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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, 986 insertions, 0 deletions
diff --git a/include/unused/actuationPlan.hpp b/include/unused/actuationPlan.hpp
new file mode 100644
index 0000000..8d1ef26
--- /dev/null
+++ b/include/unused/actuationPlan.hpp
@@ -0,0 +1,36 @@
+#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
new file mode 100644
index 0000000..e7c4120
--- /dev/null
+++ b/include/unused/actuator.hpp
@@ -0,0 +1,30 @@
+#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
new file mode 100644
index 0000000..b16c4fb
--- /dev/null
+++ b/include/unused/ads.hpp
@@ -0,0 +1,66 @@
+#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
new file mode 100644
index 0000000..90fa05a
--- /dev/null
+++ b/include/unused/logger.hpp
@@ -0,0 +1,83 @@
+#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
new file mode 100644
index 0000000..cb95b6a
--- /dev/null
+++ b/include/unused/motor.hpp
@@ -0,0 +1,36 @@
+#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
new file mode 100644
index 0000000..65b9cea
--- /dev/null
+++ b/include/unused/rocketUtils.hpp
@@ -0,0 +1,121 @@
+#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
new file mode 100644
index 0000000..aa3a3cd
--- /dev/null
+++ b/include/unused/sensorAltimeter.hpp
@@ -0,0 +1,165 @@
+#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
new file mode 100644
index 0000000..bd497a5
--- /dev/null
+++ b/include/unused/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;
+};
diff --git a/include/unused/sensorIMU.hpp b/include/unused/sensorIMU.hpp
new file mode 100644
index 0000000..caddbe4
--- /dev/null
+++ b/include/unused/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();
+
+}; \ No newline at end of file
diff --git a/include/unused/surfaceFitModel.hpp b/include/unused/surfaceFitModel.hpp
new file mode 100644
index 0000000..303633f
--- /dev/null
+++ b/include/unused/surfaceFitModel.hpp
@@ -0,0 +1,32 @@
+#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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