From 337f474526e4feda31deb69eeae72bc5ef441afe Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@rapyuta-robotics.com>
Date: Sat, 10 Dec 2016 21:02:35 +0900
Subject: [PATCH] include arm_math with annoying cmsis_rtos bug fix

---
 MotorControl/low_level.c | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/MotorControl/low_level.c b/MotorControl/low_level.c
index 8e3a10fe..4c1dbfd7 100644
--- a/MotorControl/low_level.c
+++ b/MotorControl/low_level.c
@@ -1,9 +1,16 @@
 /* Includes ------------------------------------------------------------------*/
+
+// Because of broken cmsis_os.h, we need to include arm_math first,
+// otherwise chip specific defines are ommited
+#include <stm32f4xx_hal.h> //Sets up the correct chip specifc defines required by arm_math
+#define ARM_MATH_CM4
+#include <arm_math.h>
+
 #include <low_level.h>
 
-#include <cmsis_os.h>
-#include <math.h>
 #include <stdlib.h>
+#include <math.h>
+#include <cmsis_os.h>
 
 #include <main.h>
 #include <adc.h>