IMU Fix (#1267)

### Changelist 
Corrected the IMU pin configuration on Cube and added back the linear
acceleration transmitting.

### Testing Done
No testing done, will confirm on hardware.

firmware/quadruna/VC/src/app/states/app_allStates.c

@@ -11,6 +11,7 @@
 #include "app_shdnLast.h"
 // io
 #include "io_sbgEllipse.h"
+#include "io_imu.h"
 
 #define IGNORE_HEARTBEAT_CYCLES 3U
 
@@ -24,6 +25,21 @@ void app_allStates_runOnTick100Hz(void)
     app_efuse_broadcast();
     app_shdnLast_broadcast();
 
+    float lin_accel_x = 0;
+    float lin_accel_y = 0;
+    float lin_accel_z = 0;
+
+    bool has_lin_accel_x = io_imu_getLinearAccelerationX(&lin_accel_x);
+    bool has_lin_accel_y = io_imu_getLinearAccelerationY(&lin_accel_y);
+    bool has_lin_accel_z = io_imu_getLinearAccelerationZ(&lin_accel_z);
+
+    if (has_lin_accel_x && has_lin_accel_y && has_lin_accel_z)
+    {
+        app_canTx_VC_ImuAccelerationX_set(lin_accel_x);
+        app_canTx_VC_ImuAccelerationY_set(lin_accel_y);
+        app_canTx_VC_ImuAccelerationZ_set(lin_accel_z);
+    }
+
     app_heartbeatMonitor_checkIn();
 
     if (heartbeat_cycles <= IGNORE_HEARTBEAT_CYCLES) // TODO make this part of the heartbeat monitor

