Where to begin…. (#13)

+/- Reworked collection of altimeter related functions into altimeter class
+/- Reworked bno055 class to be imu class with minimal functionality

\- Removed external Kalman filter implementations in favor of own in house version
\- Removed any/unused files
\+ Added buffer logger for when sitting on pad for extended period of time in effort to prevent filling of flash chip
\+ Added heartbeat LED for alive status

1 files changed, 0 insertions, 292 deletions

diff --git a/include/bno055.hpp b/include/bno055.hpp
deleted file mode 100644
index 7fbac4d..0000000
--- a/include/bno055.hpp
+++ /dev/null
@@ -1,292 +0,0 @@
-#pragma once
-
-#include <vector>
-#include <string>
-
-#include "boards/pico_w.h"
-#include "hardware/gpio.h"
-#include "hardware/i2c.h"
-#include "pico/stdlib.h"
-#include "pico/time.h"
-#include "pico/types.h"
-
-#include <Eigen/Geometry>
-
-//Register addresses and data structs copied from Adafruit implementation
-/** BNO055 Address A **/
-#define BNO055_ADDRESS_A (0x28)
-/** BNO055 Address B **/
-#define BNO055_ADDRESS_B (0x29)
-/** BNO055 ID **/
-#define BNO055_ID (0xA0)
-
-/** Offsets registers **/
-#define NUM_BNO055_OFFSET_REGISTERS (22)
-
-
-/** A structure to represent offsets **/
-typedef struct {
-    int16_t accel_offset_x; /**< x acceleration offset */
-    int16_t accel_offset_y; /**< y acceleration offset */
-    int16_t accel_offset_z; /**< z acceleration offset */
-
-    int16_t mag_offset_x; /**< x magnetometer offset */
-    int16_t mag_offset_y; /**< y magnetometer offset */
-    int16_t mag_offset_z; /**< z magnetometer offset */
-
-    int16_t gyro_offset_x; /**< x gyroscrope offset */
-    int16_t gyro_offset_y; /**< y gyroscrope offset */
-    int16_t gyro_offset_z; /**< z gyroscrope offset */
-
-    int16_t accel_radius; /**< acceleration radius */
-
-    int16_t mag_radius; /**< magnetometer radius */
-} bno055_offsets_t;
-
-/** Operation mode settings **/
-typedef enum {
-    OPERATION_MODE_CONFIG = 0X00,
-    OPERATION_MODE_ACCONLY = 0X01,
-    OPERATION_MODE_MAGONLY = 0X02,
-    OPERATION_MODE_GYRONLY = 0X03,
-    OPERATION_MODE_ACCMAG = 0X04,
-    OPERATION_MODE_ACCGYRO = 0X05,
-    OPERATION_MODE_MAGGYRO = 0X06,
-    OPERATION_MODE_AMG = 0X07,
-    OPERATION_MODE_IMUPLUS = 0X08,
-    OPERATION_MODE_COMPASS = 0X09,
-    OPERATION_MODE_M4G = 0X0A,
-    OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
-    OPERATION_MODE_NDOF = 0X0C
-} bno055_opmode_t;
-
-/** BNO055 Registers **/
-typedef enum {
-    /* Page id register definition */
-    BNO055_PAGE_ID_ADDR = 0X07,
-
-    /* PAGE0 REGISTER DEFINITION START*/
-    BNO055_CHIP_ID_ADDR = 0x00,
-    BNO055_ACCEL_REV_ID_ADDR = 0x01,
-    BNO055_MAG_REV_ID_ADDR = 0x02,
-    BNO055_GYRO_REV_ID_ADDR = 0x03,
-    BNO055_SW_REV_ID_LSB_ADDR = 0x04,
-    BNO055_SW_REV_ID_MSB_ADDR = 0x05,
-    BNO055_BL_REV_ID_ADDR = 0X06,
-
-    /* Accel data register */
-    BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
-    BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
-    BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
-    BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
-    BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
-    BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
-
-    /* Mag data register */
-    BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
-    BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
-    BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
-    BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
-    BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
-    BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
-
-    /* Gyro data registers */
-    BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
-    BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
-    BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
-    BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
-    BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
-    BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
-
-    /* Euler data registers */
-    BNO055_EULER_H_LSB_ADDR = 0X1A,
-    BNO055_EULER_H_MSB_ADDR = 0X1B,
-    BNO055_EULER_R_LSB_ADDR = 0X1C,
-    BNO055_EULER_R_MSB_ADDR = 0X1D,
-    BNO055_EULER_P_LSB_ADDR = 0X1E,
-    BNO055_EULER_P_MSB_ADDR = 0X1F,
-
-    /* Quaternion data registers */
-    BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
-    BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
-    BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
-    BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
-    BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
-    BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
-    BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
-    BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
-
-    /* Linear acceleration data registers */
-    BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
-    BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
-    BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
-    BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
-    BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
-    BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
-
-    /* Gravity data registers */
