINV_SH             (KEY_DMP_INTX_SH + 1)
+#define KEY_DMP_A_INV_XH            (KEY_DMP_AINV_SH + 1)
+#define KEY_DMP_AINV_PH             (KEY_DMP_A_INV_XH + 1)
+#define KEY_DMP_CTHX_H              (KEY_DMP_AINV_PH + 1)
+#define KEY_DMP_CTHY_H              (KEY_DMP_CTHX_H + 1)
+#define KEY_DMP_CTHZ_H              (KEY_DMP_CTHY_H + 1)
+#define KEY_DMP_NCTHX_H             (KEY_DMP_CTHZ_H + 1)
+#define KEY_DMP_NCTHY_H             (KEY_DMP_NCTHX_H + 1)
+#define KEY_DMP_NCTHZ_H             (KEY_DMP_NCTHY_H + 1)
+#define KEY_DMP_CTSQ_XH             (KEY_DMP_NCTHZ_H + 1)
+#define KEY_DMP_CTSQ_YH             (KEY_DMP_CTSQ_XH + 1)
+#define KEY_DMP_CTSQ_ZH             (KEY_DMP_CTSQ_YH + 1)
+#define KEY_DMP_INTX_H              (KEY_DMP_CTSQ_ZH + 1)
+#define KEY_DMP_INTY_H              (KEY_DMP_INTX_H + 1)
+#define KEY_DMP_INTZ_H              (KEY_DMP_INTY_H + 1)
+//#define KEY_DMP_HPX_H               (KEY_DMP_INTZ_H + 1)
+//#define KEY_DMP_HPY_H               (KEY_DMP_HPX_H + 1)
+//#define KEY_DMP_HPZ_H               (KEY_DMP_HPY_H + 1)
+
+/* Stream keys */
+#define KEY_STREAM_P_GYRO_Z         (KEY_DMP_INTZ_H + 1)
+#define KEY_STREAM_P_GYRO_Y         (KEY_STREAM_P_GYRO_Z + 1)
+#define KEY_STREAM_P_GYRO_X         (KEY_STREAM_P_GYRO_Y + 1)
+#define KEY_STREAM_P_TEMP           (KEY_STREAM_P_GYRO_X + 1)
+#define KEY_STREAM_P_AUX_Y          (KEY_STREAM_P_TEMP + 1)
+#define KEY_STREAM_P_AUX_X          (KEY_STREAM_P_AUX_Y + 1)
+#define KEY_STREAM_P_AUX_Z          (KEY_STREAM_P_AUX_X + 1)
+#define KEY_STREAM_P_ACCEL_Y        (KEY_STREAM_P_AUX_Z + 1)
+#define KEY_STREAM_P_ACCEL_X        (KEY_STREAM_P_ACCEL_Y + 1)
+#define KEY_STREAM_P_FOOTER         (KEY_STREAM_P_ACCEL_X + 1)
+#define KEY_STREAM_P_ACCEL_Z        (KEY_STREAM_P_FOOTER + 1)
+
+#define NUM_KEYS                    (KEY_STREAM_P_ACCEL_Z + 1)
+
+typedef struct {
+    unsigned short key;
+    unsigned short addr;
+} tKeyLabel;
+
+#define DINA0A 0x0a
+#define DINA22 0x22
+#define DINA42 0x42
+#define DINA5A 0x5a
+
+#define DINA06 0x06
+#define DINA0E 0x0e
+#define DINA16 0x16
+#define DINA1E 0x1e
+#define DINA26 0x26
+#define DINA2E 0x2e
+#define DINA36 0x36
+#define DINA3E 0x3e
+#define DINA46 0x46
+#define DINA4E 0x4e
+#define DINA56 0x56
+#define DINA5E 0x5e
+#define DINA66 0x66
+#define DINA6E 0x6e
+#define DINA76 0x76
+#define DINA7E 0x7e
+
+#define DINA00 0x00
+#define DINA08 0x08
+#define DINA10 0x10
+#define DINA18 0x18
+#define DINA20 0x20
+#define DINA28 0x28
+#define DINA30 0x30
+#define DINA38 0x38
+#define DINA40 0x40
+#define DINA48 0x48
+#define DINA50 0x50
+#define DINA58 0x58
+#define DINA60 0x60
+#define DINA68 0x68
+#define DINA70 0x70
+#define DINA78 0x78
+
+#define DINA04 0x04
+#define DINA0C 0x0c
+#define DINA14 0x14
+#define DINA1C 0x1C
+#define DINA24 0x24
+#define DINA2C 0x2c
+#define DINA34 0x34
+#define DINA3C 0x3c
+#define DINA44 0x44
+#define DINA4C 0x4c
+#define DINA54 0x54
+#define DINA5C 0x5c
+#define DINA64 0x64
+#define DINA6C 0x6c
+#define DINA74 0x74
+#define DINA7C 0x7c