firmware/quadruna/VC/src/cubemx/VC.ioc

@@ -145,57 +145,59 @@ Mcu.Pin24=PB2
 Mcu.Pin25=PE7
 Mcu.Pin26=PE8
 Mcu.Pin27=PE9
-Mcu.Pin28=PB10
-Mcu.Pin29=PB11
+Mcu.Pin28=PE14
+Mcu.Pin29=PE15
 Mcu.Pin3=PE6
-Mcu.Pin30=PB12
-Mcu.Pin31=PB13
-Mcu.Pin32=PB14
-Mcu.Pin33=PD8
-Mcu.Pin34=PD9
-Mcu.Pin35=PD10
-Mcu.Pin36=PD11
-Mcu.Pin37=PD12
-Mcu.Pin38=PD13
-Mcu.Pin39=PD14
+Mcu.Pin30=PB10
+Mcu.Pin31=PB11
+Mcu.Pin32=PB12
+Mcu.Pin33=PB13
+Mcu.Pin34=PB14
+Mcu.Pin35=PD8
+Mcu.Pin36=PD9
+Mcu.Pin37=PD10
+Mcu.Pin38=PD11
+Mcu.Pin39=PD12
 Mcu.Pin4=PC13
-Mcu.Pin40=PD15
-Mcu.Pin41=PC6
-Mcu.Pin42=PC7
-Mcu.Pin43=PC8
-Mcu.Pin44=PC9
-Mcu.Pin45=PA8
-Mcu.Pin46=PA9
-Mcu.Pin47=PA10
-Mcu.Pin48=PA11
-Mcu.Pin49=PA12
+Mcu.Pin40=PD13
+Mcu.Pin41=PD14
+Mcu.Pin42=PD15
+Mcu.Pin43=PC6
+Mcu.Pin44=PC7
+Mcu.Pin45=PC8
+Mcu.Pin46=PC9
+Mcu.Pin47=PA8
+Mcu.Pin48=PA9
+Mcu.Pin49=PA10
 Mcu.Pin5=PC14-OSC32_IN
-Mcu.Pin50=PA13(JTMS/SWDIO)
-Mcu.Pin51=PA14(JTCK/SWCLK)
-Mcu.Pin52=PA15(JTDI)
-Mcu.Pin53=PC10
-Mcu.Pin54=PC11
-Mcu.Pin55=PC12
-Mcu.Pin56=PD1
-Mcu.Pin57=PD2
-Mcu.Pin58=PD5
-Mcu.Pin59=PD6
+Mcu.Pin50=PA11
+Mcu.Pin51=PA12
+Mcu.Pin52=PA13(JTMS/SWDIO)
+Mcu.Pin53=PA14(JTCK/SWCLK)
+Mcu.Pin54=PA15(JTDI)
+Mcu.Pin55=PC10
+Mcu.Pin56=PC11
+Mcu.Pin57=PC12
+Mcu.Pin58=PD1
+Mcu.Pin59=PD2
 Mcu.Pin6=PH0-OSC_IN
-Mcu.Pin60=PB3(JTDO/TRACESWO)
-Mcu.Pin61=PB5
-Mcu.Pin62=PB6
-Mcu.Pin63=PB7
-Mcu.Pin64=PB8
-Mcu.Pin65=PB9
-Mcu.Pin66=PE0
-Mcu.Pin67=PE1
-Mcu.Pin68=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin69=VP_SYS_VS_tim6
+Mcu.Pin60=PD5
+Mcu.Pin61=PD6
+Mcu.Pin62=PB3(JTDO/TRACESWO)
+Mcu.Pin63=PB5
+Mcu.Pin64=PB6
+Mcu.Pin65=PB7
+Mcu.Pin66=PB8
+Mcu.Pin67=PB9
+Mcu.Pin68=PE0
+Mcu.Pin69=PE1
 Mcu.Pin7=PH1-OSC_OUT
-Mcu.Pin70=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin70=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin71=VP_SYS_VS_tim6
+Mcu.Pin72=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin8=PC0
 Mcu.Pin9=PC1
-Mcu.PinsNb=71
+Mcu.PinsNb=73
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=IWDG_RESET_FREQUENCY,5;TIM3_PRESCALER,8;ADC_FREQUENCY,1000;IWDG_PRESCALER,4;LSI_FREQUENCY,32000;TIMx_FREQUENCY,512000000;SBG_ELLIPSE_GPS_BAUD_RATE,460800
 Mcu.UserName=STM32H733VGTx
@@ -438,6 +440,14 @@ PE1.GPIOParameters=GPIO_Label
 PE1.GPIO_Label=FR_STBY3
 PE1.Locked=true
 PE1.Signal=GPIO_Output
+PE14.GPIOParameters=GPIO_Label
+PE14.GPIO_Label=IMU_INT1
+PE14.Locked=true
+PE14.Signal=GPXTI14
+PE15.GPIOParameters=GPIO_Label
+PE15.GPIO_Label=IMU_INT2
+PE15.Locked=true
+PE15.Signal=GPXTI15
 PE2.GPIOParameters=GPIO_Label
 PE2.GPIO_Label=INV_R_PWR_EN
 PE2.Locked=true
@@ -603,6 +613,10 @@ SH.ADCx_INP5.0=ADC1_INP5,IN5-Single-Ended
 SH.ADCx_INP5.ConfNb=1
 SH.ADCx_INP7.0=ADC1_INP7,IN7-Single-Ended
 SH.ADCx_INP7.ConfNb=1
+SH.GPXTI14.0=GPIO_EXTI14
+SH.GPXTI14.ConfNb=1
+SH.GPXTI15.0=GPIO_EXTI15
+SH.GPXTI15.ConfNb=1
 TIM3.IPParameters=Prescaler,Period,TIM_MasterOutputTrigger
 TIM3.Period=(TIMx_FREQUENCY / TIM3_PRESCALER / ADC_FREQUENCY) - 1
 TIM3.Prescaler=TIM3_PRESCALER - 1

firmware/quadruna/VC/src/cubemx/VC.ioc.md5

@@ -1 +1 @@
-15993de4d12403ef80ab2505bbc78a97
+1a5beaf15f149dd56ee97fe78092f8f9