-    BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
-    BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
-    BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
-    BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
-    BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
-    BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
-
-    /* Temperature data register */
-    BNO055_TEMP_ADDR = 0X34,
-
-    /* Status registers */
-    BNO055_CALIB_STAT_ADDR = 0X35,
-    BNO055_SELFTEST_RESULT_ADDR = 0X36,
-    BNO055_INTR_STAT_ADDR = 0X37,
-
-    BNO055_SYS_CLK_STAT_ADDR = 0X38,
-    BNO055_SYS_STAT_ADDR = 0X39,
-    BNO055_SYS_ERR_ADDR = 0X3A,
-
-    /* Unit selection register */
-    BNO055_UNIT_SEL_ADDR = 0X3B,
-
-    /* Mode registers */
-    BNO055_OPR_MODE_ADDR = 0X3D,
-    BNO055_PWR_MODE_ADDR = 0X3E,
-
-    BNO055_SYS_TRIGGER_ADDR = 0X3F,
-    BNO055_TEMP_SOURCE_ADDR = 0X40,
-
-    /* Axis remap registers */
-    BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
-    BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
-
-    /* SIC registers */
-    BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
-    BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
-    BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
-    BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
-    BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
-    BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
-    BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
-    BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
-    BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
-    BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
-    BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
-    BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
-    BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
-    BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
-    BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
-    BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
-    BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
-    BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
-
-    /* Accelerometer Offset registers */
-    ACCEL_OFFSET_X_LSB_ADDR = 0X55,
-    ACCEL_OFFSET_X_MSB_ADDR = 0X56,
-    ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
-    ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
-    ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
-    ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
-
-    /* Magnetometer Offset registers */
-    MAG_OFFSET_X_LSB_ADDR = 0X5B,
-    MAG_OFFSET_X_MSB_ADDR = 0X5C,
-    MAG_OFFSET_Y_LSB_ADDR = 0X5D,
-    MAG_OFFSET_Y_MSB_ADDR = 0X5E,
-    MAG_OFFSET_Z_LSB_ADDR = 0X5F,
-    MAG_OFFSET_Z_MSB_ADDR = 0X60,
-
-    /* Gyroscope Offset register s*/
-    GYRO_OFFSET_X_LSB_ADDR = 0X61,
-    GYRO_OFFSET_X_MSB_ADDR = 0X62,
-    GYRO_OFFSET_Y_LSB_ADDR = 0X63,
-    GYRO_OFFSET_Y_MSB_ADDR = 0X64,
-    GYRO_OFFSET_Z_LSB_ADDR = 0X65,
-    GYRO_OFFSET_Z_MSB_ADDR = 0X66,
-
-    /* Radius registers */
-    ACCEL_RADIUS_LSB_ADDR = 0X67,
-    ACCEL_RADIUS_MSB_ADDR = 0X68,
-    MAG_RADIUS_LSB_ADDR = 0X69,
-    MAG_RADIUS_MSB_ADDR = 0X6A,
-
-    /* Interrupt registers*/
-    RST_INT = 0x01,
-
-    NO_MOTION_INT_ADDR = 0x00,
-    SLOW_NO_MOTION_INT_ADDR = 0x01,
-    THRESHOLD_INT_ADDR = 0x02,
-} bno055_reg_t;
-
-/** BNO055 power settings */
-typedef enum {
-    POWER_MODE_NORMAL = 0X00,
-    POWER_MODE_LOWPOWER = 0X01,
-    POWER_MODE_SUSPEND = 0X02
-} bno055_powermode_t;
-
-/** Vector Mappings **/
-typedef enum {
-    VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
-    VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
-    VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
-    VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
-    VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
-    VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
-} vector_type_t;
-
-struct quarternion {
-    float w;
-    float x;
-    float y;
-    float z;
-};
-
-struct vector3f {
-    float x;
-    float y;
-    float z;
-};
-
-struct CALIB_STATUS {
-    uint8_t sys;
-    uint8_t gyro;
-    uint8_t accel;
-    uint8_t mag;
-};
-
-extern volatile vector3f linear_acceleration;
-extern volatile vector3f acceleration;
-extern volatile quarternion abs_quaternion;
-extern volatile CALIB_STATUS calib_status;
-
-extern volatile vector3f euler_angles;
-extern volatile vector3f abs_lin_accel;
-extern volatile vector3f rot_y_vec;
-extern volatile vector3f vel_at_angle;
-
-extern volatile vector3f accel_gravity;
-
-extern uint8_t accel[6];
-extern uint8_t quat[8];
-
-class BNO055 {
-    public:
-        BNO055();
-        //Sanity check for factory device ID 
-        void reset_bno055();
-        void init();
-        void read_lin_accel();
-        void read_abs_quaternion();
-        void read_euler_angles();
-        void read_accel();
-        void read_calib_status();
-        void calculate_abs_linear_acceleration();
-        void accel_to_gravity();
-        void quaternion_to_euler(); 
-        void get_rotation_vector();
-        void clamp_close_zero(volatile float &val);
-        
-    private:
-        unsigned char bno055_address;
-        int32_t _sensorID;
-        bno055_opmode_t default_mode;
-};