I2c

[celery6]

Add icm raw data to actual units conversion.

Outputs the data in floats now. Is this the desired data type?

RELEVANT SIDE NOTE: snprintf does not do %f formatting well... causes hardfault very quickly.

• Sprintf is a very large function apparently and needs a lot of stack
  • Increasing the StateEst task stack size to an arbitrarily large value seemed to fix this (only tested; didn't commit)
• Some sources suggest the sprintf functions might use malloc ???

[Joe-Joe-Joe-Joe]

We love floats. This is a really good find, not something I knew about. The first thing to check is, do we have the RAM for it? Like, if we are using 10% of the available RAM, mayhaps increasing stack size is not the worst thing.

That being said, I can quickly see this becoming something dangerous, since we do a lot of float printing for logging stuff. My little bit of research tells me we should be integer dividing, casting, and sprintf-ing as ints with a decimal separating. We will have to do a bit of load testing to see if that makes the difference.

But that being said, we should also limit from where we call sprintf. If we only ever do it inside the logging thread, we can just make the logging thread stack very large. But if every thread is "allowed" to call sprintf, now they all have to have a big enough stack to support sprintf calls, concurrently.