Stable Firmware for Hardware Version 2.2

Support for Hardware Version 2.2 (#27)

* Remapped all pins for v2 boards

* Moving DMA Stream for SPI3 to prevent overlap with I2C2 and correcting LED colors

* Moving old imu driver

* Adjusting constants/config for new boards

* Driver Updates (Not working fully yet but avoids address collision)

* GDB Multiarch replaced specific gdb versions

* Removing voltage readings

* Tools update for v2 boards

* Fixed accelerometer and temperature sensor drivers

Signed-off-by: Luca Della Vedova <[email protected]>

* Fixed ADC parameters for new board revision

Signed-off-by: Luca Della Vedova <[email protected]>

* WIP: Fixed ADC structure for new ADC channels

Signed-off-by: Luca Della Vedova <[email protected]>

* More consistency in ADC channels

Signed-off-by: Luca Della Vedova <[email protected]>

* Recorder updates

* Fixed inverted ADC readings

Signed-off-by: Luca Della Vedova <[email protected]>

* Changed to center aligned PWM.

While the frequency constant was doubled because of the center aligned feature the PWM will still be at 20kHz frequency

Signed-off-by: Luca Della Vedova <[email protected]>

* Calibration script fixes (add sleep and increase timeout)

Signed-off-by: Luca Della Vedova <[email protected]>

* Updated recorder element count

* Changed ADC sampling to be relative to falling edge instead of PWM center

Signed-off-by: Luca Della Vedova <[email protected]>

* Revert "Changed ADC sampling to be relative to falling edge instead of PWM center"

This reverts commit a06cbe19c0f1e92e3d5ec617d9e5343458775861.

* Removed PWM limit, halved update rate from timer

* More conservative delay for bootloader exit

Signed-off-by: Luca Della Vedova <[email protected]>

* Fixing more tools

* Fixed current readings for low PWM duty cycles

Clamped PWM duty cycle between 0.05 and 0.95, added simultaneous
sampling of all the current channels

Signed-off-by: Luca Della Vedova <[email protected]>

* Getting gravity to match output

* imu test now produces correct gravity scaled vector

Co-authored-by: Luca Della Vedova <[email protected]>

Stable Firmware for BLDC Hardware v1 RevD

Merge pull request #12 from berkeleyopenarms/add-license

Create LICENSE