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, 312 insertions, 0 deletions

diff --git a/include/sensorIMU.hpp b/include/sensorIMU.hpp
new file mode 100644
index 0000000..caddbe4
--- /dev/null
+++ b/include/sensorIMU.hpp
@@ -0,0 +1,312 @@
+#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();
+
+};
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