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-rw-r--r--include/unused/actuationPlan.hpp36
-rw-r--r--include/unused/actuator.hpp30
-rw-r--r--include/unused/ads.hpp66
-rw-r--r--include/unused/logger.hpp83
-rw-r--r--include/unused/motor.hpp36
-rw-r--r--include/unused/rocketUtils.hpp121
-rw-r--r--include/unused/sensorAltimeter.hpp165
-rw-r--r--include/unused/sensorI2C.hpp105
-rw-r--r--include/unused/sensorIMU.hpp312
-rw-r--r--include/unused/surfaceFitModel.hpp32
10 files changed, 0 insertions, 986 deletions
diff --git a/include/unused/actuationPlan.hpp b/include/unused/actuationPlan.hpp
deleted file mode 100644
index 8d1ef26..0000000
--- a/include/unused/actuationPlan.hpp
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-#include <algorithm>
-#include <ctime>
-#include "surfaceFitModel.hpp"
-#include "rocketUtils.hpp"
-#include "sensorIMU.hpp"
-#include "sensorAltimeter.hpp"
-
-class ActuationPlan {
-
- private:
- SurfaceFitModel sFitModel;
-
- public:
-
- /**
- * @brief Construct a new Actuation Plan object
- *
- */
- ActuationPlan();
-
- /**
- * @brief Construct a new Actuation Plan object
- *
- * @param sFitModel
- */
- ActuationPlan(SurfaceFitModel sFitModel);
-
- /**
- * @brief Run the Fin Actuation Plan.
- * Adjusts the fin angle values depending on the current vehicle state during the launch
- *
- * @param rocket Provides current rocket status and hold updated fin angle value.
- */
- void runPlan(Vehicle& rocket);
-}; \ No newline at end of file
diff --git a/include/unused/actuator.hpp b/include/unused/actuator.hpp
deleted file mode 100644
index e7c4120..0000000
--- a/include/unused/actuator.hpp
+++ /dev/null
@@ -1,30 +0,0 @@
-#pragma once
-
-
-class Actuator {
-
- private:
-
-
- public:
-
- /**
- * @brief Initialize the actuator.
- *
- * @param data Data for initializing the actuator
- *
- * @return true Initialization Success
- * @return false Initialization Failure
- */
- virtual bool init(void* data) = 0;
-
- /**
- * @brief Pass data to the actuator.
- *
- * @param data Data to sent to the actuator
- *
- * @return true Actuator write Success
- * @return false Actuator write Failure
- */
- virtual bool writeData(void* data) = 0;
-}; \ No newline at end of file
diff --git a/include/unused/ads.hpp b/include/unused/ads.hpp
deleted file mode 100644
index b16c4fb..0000000
--- a/include/unused/ads.hpp
+++ /dev/null
@@ -1,66 +0,0 @@
-#pragma once
-#include <iostream>
-#include <exception>
-#include <stdexcept>
-#include <chrono>
-#include <thread>
-#include "kalmanfilter.hpp"
-#include "logger.hpp"
-#include "actuationPlan.hpp"
-#include "rocketUtils.hpp"
-#include "sensorIMU.hpp"
-#include "sensorAltimeter.hpp"
-#include "motor.hpp"
-#include "eigen3/Eigen/Dense"
-
-using namespace Eigen;
-
-class ADS {
-
- private:
-
- KalmanFilter kf;
- ActuationPlan plan;
-
- IMUSensor imu;
- AltimeterSensor altimeter;
- Motor motor;
- Vehicle rocket;
-
- /**
- * @brief Logs a summary of all pertinent current rocket data
- * (e.g. Altitude, Velocity, Acceleration)
- */
- virtual void logSummary();
-
- /**
- * @brief Performs a routine to calculate the average altitude
- * while the vehicle is waiting on the pad.
- */
- virtual void updateOnPadAltitude();
-
- /**
- * @brief Update the vehicle with the current sensor (IMU & Altimeter) readings
- */
- virtual void updateSensorData();
-
- /**
- * @brief Update the rocket state based on its current telemetry readings.
- * Also Log pertinent telemetry and rocket state data
- */
- virtual void updateRocketState();
-
- public:
-
- /**
- * @brief Construct a new ADS object
- *
- * @param plan The Actuation Plan for the Rocket
- */
- ADS(ActuationPlan plan);
-
- /**
- * @brief Run the full active drag system from launch to landing.