+
+#define DINA01 0x01
+#define DINA09 0x09
+#define DINA11 0x11
+#define DINA19 0x19
+#define DINA21 0x21
+#define DINA29 0x29
+#define DINA31 0x31
+#define DINA39 0x39
+#define DINA41 0x41
+#define DINA49 0x49
+#define DINA51 0x51
+#define DINA59 0x59
+#define DINA61 0x61
+#define DINA69 0x69
+#define DINA71 0x71
+#define DINA79 0x79
+
+#define DINA25 0x25
+#define DINA2D 0x2d
+#define DINA35 0x35
+#define DINA3D 0x3d
+#define DINA4D 0x4d
+#define DINA55 0x55
+#define DINA5D 0x5D
+#define DINA6D 0x6d
+#define DINA75 0x75
+#define DINA7D 0x7d
+
+#define DINADC 0xdc
+#define DINAF2 0xf2
+#define DINAAB 0xab
+#define DINAAA 0xaa
+#define DINAF1 0xf1
+#define DINADF 0xdf
+#define DINADA 0xda
+#define DINAB1 0xb1
+#define DINAB9 0xb9
+#define DINAF3 0xf3
+#define DINA8B 0x8b
+#define DINAA3 0xa3
+#define DINA91 0x91
+#define DINAB6 0xb6
+#define DINAB4 0xb4
+
+
+#define DINC00 0x00
+#define DINC01 0x01
+#define DINC02 0x02
+#define DINC03 0x03
+#define DINC08 0x08
+#define DINC09 0x09
+#define DINC0A 0x0a
+#define DINC0B 0x0b
+#define DINC10 0x10
+#define DINC11 0x11
+#define DINC12 0x12
+#define DINC13 0x13
+#define DINC18 0x18
+#define DINC19 0x19
+#define DINC1A 0x1a
+#define DINC1B 0x1b
+
+#define DINC20 0x20
+#define DINC21 0x21
+#define DINC22 0x22
+#define DINC23 0x23
+#define DINC28 0x28
+#define DINC29 0x29
+#define DINC2A 0x2a
+#define DINC2B 0x2b
+#define DINC30 0x30
+#define DINC31 0x31
+#define DINC32 0x32
+#define DINC33 0x33
+#define DINC38 0x38
+#define DINC39 0x39
+#define DINC3A 0x3a
+#define DINC3B 0x3b
+
+#define DINC40 0x40
+#define DINC41 0x41
+#define DINC42 0x42
+#define DINC43 0x43
+#define DINC48 0x48
+#define DINC49 0x49
+#define DINC4A 0x4a
+#define DINC4B 0x4b
+#define DINC50 0x50
+#define DINC51 0x51
+#define DINC52 0x52
+#define DINC53 0x53
+#define DINC58 0x58
+#define DINC59 0x59
+#define DINC5A 0x5a
+#define DINC5B 0x5b
+
+#define DINC60 0x60
+#define DINC61 0x61
+#define DINC62 0x62
+#define DINC63 0x63
+#define DINC68 0x68
+#define DINC69 0x69
+#define DINC6A 0x6a
+#define DINC6B 0x6b
+#define DINC70 0x70
+#define DINC71 0x71
+#define DINC72 0x72
+#define DINC73 0x73
+#define DINC78 0x78
+#define DINC79 0x79
+#define DINC7A 0x7a
+#define DINC7B 0x7b
+
+#define DIND40 0x40
+
+
+#define DINA80 0x80
+#define DINA90 0x90
+#define DINAA0 0xa0
+#define DINAC9 0xc9
+#define DINACB 0xcb
+#define DINACD 0xcd
+#define DINACF 0xcf
+#define DINAC8 0xc8
+#define DINACA 0xca
+#define DINACC 0xcc
+#define DINACE 0xce
+#define DINAD8 0xd8
+#define DINADD 0xdd
+#define DINAF8 0xf0
+#define DINAFE 0xfe
+
+#define DINBF8 0xf8
+#define DINAC0 0xb0
+#define DINAC1 0xb1
+#define DINAC2 0xb4
+#define DINAC3 0xb5
+#define DINAC4 0xb8
+#define DINAC5 0xb9
+#define DINBC0 0xc0
+#define DINBC2 0xc2
+#define DINBC4 0xc4
+#define DINBC6 0xc6
+
+
+
+#endif // DMPKEY_H__
--- a/Inc/mpu6050_dmpmap.h
+++ b/Inc/mpu6050_dmpmap.h
@@ -0,0 +1,264 @@
+/*
+ $License:
+    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+ $
+ */
