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, 105 deletions

diff --git a/include/sensorI2C.hpp b/include/sensorI2C.hpp
deleted file mode 100644
index bd497a5..0000000
--- a/include/sensorI2C.hpp
+++ /dev/null
@@ -1,105 +0,0 @@
-#pragma once
-
-#include <stdio.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <sys/ioctl.h>
-#include <linux/i2c.h>
-#include <linux/i2c-dev.h>
-#include <cstdint>
-#include <string>
-
-class sensorI2C {
-    
-
-    //Predominantly used for I2C handler functions; implement high-level functions in sensor classes
-    //Implemented as a combination of Jazz' implementation and Derek Malloy's code
-    public:
-        
-        //Initial single byte write, used at beginning of read operation
-        //Returns 0 if successful, -1 if not
-        int initialWrite(unsigned char registerAddress) {
-            unsigned char *convertedAddressBuffer = new unsigned char[1];
-            convertedAddressBuffer[0] = registerAddress;
-            //Expect 1 byte response from 1 byte write
-            if (write(i2c_bus, convertedAddressBuffer, 1) != 1) {
-                fprintf(stderr, "ERROR DOING INITIAL READ TRANSACTION WRITE TO REGISTER %x FOR DEVICE %x\n", registerAddress, deviceAddress);
-                return 0;
-            }
-            return 1;
-        }
-
-        int writeRegister(unsigned char registerAddress, unsigned char value) {
-            //initialWrite() not used here because it's easier to just pack it into one buffer for file writing
-            unsigned char writeBuffer[2];
-            writeBuffer[0] = registerAddress;
-            writeBuffer[1] = value;
-
-            //Expect 2 byte output
-            if (write(i2c_bus, writeBuffer, 2) != 2) {
-                //These error messages are kind of obtuse but I'd rather have too much information than not enough
-                fprintf(stderr, "ERROR WRITING %x TO REGISTER %x ON DEVICE %x\n", value, registerAddress, deviceAddress);
-                return -1;
-            }
-            return 0;
-        }
-
-        //Could probably be uint8_t but Derek Malloy does it with unsigned chars and that's what worked during testing so I don't want to touch it
-        unsigned char readSingleRegister(unsigned char registerAddress) {
-            printf("reg addr: %X\n", registerAddress);
-
-            initialWrite(registerAddress);
-            unsigned char* readBuffer = new unsigned char[1];
-            if (read(i2c_bus, readBuffer, 1) != 1){
-                fprintf(stderr, "FAILED TO READ VALUE FROM REGISTER %x ON DEVICE %x\n", registerAddress, deviceAddress);
-                return -1;
-            }
-            printf("readBuffer: %X\n", readBuffer[0]);
-            return readBuffer[0];
-        }
-
-        unsigned char* readMultipleRegisters(unsigned char startingRegisterAddress, int numberOfRegisters) {            
-            initialWrite(startingRegisterAddress);
-            unsigned char* readBuffer = new unsigned char[numberOfRegisters];
-            if (read(i2c_bus, readBuffer, numberOfRegisters) != numberOfRegisters) {
-                fprintf(stderr, "ERROR TRYING TO READ %d REGISTERS STARTING AT ADDRESS %x ON DEVICE %x\n", 
-                    numberOfRegisters, startingRegisterAddress, deviceAddress);
-            }
-            return readBuffer;
-        }
-
-
-        //Intakes device address and file 
-        //Private because IT'S ASSUMED PROGRAMMER WILL CALL THIS METHOD DURING INIT() ROUTINE
-        int setupI2C(std::string I2C_FILE) {
-            // Open i2c driver file
-            i2c_bus = open("/dev/i2c-2", O_RDWR);
-            if(i2c_bus < 0){
-                fprintf(stderr, "FAILED TO OPEN I2C BUS USING FILE %s\n", "/dev/i2c-2");
-                close(i2c_bus);
-                return -1;
-            }
-
-            // Identify slave device address (MODIFIED FROM INITIAL IMPLEMENTATION, USES INTERNAL deviceAddress INSTEAD OF PARAMETER)
-            if(ioctl(i2c_bus, I2C_SLAVE, deviceAddress) < 0){
-                fprintf(stderr, "FAILED TO CONNECT TO DEVICE AT ADDRESS %x VIA I2C\n", deviceAddress);
-                close(i2c_bus);
-                return -1;
-            }
-            return 0;
-        }
-
-        /**
-         * @brief Initialize the sensor. 
-         * 
-         * @param data Data for initializing the sensor
-         * 
-         * @return true Initialization Success
-         * @return false Initialization Failure
-         */
-        virtual bool init() = 0;
-
-        unsigned char deviceAddress;
-        int i2c_bus;
-        std::string I2C_FILE;
-};