02/24/2024 Test Launch Version (BB Black) (#11)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>

1 files changed, 105 insertions, 0 deletions

diff --git a/include/sensorI2C.hpp b/include/sensorI2C.hpp
new file mode 100644
index 0000000..bd497a5
--- /dev/null
+++ b/include/sensorI2C.hpp
@@ -0,0 +1,105 @@
+#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;
+};