+#ifndef DMPMAP_H
+#define DMPMAP_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define DMP_PTAT    0
+#define DMP_XGYR    2
+#define DMP_YGYR    4
+#define DMP_ZGYR    6
+#define DMP_XACC    8
+#define DMP_YACC    10
+#define DMP_ZACC    12
+#define DMP_ADC1    14
+#define DMP_ADC2    16
+#define DMP_ADC3    18
+#define DMP_BIASUNC    20
+#define DMP_FIFORT    22
+#define DMP_INVGSFH    24
+#define DMP_INVGSFL    26
+#define DMP_1H    28
+#define DMP_1L    30
+#define DMP_BLPFSTCH    32
+#define DMP_BLPFSTCL    34
+#define DMP_BLPFSXH    36
+#define DMP_BLPFSXL    38
+#define DMP_BLPFSYH    40
+#define DMP_BLPFSYL    42
+#define DMP_BLPFSZH    44
+#define DMP_BLPFSZL    46
+#define DMP_BLPFMTC    48
+#define DMP_SMC    50
+#define DMP_BLPFMXH    52
+#define DMP_BLPFMXL    54
+#define DMP_BLPFMYH    56
+#define DMP_BLPFMYL    58
+#define DMP_BLPFMZH    60
+#define DMP_BLPFMZL    62
+#define DMP_BLPFC    64
+#define DMP_SMCTH    66
+#define DMP_0H2    68
+#define DMP_0L2    70
+#define DMP_BERR2H    72
+#define DMP_BERR2L    74
+#define DMP_BERR2NH    76
+#define DMP_SMCINC    78
+#define DMP_ANGVBXH    80
+#define DMP_ANGVBXL    82
+#define DMP_ANGVBYH    84
+#define DMP_ANGVBYL    86
+#define DMP_ANGVBZH    88
+#define DMP_ANGVBZL    90
+#define DMP_BERR1H    92
+#define DMP_BERR1L    94
+#define DMP_ATCH    96
+#define DMP_BIASUNCSF    98
+#define DMP_ACT2H    100
+#define DMP_ACT2L    102
+#define DMP_GSFH    104
+#define DMP_GSFL    106
+#define DMP_GH    108
+#define DMP_GL    110
+#define DMP_0_5H    112
+#define DMP_0_5L    114
+#define DMP_0_0H    116
+#define DMP_0_0L    118
+#define DMP_1_0H    120
+#define DMP_1_0L    122
+#define DMP_1_5H    124
+#define DMP_1_5L    126
+#define DMP_TMP1AH    128
+#define DMP_TMP1AL    130
+#define DMP_TMP2AH    132
+#define DMP_TMP2AL    134
+#define DMP_TMP3AH    136
+#define DMP_TMP3AL    138
+#define DMP_TMP4AH    140
+#define DMP_TMP4AL    142
+#define DMP_XACCW    144
+#define DMP_TMP5    146
+#define DMP_XACCB    148
+#define DMP_TMP8    150
+#define DMP_YACCB    152
+#define DMP_TMP9    154
+#define DMP_ZACCB    156
+#define DMP_TMP10    158
+#define DMP_DZH    160
+#define DMP_DZL    162
+#define DMP_XGCH    164
+#define DMP_XGCL    166
+#define DMP_YGCH    168
+#define DMP_YGCL    170
+#define DMP_ZGCH    172
+#define DMP_ZGCL    174
+#define DMP_YACCW    176
+#define DMP_TMP7    178
+#define DMP_AFB1H    180
+#define DMP_AFB1L    182
+#define DMP_AFB2H    184
+#define DMP_AFB2L    186
+#define DMP_MAGFBH    188
+#define DMP_MAGFBL    190
+#define DMP_QT1H    192
+#define DMP_QT1L    194
+#define DMP_QT2H    196
+#define DMP_QT2L    198
+#define DMP_QT3H    200
+#define DMP_QT3L    202
+#define DMP_QT4H    204
+#define DMP_QT4L    206
+#define DMP_CTRL1H    208
+#define DMP_CTRL1L    210
+#define DMP_CTRL2H    212
+#define DMP_CTRL2L    214
+#define DMP_CTRL3H    216
+#define DMP_CTRL3L    218
+#define DMP_CTRL4H    220
+#define DMP_CTRL4L    222
+#define DMP_CTRLS1    224
