From 58b4bc754bbb9f5197119cd0c124e49c05acff46 Mon Sep 17 00:00:00 2001
From: Dawsyn Schraiber <32221234+dawsynth@users.noreply.github.com>
Date: Thu, 13 Jun 2024 14:30:58 -0400
Subject: Where to begin…. (#13)
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+/- 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
---
 src/unused/sensorAltimeter.cpp | 115 -----------------------------------------
 1 file changed, 115 deletions(-)
 delete mode 100644 src/unused/sensorAltimeter.cpp

(limited to 'src/unused/sensorAltimeter.cpp')

diff --git a/src/unused/sensorAltimeter.cpp b/src/unused/sensorAltimeter.cpp
deleted file mode 100644
index 8ec065d..0000000
--- a/src/unused/sensorAltimeter.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-#include "sensorAltimeter.hpp"
-
-AltimeterSensor::AltimeterSensor(std::string I2C_FILE_in) {
-    I2C_FILE = I2C_FILE_in;
-    deviceAddress = 0x60;
-}
-
-//Startup routine copied from Adafruit library, as is most of the data getting methods
-//Adaptation is largely editing for readability and porting from Adafruit_I2C to BBB I2C (sensorI2C.hpp implementation)
-bool AltimeterSensor::init() {
-
-    // Vehicle *vehicle = (Vehicle *) data;
-    // // Do Stuff 
-    // data = (void*) vehicle;
-
-    //Pass file string from parent to setup function, actual I2C bus gets stored internally.
-    setupI2C(I2C_FILE);
-
-    // Check a register with a hard-coded value to see if comms are working
-    uint8_t whoami = readSingleRegister(MPL3115A2_WHOAMI);
-    if (whoami != 0xC4) {
-        fprintf(stderr, "MPL INITIALIZATION DID NOT PASS WHOAMI DEVICE CHECK!, got: %X, expected: 0xC4\n", whoami);
-        return false;
-    }
-
-    //Send device dedicated reset byte to CTRL1 Register
-    writeRegister(MPL3115A2_CTRL_REG1, MPL3115A2_CTRL_REG1_RST);
-    //Wait for reset to wipe its way through device and reset appropriate bit of CTRL1 Register
-    while (readSingleRegister(MPL3115A2_CTRL_REG1) & MPL3115A2_CTRL_REG1_RST);
-
-     //Set oversampling (?) and altitude mode by default
-    currentMode = MPL3115A2_ALTIMETER;
-    ctrl_reg1.reg = MPL3115A2_CTRL_REG1_OS128 | MPL3115A2_CTRL_REG1_ALT;
-    writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg);
-
-    //Configure data return types, I don't really understand this chunk but Adafruit does it this way so we will too I guess
-    writeRegister(MPL3115A2_PT_DATA_CFG, MPL3115A2_PT_DATA_CFG_TDEFE |
-                                    MPL3115A2_PT_DATA_CFG_PDEFE |
-                                    MPL3115A2_PT_DATA_CFG_DREM);
-
-    return true;
-}
-
-//EXPECTED THAT USER WILL NEVER SET MODE TO PRESSURE AFTER INITIAL CONFIGURATION
-void AltimeterSensor::setMode(mpl3115a2_mode_t mode) {
-    ctrl_reg1.reg = readSingleRegister(MPL3115A2_CTRL_REG1);
-    ctrl_reg1.bit.ALT = mode;
-    writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg);
-    currentMode = mode;
-}
-
-double AltimeterSensor::getAltitude() {
-    //Request new data reading
-    requestOneShotReading();
-    //If new data is available, read it and store it to internal fields
-    if (isNewDataAvailable()) {
-        //Logger flag here for new data?
-        updateCurrentDataBuffer();
-    }
-    //Return internal field, whether updated or not
-    return internalAltitude;
-}
-
-double AltimeterSensor::getTemperature() {
-    //Request new data reading
-    requestOneShotReading();
-    //If new data is available, read it and store it to internal fields
-    if (isNewDataAvailable()) {
-        //Logger flag here for new data?
-        updateCurrentDataBuffer();
-    }
-    //Return internal field, whether updated or not
-    return internalTemperature;
-}
-
-void AltimeterSensor::requestOneShotReading() {
-    //Request current status of oneshot reading
-    ctrl_reg1.reg = readSingleRegister(MPL3115A2_CTRL_REG1);
-    //If oneshot is complete, proc a new one; if it isn't, do nothing.
-    //THIS PRODUCES DUPLICATE DATA IF READING REQUESTS FROM BB DON'T LINE UP WITH READING COMPLETION ON SENSOR.
-    if (!ctrl_reg1.bit.OST) {
-        // initiate one-shot measurement
-        ctrl_reg1.bit.OST = 1;
-        writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg);
-    }
-}
-
-bool AltimeterSensor::isNewDataAvailable() {
-    //Returns PTDR bit of status register, 1 if new data for Temp OR Alt/Pres is available
-    //There *are* registers available for exclusively temperature *or* pressure/altitude, but 
-    //for simplicity's sake we'll use the combined one for now.
-    return ((readSingleRegister(MPL3115A2_REGISTER_STATUS) & MPL3115A2_REGISTER_STATUS_PTDR) != 0);
-}
-
-//Adafruit returns specific field based on input parameter, this method updates all internal fields at once instead
-void AltimeterSensor::updateCurrentDataBuffer() {
-    uint8_t buffer[5] = {MPL3115A2_REGISTER_PRESSURE_MSB, 0, 0, 0, 0};
-    readMultipleRegisters(MPL3115A2_REGISTER_PRESSURE_MSB, 5);
-
-    //Pressure is no longer used, assumed rocket is only logging altitude
-    // uint32_t pressure;
-    // pressure = uint32_t(buffer[0]) << 16 | uint32_t(buffer[1]) << 8 |
-    //         uint32_t(buffer[2]);
-    // return double(pressure) / 6400.0;
-
-    //Altitude Conversion
-    int32_t alt;
-    alt = uint32_t(buffer[0]) << 24 | uint32_t(buffer[1]) << 16 |
-        uint32_t(buffer[2]) << 8;
-    internalAltitude = double(alt) / 65536.0;
-
-    int16_t t;
-    t = uint16_t(buffer[3]) << 8 | uint16_t(buffer[4]);
-    internalTemperature = double(t) / 256.0;
-}
-- 
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