Progress update, 4 Jul 2026

Updates are bullet-point summaries generated with AI from my commits and build notes, then checked by me. Project articles and learning notes are written by me.

Ported the MPU6050 DMP driver unchanged, but its FIFO stayed empty. The original called IIC_MPU6050_Init() from board code outside the driver, and without it SCL sat in its reset state.
Got printf telemetry working after fixing three silent gaps: the nosys.specs _write stub, newlib fully buffering stdout, and the ST-Link V2 having no UART. Telemetry comes out of the robot’s USB-C port through its CH340.
Traced an angle of -2147483648 in every sample to uninitialised floats in the IMU class. That value is what ARM produces when casting NaN to int. The constructor now zeroes the angles and sets the quaternion to identity.
Covered in more depth in Bring up UART, I2C and the MPU6050.