+#define DMP_CTRLSF1    226
+#define DMP_CTRLS2    228
+#define DMP_CTRLSF2    230
+#define DMP_CTRLS3    232
+#define DMP_CTRLSFNLL    234
+#define DMP_CTRLS4    236
+#define DMP_CTRLSFNL2    238
+#define DMP_CTRLSFNL    240
+#define DMP_TMP30    242
+#define DMP_CTRLSFJT    244
+#define DMP_TMP31    246
+#define DMP_TMP11    248
+#define DMP_CTRLSF2_2    250
+#define DMP_TMP12    252
+#define DMP_CTRLSF1_2    254
+#define DMP_PREVPTAT    256
+#define DMP_ACCZB    258
+#define DMP_ACCXB    264
+#define DMP_ACCYB    266
+#define DMP_1HB    272
+#define DMP_1LB    274
+#define DMP_0H    276
+#define DMP_0L    278
+#define DMP_ASR22H    280
+#define DMP_ASR22L    282
+#define DMP_ASR6H    284
+#define DMP_ASR6L    286
+#define DMP_TMP13    288
+#define DMP_TMP14    290
+#define DMP_FINTXH    292
+#define DMP_FINTXL    294
+#define DMP_FINTYH    296
+#define DMP_FINTYL    298
+#define DMP_FINTZH    300
+#define DMP_FINTZL    302
+#define DMP_TMP1BH    304
+#define DMP_TMP1BL    306
+#define DMP_TMP2BH    308
+#define DMP_TMP2BL    310
+#define DMP_TMP3BH    312
+#define DMP_TMP3BL    314
+#define DMP_TMP4BH    316
+#define DMP_TMP4BL    318
+#define DMP_STXG    320
+#define DMP_ZCTXG    322
+#define DMP_STYG    324
+#define DMP_ZCTYG    326
+#define DMP_STZG    328
+#define DMP_ZCTZG    330
+#define DMP_CTRLSFJT2    332
+#define DMP_CTRLSFJTCNT    334
+#define DMP_PVXG    336
+#define DMP_TMP15    338
+#define DMP_PVYG    340
+#define DMP_TMP16    342
+#define DMP_PVZG    344
+#define DMP_TMP17    346
+#define DMP_MNMFLAGH    352
+#define DMP_MNMFLAGL    354
+#define DMP_MNMTMH    356
+#define DMP_MNMTML    358
+#define DMP_MNMTMTHRH    360
+#define DMP_MNMTMTHRL    362
+#define DMP_MNMTHRH    364
+#define DMP_MNMTHRL    366
+#define DMP_ACCQD4H    368
+#define DMP_ACCQD4L    370
+#define DMP_ACCQD5H    372
+#define DMP_ACCQD5L    374
+#define DMP_ACCQD6H    376
+#define DMP_ACCQD6L    378
+#define DMP_ACCQD7H    380
+#define DMP_ACCQD7L    382
+#define DMP_ACCQD0H    384
+#define DMP_ACCQD0L    386
+#define DMP_ACCQD1H    388
+#define DMP_ACCQD1L    390
+#define DMP_ACCQD2H    392
+#define DMP_ACCQD2L    394
+#define DMP_ACCQD3H    396
+#define DMP_ACCQD3L    398
+#define DMP_XN2H    400
+#define DMP_XN2L    402
+#define DMP_XN1H    404
+#define DMP_XN1L    406
+#define DMP_YN2H    408
+#define DMP_YN2L    410
+#define DMP_YN1H    412
+#define DMP_YN1L    414
+#define DMP_YH    416
+#define DMP_YL    418
+#define DMP_B0H    420
+#define DMP_B0L    422
+#define DMP_A1H    424
+#define DMP_A1L    426
+#define DMP_A2H    428
+#define DMP_A2L    430
+#define DMP_SEM1    432
+#define DMP_FIFOCNT    434
+#define DMP_SH_TH_X    436
+#define DMP_PACKET    438
+#define DMP_SH_TH_Y    440
+#define DMP_FOOTER    442
+#define DMP_SH_TH_Z    444
+#define DMP_TEMP29    448
+#define DMP_TEMP30    450
+#define DMP_XACCB_PRE    452
+#define DMP_XACCB_PREL    454
+#define DMP_YACCB_PRE    456
+#define DMP_YACCB_PREL    458
+#define DMP_ZACCB_PRE    460
+#define DMP_ZACCB_PREL    462