- */
- virtual void run();
-}; \ No newline at end of file
diff --git a/include/unused/logger.hpp b/include/unused/logger.hpp
deleted file mode 100644
index 90fa05a..0000000
--- a/include/unused/logger.hpp
+++ /dev/null
@@ -1,83 +0,0 @@
-#pragma once
-#include <iostream>
-#include <fstream>
-#include <ctime>
-
-class Logger {
-
- private:
- std::fstream file;
- std::string filename;
- time_t t;
- tm* now;
- bool file_open;
-
- std::string infoTag = "-> [INFO]: ";
- std::string errorTag = "-> [ERROR]: ";
- std::string months[12] = {"Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sept", "Oct", "Nov", "Dec"};
- std::string days[7] = {"Sun", "Mon", "Tues", "Wed", "Thur", "Frid", "Sat"};
-
- /**
- * @brief Create formatted current-date tag
- *
- * @return string
- */
- std::string getDate();
-
- /**
- * @brief Create formatted current-time tag
- *
- * @return string
- */
- std::string getTime();
-
-
- public:
-
- /**
- * @brief
- *
- */
- static Logger& Get();
-
- /**
- * @brief Open a Log File for writing
- *
- * @param _filename Name of file to open
- * @return true Successful Open
- * @return false Unsuccessful Open
- */
- bool openLog(std::string _filename);
-
- /**
- * @brief Close the Log File
- *
- */
- void closeLog();
-
- /**
- * @brief Write data to Log file
- *
- * @param data Data to log
- * @return true Data Successfully Logged
- * @return false Data Logging Unsuccessful
- */
- bool log(std::string data);
-
- /**
- * @brief Write error data to Log file
- *
- * @param data Error Data to log
- * @return true Data Successfully Logged
- * @return false Data Logging Unsuccessful
- */
- bool logErr(std::string data);
-
- /**
- * @brief Print Log Data to Terminal
- *
- * @return true Successful Print
- * @return false Unsuccessful Print
- */
- bool printLog();
-}; \ No newline at end of file
diff --git a/include/unused/motor.hpp b/include/unused/motor.hpp
deleted file mode 100644
index cb95b6a..0000000
--- a/include/unused/motor.hpp
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-#include "actuator.hpp"
-#include "logger.hpp"
-#include "rocketUtils.hpp"
-
-class Motor : public Actuator {
-
- private:
-
-
- public:
-
- /**
- * @brief Construct a new Motor object
- *
- */
- Motor();
-
- /**
- * @brief Initialize the motor.
- *
- * @param data Data for initializing the motor
- * @return true Initialization Success
- * @return false Initialization Failure
- */
- virtual bool init(void* data) override;
-
- /**
- * @brief Write data to the motor.
- *
- * @param data Data to be writen to the motor
- * @return true Motor write Success
- * @return false Motor write Failure
- */
- virtual bool writeData(void* data) override;
-}; \ No newline at end of file
diff --git a/include/unused/rocketUtils.hpp b/include/unused/rocketUtils.hpp
deleted file mode 100644
index 65b9cea..0000000
--- a/include/unused/rocketUtils.hpp
+++ /dev/null
@@ -1,121 +0,0 @@
-#pragma once
-#include <iostream>
-#include <vector>
-#include <ctime>
-#include <vector>
-#include <iomanip>
-#include <sstream>
-#include <fstream>
-
-// Deployment angle limits
-#define MAX_ANGLE 100
-#define MIN_ANGLE 120
-
-// Altimeter initialization count limit
-#define COUNT_LIMIT 50
-
-// Constants
-#define G_0 9.8066
-
-// Threshold limits
-#define BOOST_ACCEL_THRESH 3
-#define BOOST_HEIGHT_THRESH 20
-#define GLIDE_ACCEL_THRESH 0.5
-
-#define ALTI_DEPL_THRESHOLD 0.5
-#define RATE_ALTI_DEPL 1/50
-#define FSM_DONE_SURFACE_ALTITUDE 200
-#define APOGEE_FSM_CHANGE 3
-
-#define INIT_DEPLOYMENT 0
-
-#define TIME_BO 8
-#define TIME_APO 25
-#define TIME_END 120
-
-#define PAD_PRESSURE 102250
-
-#define DUTY_MAX 14.5
-#define DUTY_MIN 3
-
-#define LAUNCH_DATE "4-15-2023"
-#define LOG_FILENAME "DataLog_" LAUNCH_DATE ".txt"
-
-#define LED_GAP_TIME 0.5
-#define LED_ONE_PATH "/sys/class/leds/beaglebone:green:usr1"
-#define LED_BRIGHTNESS_FILE "brightness"
-#define LED_FILENAME LED_ONE_PATH LED_BRIGHTNESS_FILE
-
-#define TEST_MODE false
-
-
-enum VehicleState {ON_PAD, BOOST, GLIDE, APOGEE, DONE};
-extern std::string state_for_log[5];
-
-struct Vehicle {
-
- int status;
-
- std::vector<double> acceleration;
- std::vector<double> linear_acceleration;
-
- double apogee_altitude;
- double previous_altitude;
- double current_altitude;
- double filtered_altitude;
-
- double filtered_velocity;
-
- double deployment_angle;
-
- bool imuInitFail;
- bool imuReadFail;
- bool altiInitFail;
- bool altiReadFail;
-
- double ON_PAD_altitude;
- bool ON_PAD_fail;
-
- double duty_span;
-
- double dt;
-
- int led_brightness;
-
- time_t start_time;
- time_t fail_time; // For failure termination
- time_t liftoff_time;
- time_t relog_time;
- time_t deploy_time; // NOT INITIALIZED YET
- time_t loop_time;
- time_t led_time;
-};
-
-/**
- * @brief Convert fin deployment percentage to fin rotation angle
- *
- * @param percentage Fin deployment percentage
- * @return double
- */
-double deploy_percentage_to_angle(double percentage);
-
-/**
- * @brief Set the decimal precision of the given data, and return it
- * as a formatted string with a prefix containing a relevant description of the data.
