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, 312 deletions

diff --git a/include/sensorIMU.hpp b/include/sensorIMU.hpp
deleted file mode 100644
index caddbe4..0000000
--- a/include/sensorIMU.hpp
+++ /dev/null
@@ -1,312 +0,0 @@
-#pragma once
-#include <vector>
-#include "sensorI2C.hpp"
-#include "logger.hpp"
-#include "rocketUtils.hpp"
-#include "imumath.h"
-#include <string>
-
-struct IMUData {
-    std::vector<double> acceleration[3];
-    std::vector<double> linear_acceleration[3];
-};
-
-//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 */
-} adafruit_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
-} adafruit_bno055_opmode_t;
-class IMUSensor : public sensorI2C {
-
-    private:
-        deviceAddress = BNO055_ADDRESS_A;
-
-        adafruit_bno055_opmode_t default_mode = OPERATION_MODE_NDOF;
-        /** 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
-        } adafruit_bno055_reg_t;
-
-        /** BNO055 power settings */
-        typedef enum {
-            POWER_MODE_NORMAL = 0X00,
-            POWER_MODE_LOWPOWER = 0X01,
-            POWER_MODE_SUSPEND = 0X02
-        } adafruit_bno055_powermode_t;
-
-        /** Remap settings **/
-        typedef enum {
-            REMAP_CONFIG_P0 = 0x21,
-            REMAP_CONFIG_P1 = 0x24, // default
-            REMAP_CONFIG_P2 = 0x24,
-            REMAP_CONFIG_P3 = 0x21,
-            REMAP_CONFIG_P4 = 0x24,
-            REMAP_CONFIG_P5 = 0x21,
-            REMAP_CONFIG_P6 = 0x21,
-            REMAP_CONFIG_P7 = 0x24
-        } adafruit_bno055_axis_remap_config_t;
-
-        /** Remap Signs **/
-        typedef enum {
-            REMAP_SIGN_P0 = 0x04,
-            REMAP_SIGN_P1 = 0x00, // default
-            REMAP_SIGN_P2 = 0x06,
-            REMAP_SIGN_P3 = 0x02,
-            REMAP_SIGN_P4 = 0x03,
-            REMAP_SIGN_P5 = 0x01,
-            REMAP_SIGN_P6 = 0x07,
-            REMAP_SIGN_P7 = 0x05
-        } adafruit_bno055_axis_remap_sign_t;
-
-        /** A structure to represent revisions **/
-        typedef struct {
-            uint8_t accel_rev; /**< acceleration rev */
-            uint8_t mag_rev;   /**< magnetometer rev */
-            uint8_t gyro_rev;  /**< gyroscrope rev */
-            uint16_t sw_rev;   /**< SW rev */
-            uint8_t bl_rev;    /**< bootloader rev */
-        } adafruit_bno055_rev_info_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
-        } adafruit_vector_type_t;
-
-        int32_t _sensorID;
-        adafruit_bno055_opmode_t currentMode;
-
-    public:
-        /**
-         * @brief Construct a new IMUSensor object
-         * 
-         */
-        IMUSensor(std::string I2C_FILE);
-
-        /**
-         * @brief Inititlize the IMU
-         * 
-         * @param data Data for initializing the sensor
-         * @return true Initialization Success
-         * @return false Initialization Failure
-         */
-        bool init() override;
-
-        //Data handlers, copied from adafruit implementation (not all of them)
-        void setModeTemp(adafruit_bno055_opmode_t mode);
-        void setModeHard(adafruit_bno055_opmode_t mode);
-        adafruit_bno055_opmode_t getMode();
-
-        imu::Vector<3> getVector(adafruit_vector_type_t vector_type);
-        imu::Quaternion getQuat();
-        int8_t getTemp();
-
-        //Configuration and status getters/setters
-        void setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode);
-        void setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign);        
-        void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,
-                       uint8_t *system_error);
-        void getCalibration(uint8_t *sys, uint8_t *gyro, uint8_t *accel,
-                      uint8_t *mag);
-
-        /* Functions to deal with raw calibration data */
-        bool getSensorOffsets(uint8_t *calibData);
-        bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
-        void setSensorOffsets(const uint8_t *calibData);
-        void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);
-        bool isFullyCalibrated();
-
-        /* Power managments functions */
-        void enterSuspendMode();
-        void enterNormalMode();
-
-};
\ No newline at end of file