+#define DMP_TMP22    464
+#define DMP_TAP_TIMER    466
+#define DMP_TAP_THX    468
+#define DMP_TAP_THY    472
+#define DMP_TAP_THZ    476
+#define DMP_TAPW_MIN    478
+#define DMP_TMP25    480
+#define DMP_TMP26    482
+#define DMP_TMP27    484
+#define DMP_TMP28    486
+#define DMP_ORIENT    488
+#define DMP_THRSH    490
+#define DMP_ENDIANH    492
+#define DMP_ENDIANL    494
+#define DMP_BLPFNMTCH    496
+#define DMP_BLPFNMTCL    498
+#define DMP_BLPFNMXH    500
+#define DMP_BLPFNMXL    502
+#define DMP_BLPFNMYH    504
+#define DMP_BLPFNMYL    506
+#define DMP_BLPFNMZH    508
+#define DMP_BLPFNMZL    510
+#ifdef __cplusplus
+}
+#endif
+#endif // DMPMAP_H
--- a/Inc/stm32f1xx_hal_conf.h
+++ b/Inc/stm32f1xx_hal_conf.h
@@ -0,0 +1,370 @@
+/**
+  ******************************************************************************
+  * @file    stm32f1xx_hal_conf.h
+  * @brief   HAL configuration file.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F1xx_HAL_CONF_H
+#define __STM32F1xx_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_CRYP_MODULE_ENABLED   */
+/*#define HAL_CAN_MODULE_ENABLED   */
+/*#define HAL_CEC_MODULE_ENABLED   */
+/*#define HAL_CORTEX_MODULE_ENABLED   */
+/*#define HAL_CRC_MODULE_ENABLED   */
+/*#define HAL_DAC_MODULE_ENABLED   */
+#define HAL_DMA_MODULE_ENABLED
+/*#define HAL_ETH_MODULE_ENABLED   */
+/*#define HAL_FLASH_MODULE_ENABLED   */
+#define HAL_GPIO_MODULE_ENABLED
+#define HAL_I2C_MODULE_ENABLED
+/*#define HAL_I2S_MODULE_ENABLED   */
+/*#define HAL_IRDA_MODULE_ENABLED   */
+/*#define HAL_IWDG_MODULE_ENABLED   */
+/*#define HAL_NOR_MODULE_ENABLED   */
+/*#define HAL_NAND_MODULE_ENABLED   */
+/*#define HAL_PCCARD_MODULE_ENABLED   */
+/*#define HAL_PCD_MODULE_ENABLED   */
+/*#define HAL_HCD_MODULE_ENABLED   */
+/*#define HAL_PWR_MODULE_ENABLED   */
+/*#define HAL_RCC_MODULE_ENABLED   */
+/*#define HAL_RTC_MODULE_ENABLED   */
+/*#define HAL_SD_MODULE_ENABLED   */
+/*#define HAL_MMC_MODULE_ENABLED   */
+/*#define HAL_SDRAM_MODULE_ENABLED   */
+/*#define HAL_SMARTCARD_MODULE_ENABLED   */
+/*#define HAL_SPI_MODULE_ENABLED   */
+/*#define HAL_SRAM_MODULE_ENABLED   */
+/*#define HAL_TIM_MODULE_ENABLED   */
+#define HAL_UART_MODULE_ENABLED
+/*#define HAL_USART_MODULE_ENABLED   */
+/*#define HAL_WWDG_MODULE_ENABLED   */
+/*#define HAL_EXTI_MODULE_ENABLED   */
+
+#define HAL_CORTEX_MODULE_ENABLED
+#define HAL_DMA_MODULE_ENABLED
+#define HAL_FLASH_MODULE_ENABLED
+#define HAL_GPIO_MODULE_ENABLED
+#define HAL_PWR_MODULE_ENABLED
+#define HAL_RCC_MODULE_ENABLED
+
+/* ########################## 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    ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
+#endif /* HSE_VALUE */
+
+#if !defined  (HSE_STARTUP_TIMEOUT)
+  #define HSE_STARTUP_TIMEOUT    ((uint32_t)100)   /*!< 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    ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/
+#endif /* HSI_VALUE */
+
+/**
+  * @brief Internal Low Speed oscillator (LSI) value.