- *
- * @param prefix Identifying or clarifying information about the loggef data
- * @param data Data to Log
- * @param precision The decimal precision value for the data
- *
- * @return A string with the formatted data.
- */
-std::string format_data(std::string prefix, double data, int precision);
-
-/**
- * @brief Blink Beaglebone LED 1
- *
- * @param vehicle Holds settings pertinent to the Beaglebone LED
- * @return true Successful Blink
- * @return false Unsuccessful Blink
- */
-bool led_out(Vehicle *vehicle);
diff --git a/include/unused/sensorAltimeter.hpp b/include/unused/sensorAltimeter.hpp
deleted file mode 100644
index aa3a3cd..0000000
--- a/include/unused/sensorAltimeter.hpp
+++ /dev/null
@@ -1,165 +0,0 @@
-#pragma once
-#include "sensorI2C.hpp"
-#include <string>
-
-/*
-Header file for driver for MPL3115a2 breakout, based heavily on https://github.com/adafruit/Adafruit_MPL3115A2_Library/tree/master
-Based on register declarations found https://cdn-shop.adafruit.com/datasheets/1893_datasheet.pdf
-Designed using subclass for I2C handler for Beaglebone Black
-*/
-
-class AltimeterSensor : public sensorI2C {
-
-
- private:
- double internalTemperature = 0;
- double internalAltitude = 0;
-
- //ENUMS COPIED DIRECTLY FROM ADAFRUIT IMPLEMENTATION
- /** MPL3115A2 registers **/
- enum {
- MPL3115A2_REGISTER_STATUS = (0x00),
-
- MPL3115A2_REGISTER_PRESSURE_MSB = (0x01),
- MPL3115A2_REGISTER_PRESSURE_CSB = (0x02),
- MPL3115A2_REGISTER_PRESSURE_LSB = (0x03),
-
- MPL3115A2_REGISTER_TEMP_MSB = (0x04),
- MPL3115A2_REGISTER_TEMP_LSB = (0x05),
-
- MPL3115A2_REGISTER_DR_STATUS = (0x06),
-
- MPL3115A2_OUT_P_DELTA_MSB = (0x07),
- MPL3115A2_OUT_P_DELTA_CSB = (0x08),
- MPL3115A2_OUT_P_DELTA_LSB = (0x09),
-
- MPL3115A2_OUT_T_DELTA_MSB = (0x0A),
- MPL3115A2_OUT_T_DELTA_LSB = (0x0B),
-
- MPL3115A2_WHOAMI = (0x0C),
- //This is hard-coded in the device from the factory
- MPL3115A2_WHOAMI_EXPECTED = (0xC4),
-
- MPL3115A2_BAR_IN_MSB = (0x14),
- MPL3115A2_BAR_IN_LSB = (0x15),
-
- MPL3115A2_OFF_H = (0x2D),
- };
-
- /** MPL3115A2 status register BITS **/
- enum {
- MPL3115A2_REGISTER_STATUS_TDR = 0x02,
- MPL3115A2_REGISTER_STATUS_PDR = 0x04,
- MPL3115A2_REGISTER_STATUS_PTDR = 0x08,
- };
-
- /** MPL3115A2 PT DATA register BITS **/
- enum {
- MPL3115A2_PT_DATA_CFG = 0x13,
- MPL3115A2_PT_DATA_CFG_TDEFE = 0x01,
- MPL3115A2_PT_DATA_CFG_PDEFE = 0x02,
- MPL3115A2_PT_DATA_CFG_DREM = 0x04,
- };
-
- /** MPL3115A2 control registers **/
- enum {
- MPL3115A2_CTRL_REG1 = (0x26),
- MPL3115A2_CTRL_REG2 = (0x27),
- MPL3115A2_CTRL_REG3 = (0x28),
- MPL3115A2_CTRL_REG4 = (0x29),
- MPL3115A2_CTRL_REG5 = (0x2A),
- };
-
- /** MPL3115A2 control register BITS **/
- enum {
- MPL3115A2_CTRL_REG1_SBYB = 0x01,
- MPL3115A2_CTRL_REG1_OST = 0x02,
- MPL3115A2_CTRL_REG1_RST = 0x04,
- MPL3115A2_CTRL_REG1_RAW = 0x40,
- MPL3115A2_CTRL_REG1_ALT = 0x80,
- MPL3115A2_CTRL_REG1_BAR = 0x00,
- };
-
- /** MPL3115A2 oversample values **/
- enum {
- MPL3115A2_CTRL_REG1_OS1 = 0x00,
- MPL3115A2_CTRL_REG1_OS2 = 0x08,
- MPL3115A2_CTRL_REG1_OS4 = 0x10,
- MPL3115A2_CTRL_REG1_OS8 = 0x18,