+  */
+#if !defined  (LSI_VALUE) 
+ #define LSI_VALUE               40000U    /*!< 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    ((uint32_t)32768) /*!< Value of the External oscillator in Hz*/
+#endif /* LSE_VALUE */
+
+#if !defined  (LSE_STARTUP_TIMEOUT)
+  #define LSE_STARTUP_TIMEOUT    ((uint32_t)5000)   /*!< Time out for LSE start up, in ms */
+#endif /* LSE_STARTUP_TIMEOUT */
+
+/* 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                    ((uint32_t)3300) /*!< Value of VDD in mv */           
+#define  TICK_INT_PRIORITY            ((uint32_t)0)    /*!< tick interrupt priority (lowest by default)  */            
+#define  USE_RTOS                     0
+#define  PREFETCH_ENABLE              1
+
+/* ########################## Assert Selection ############################## */
+/**
+  * @brief Uncomment the line below to expanse the "assert_param" macro in the 
+  *        HAL drivers code
+  */
+/* #define USE_FULL_ASSERT    1U */
+
+/* ################## Ethernet peripheral configuration ##################### */
+
+/* Section 1 : Ethernet peripheral configuration */
+
+/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
+#define MAC_ADDR0   2
+#define MAC_ADDR1   0
+#define MAC_ADDR2   0
+#define MAC_ADDR3   0
+#define MAC_ADDR4   0
+#define MAC_ADDR5   0
+
+/* Definition of the Ethernet driver buffers size and count */   
+#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
+#define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
+#define ETH_RXBUFNB                    ((uint32_t)8)       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
+#define ETH_TXBUFNB                    ((uint32_t)4)       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
+
+/* Section 2: PHY configuration section */
+
+/* DP83848_PHY_ADDRESS Address*/ 
+#define DP83848_PHY_ADDRESS           0x01U
+/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/ 
+#define PHY_RESET_DELAY                 ((uint32_t)0x000000FF)
+/* PHY Configuration delay */
+#define PHY_CONFIG_DELAY                ((uint32_t)0x00000FFF)
+
+#define PHY_READ_TO                     ((uint32_t)0x0000FFFF)
+#define PHY_WRITE_TO                    ((uint32_t)0x0000FFFF)
+
+/* Section 3: Common PHY Registers */
+
+#define PHY_BCR                         ((uint16_t)0x00)    /*!< Transceiver Basic Control Register   */
+#define PHY_BSR                         ((uint16_t)0x01)    /*!< Transceiver Basic Status Register    */
+ 
+#define PHY_RESET                       ((uint16_t)0x8000)  /*!< PHY Reset */
+#define PHY_LOOPBACK                    ((uint16_t)0x4000)  /*!< Select loop-back mode */
+#define PHY_FULLDUPLEX_100M             ((uint16_t)0x2100)  /*!< Set the full-duplex mode at 100 Mb/s */
+#define PHY_HALFDUPLEX_100M             ((uint16_t)0x2000)  /*!< Set the half-duplex mode at 100 Mb/s */
+#define PHY_FULLDUPLEX_10M              ((uint16_t)0x0100)  /*!< Set the full-duplex mode at 10 Mb/s  */
+#define PHY_HALFDUPLEX_10M              ((uint16_t)0x0000)  /*!< Set the half-duplex mode at 10 Mb/s  */
+#define PHY_AUTONEGOTIATION             ((uint16_t)0x1000)  /*!< Enable auto-negotiation function     */
+#define PHY_RESTART_AUTONEGOTIATION     ((uint16_t)0x0200)  /*!< Restart auto-negotiation function    */
+#define PHY_POWERDOWN                   ((uint16_t)0x0800)  /*!< Select the power down mode           */
+#define PHY_ISOLATE                     ((uint16_t)0x0400)  /*!< Isolate PHY from MII                 */
+
+#define PHY_AUTONEGO_COMPLETE           ((uint16_t)0x0020)  /*!< Auto-Negotiation process completed   */
+#define PHY_LINKED_STATUS               ((uint16_t)0x0004)  /*!< Valid link established               */
+#define PHY_JABBER_DETECTION            ((uint16_t)0x0002)  /*!< Jabber condition detected            */
+  
+/* Section 4: Extended PHY Registers */
+#define PHY_SR                          ((uint16_t)0x10U)    /*!< PHY status register Offset                      */
+
+#define PHY_SPEED_STATUS                ((uint16_t)0x0002U)  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004U)  /*!< PHY Duplex mask                                 */
+
+/* Includes ------------------------------------------------------------------*/
+/**
+  * @brief Include module's header file 
+  */
+
+#ifdef HAL_RCC_MODULE_ENABLED
+ #include "stm32f1xx_hal_rcc.h"
+#endif /* HAL_RCC_MODULE_ENABLED */
+
+#ifdef HAL_EXTI_MODULE_ENABLED
+ #include "stm32f1xx_hal_exti.h"
+#endif /* HAL_EXTI_MODULE_ENABLED */
+
+#ifdef HAL_GPIO_MODULE_ENABLED
+ #include "stm32f1xx_hal_gpio.h"
+#endif /* HAL_GPIO_MODULE_ENABLED */
+   
+#ifdef HAL_DMA_MODULE_ENABLED
+  #include "stm32f1xx_hal_dma.h"
+#endif /* HAL_DMA_MODULE_ENABLED */
+   
+#ifdef HAL_ETH_MODULE_ENABLED
+  #include "stm32f1xx_hal_eth.h"
+#endif /* HAL_ETH_MODULE_ENABLED */  
+   
+#ifdef HAL_CAN_MODULE_ENABLED
+ #include "stm32f1xx_hal_can.h"
+#endif /* HAL_CAN_MODULE_ENABLED */
+
+#ifdef HAL_CEC_MODULE_ENABLED
+ #include "stm32f1xx_hal_cec.h"
+#endif /* HAL_CEC_MODULE_ENABLED */
+
+#ifdef HAL_CORTEX_MODULE_ENABLED
+ #include "stm32f1xx_hal_cortex.h"
+#endif /* HAL_CORTEX_MODULE_ENABLED */
+
+#ifdef HAL_ADC_MODULE_ENABLED
+ #include "stm32f1xx_hal_adc.h"
+#endif /* HAL_ADC_MODULE_ENABLED */
+
+#ifdef HAL_CRC_MODULE_ENABLED
+ #include "stm32f1xx_hal_crc.h"
+#endif /* HAL_CRC_MODULE_ENABLED */
+
+#ifdef HAL_DAC_MODULE_ENABLED
+ #include "stm32f1xx_hal_dac.h"
+#endif /* HAL_DAC_MODULE_ENABLED */
+
+#ifdef HAL_FLASH_MODULE_ENABLED
+ #include "stm32f1xx_hal_flash.h"
+#endif /* HAL_FLASH_MODULE_ENABLED */
+
+#ifdef HAL_SRAM_MODULE_ENABLED
+ #include "stm32f1xx_hal_sram.h"
+#endif /* HAL_SRAM_MODULE_ENABLED */
+
+#ifdef HAL_NOR_MODULE_ENABLED
+ #include "stm32f1xx_hal_nor.h"
+#endif /* HAL_NOR_MODULE_ENABLED */
+
+#ifdef HAL_I2C_MODULE_ENABLED
+ #include "stm32f1xx_hal_i2c.h"
+#endif /* HAL_I2C_MODULE_ENABLED */
+
+#ifdef HAL_I2S_MODULE_ENABLED
+ #include "stm32f1xx_hal_i2s.h"
+#endif /* HAL_I2S_MODULE_ENABLED */
+
+#ifdef HAL_IWDG_MODULE_ENABLED
+ #include "stm32f1xx_hal_iwdg.h"
+#endif /* HAL_IWDG_MODULE_ENABLED */
+
+#ifdef HAL_PWR_MODULE_ENABLED
+ #include "stm32f1xx_hal_pwr.h"
+#endif /* HAL_PWR_MODULE_ENABLED */
+
+#ifdef HAL_RTC_MODULE_ENABLED
+ #include "stm32f1xx_hal_rtc.h"
+#endif /* HAL_RTC_MODULE_ENABLED */
+
+#ifdef HAL_PCCARD_MODULE_ENABLED
+ #include "stm32f1xx_hal_pccard.h"
+#endif /* HAL_PCCARD_MODULE_ENABLED */ 
+
+#ifdef HAL_SD_MODULE_ENABLED
+ #include "stm32f1xx_hal_sd.h"
+#endif /* HAL_SD_MODULE_ENABLED */  
+
+#ifdef HAL_MMC_MODULE_ENABLED
+ #include "stm32f1xx_hal_mmc.h"
+#endif /* HAL_MMC_MODULE_ENABLED */
+
+#ifdef HAL_NAND_MODULE_ENABLED
+ #include "stm32f1xx_hal_nand.h"
+#endif /* HAL_NAND_MODULE_ENABLED */     
+
+#ifdef HAL_SPI_MODULE_ENABLED
+ #include "stm32f1xx_hal_spi.h"
+#endif /* HAL_SPI_MODULE_ENABLED */
+
+#ifdef HAL_TIM_MODULE_ENABLED
+ #include "stm32f1xx_hal_tim.h"
+#endif /* HAL_TIM_MODULE_ENABLED */
+
+#ifdef HAL_UART_MODULE_ENABLED
+ #include "stm32f1xx_hal_uart.h"
+#endif /* HAL_UART_MODULE_ENABLED */
+
+#ifdef HAL_USART_MODULE_ENABLED
+ #include "stm32f1xx_hal_usart.h"
+#endif /* HAL_USART_MODULE_ENABLED */
+
+#ifdef HAL_IRDA_MODULE_ENABLED
+ #include "stm32f1xx_hal_irda.h"
+#endif /* HAL_IRDA_MODULE_ENABLED */