- MPL3115A2_CTRL_REG1_OS16 = 0x20,
- MPL3115A2_CTRL_REG1_OS32 = 0x28,
- MPL3115A2_CTRL_REG1_OS64 = 0x30,
- MPL3115A2_CTRL_REG1_OS128 = 0x38,
- };
-
- /** MPL3115A2 measurement modes **/
- typedef enum {
- MPL3115A2_BAROMETER = 0,
- MPL3115A2_ALTIMETER,
- } mpl3115a2_mode_t;
-
- /** MPL3115A2 measurement types **/
- typedef enum {
- MPL3115A2_PRESSURE,
- MPL3115A2_ALTITUDE,
- MPL3115A2_TEMPERATURE,
- } mpl3115a2_meas_t;
-
- //This never actually gets used, and I can't find anything in the datasheet about it??
- #define MPL3115A2_REGISTER_STARTCONVERSION (0x12) ///< start conversion
-
- //Store current operating mode, sent to device during startup procedure
- //This is why an enum is used rather than raw #define statements
- mpl3115a2_mode_t currentMode;
-
- //Struct for storing ctrl register contents, copied from adafruit implementation
- typedef union {
- struct {
- uint8_t SBYB : 1;
- uint8_t OST : 1;
- uint8_t RST : 1;
- uint8_t OS : 3;
- uint8_t RAW : 1;
- uint8_t ALT : 1;
- } bit;
- uint8_t reg;
- } CTRL_REG_1_STRUCT;
- //Create instance of this register config to use during device startup and operation
- CTRL_REG_1_STRUCT ctrl_reg1;
-
- public:
-
- /**
- * @brief Construct a new Altimeter Sensor object
- *
- */
- AltimeterSensor(std::string I2C_FILE);
-
- /**
- * @brief Initialize the Altimeter
- *
- * @param data Data for initializing the sensor
- * @return true Initialization Success
- * @return false Initialization Failure
- */
- bool init() override;
-
- //Data getters and setters
- // double getPressure();
- double getAltitude();
- double getTemperature();
- double setSeaLevelPressure(double pressure);
-
- //Data and mode handlers
- //Use altimeter mode by default as this is what rocket logger wants
- void setMode(mpl3115a2_mode_t mode = MPL3115A2_ALTIMETER);
- void requestOneShotReading();
- bool isNewDataAvailable();
- void updateCurrentDataBuffer();
-
-
-};
-
-
-
-
diff --git a/include/unused/sensorI2C.hpp b/include/unused/sensorI2C.hpp
deleted file mode 100644
index bd497a5..0000000
--- a/include/unused/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;
-};
diff --git a/include/unused/sensorIMU.hpp b/include/unused/sensorIMU.hpp
deleted file mode 100644
index caddbe4..0000000
--- a/include/unused/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
diff --git a/include/unused/surfaceFitModel.hpp b/include/unused/surfaceFitModel.hpp
deleted file mode 100644
index 303633f..0000000
--- a/include/unused/surfaceFitModel.hpp
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-#include <cmath>
-#include "eigen3/Eigen/Dense"
-
-
-using namespace Eigen;
-
-#define X_DEGREE 4 // Highest x-degree of current Surface Fit Model
-#define Y_DEGREE 3 // Highest y-degree of current Surface Fit Model
-
-class SurfaceFitModel {
-
- private:
- MatrixXd p; // Polynomial values
-
- public:
-
- /**
- * @brief Construct a new Surface Fit Model object
- *
- */
- SurfaceFitModel();
-
- /**
- * @brief
- *
- * @param x
- * @param y
- * @return double
- */
- double getFit(double x, double y);
-};
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