+
+#ifdef HAL_SMARTCARD_MODULE_ENABLED
+ #include "stm32f1xx_hal_smartcard.h"
+#endif /* HAL_SMARTCARD_MODULE_ENABLED */
+
+#ifdef HAL_WWDG_MODULE_ENABLED
+ #include "stm32f1xx_hal_wwdg.h"
+#endif /* HAL_WWDG_MODULE_ENABLED */
+
+#ifdef HAL_PCD_MODULE_ENABLED
+ #include "stm32f1xx_hal_pcd.h"
+#endif /* HAL_PCD_MODULE_ENABLED */
+
+#ifdef HAL_HCD_MODULE_ENABLED
+ #include "stm32f1xx_hal_hcd.h"
+#endif /* HAL_HCD_MODULE_ENABLED */   
+   
+
+/* 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 /* __STM32F1xx_HAL_CONF_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Inc/stm32f1xx_it.h
+++ b/Inc/stm32f1xx_it.h
@@ -0,0 +1,74 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f1xx_it.h
+  * @brief   This file contains the headers of the interrupt handlers.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+ ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F1xx_IT_H
+#define __STM32F1xx_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 MemManage_Handler(void);
+void BusFault_Handler(void);
+void UsageFault_Handler(void);
+void SVC_Handler(void);
+void DebugMon_Handler(void);
+void PendSV_Handler(void);
+void SysTick_Handler(void);
+void DMA1_Channel6_IRQHandler(void);
+void DMA1_Channel7_IRQHandler(void);
+void I2C1_EV_IRQHandler(void);
+void I2C1_ER_IRQHandler(void);
+void USART2_IRQHandler(void);
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F1xx_IT_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Inc/usart.h
+++ b/Inc/usart.h
@@ -0,0 +1,58 @@
+/**
+  ******************************************************************************
+  * File Name          : USART.h
+  * Description        : This file provides code for the configuration
+  *                      of the USART instances.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __usart_H
+#define __usart_H
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern UART_HandleTypeDef huart2;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_USART2_UART_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+#endif /*__ usart_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Inc/util.h
+++ b/Inc/util.h
@@ -0,0 +1,42 @@
+/**
+  * This file is part of the hoverboard-sideboard-hack project.
+  *
+  * Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
+  *
+  * This program is free software: you can redistribute it and/or modify
+  * it under the terms of the GNU General Public License as published by
+  * the Free Software Foundation, either version 3 of the License, or
+  * (at your option) any later version.
+  *
+  * This program is distributed in the hope that it will be useful,
+  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  * GNU General Public License for more details.
+  *
+  * You should have received a copy of the GNU General Public License
+  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+// Define to prevent recursive inclusion
+#ifndef UTIL_H
+#define UTIL_H
+
+#include <stdint.h>
+#include "defines.h"
+
+/* general functions */
+void consoleLog(char *message);
+void get_tick_count_ms(unsigned long *count);
+void introDemoLED(uint32_t tDelay);
+
+/* i2c write/read functions */
+int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
+int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t  data);
+int8_t i2c_writeBit  (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t  data);
+int8_t i2c_readBytes (uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
+int8_t i2c_readByte  (uint8_t slaveAddr, uint8_t regAddr, uint8_t *data);
+int8_t i2c_readBit   (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data);
+
+
+#endif
+