Title

.gitignore

@@ -1,2 +1,4 @@
 
 .vscode/settings.json
+.pio
+.DS_Store

ASTRA/IMU/README.md

@@ -0,0 +1,5 @@
+# PLEASE READ
+
+This code is for the driver of the IMU. The structure used to be that this github repository was a submodule of the ASTRAFlightSoftware Repository. 
+However, this caused confusion among new developers on how to actually update the IMU driver. We no longer use this submodule structure, and thus, the code
+for the IMU in this repository is unused and out of date. It is kept here only for old branches in ASTRAFlightSoftware. Do not use this code for any other reason.

ASTRA/IMU/include/LSM6DS_LIS3MDL.h

@@ -3,7 +3,10 @@
 LSM6DS_LIS3MDL.h
 Description: Header file for sensor-setup function definitions
 Author: Vincent Palmerio, (Original: https://github.com/adafruit/Adafruit_AHRS/blob/master/examples/calibrated_orientation/calibrated_orientation.ino)
+
+
 Last updated: 11/4/2023
+
 */
 
 #ifndef LSM6DS_LIS3MDL

ASTRA/IMU/src/IMU.cpp

@@ -6,13 +6,25 @@
 IMU.cpp 
 Description: Function definititions for declarations in IMU.h
 Author: Vincent Palmerio
-Last updated: 11/4/2023
+
 */
 
-float roll, pitch, heading = 0;
+
+Eigen::VectorXd linearAccelVector(3);
+float linearAccelX, linearAccelY, linearAccelZ = 0;
+float roll, pitch, yaw = 0;
 float gx, gy, gz = 0; //degrees per second on gyro
 float qw, qx, qy, qz = 0; //quaternarion
 
+float* getValues() {
+  float* values = (float*)malloc(3 * sizeof(float));
+  values[0] = roll;
+  values[1] = pitch;
+  values[2] = yaw;
+  return values;
+}
+
+
 //loads a predetermined calibration into the EEPROM
 int loadPresetCalibration() {
   //Magnetic Hard Offset
@@ -44,10 +56,16 @@ int loadPresetCalibration() {
 }
 
 
-int initalizeIMU() {
+
+int initializeIMU() {
   Serial.begin(115200);
   while (!Serial) yield();
 
+  for (int i = 0; i < linearAccelVector.size(); i++) {
+    linearAccelVector(i) = 0;
+  }
+
+
   if (!cal.begin()) {
     //Failed to initialize calibration helper
 #if defined(ASTRA_FULL_DEBUG) or defined(ASTRA_IMU_DEBUG)
@@ -101,9 +119,10 @@ int updateIMU() {
 
   // Gyroscope needs to be converted from Rad/s to Degree/s
   // the rest are not unit-important
-  gx = gyro.gyro.x * SENSORS_RADS_TO_DPS;
-  gy = gyro.gyro.y * SENSORS_RADS_TO_DPS;
-  gz = gyro.gyro.z * SENSORS_RADS_TO_DPS;
+
+  gx = gyro.gyro.x; //* SENSORS_RADS_TO_DPS; //omega x
+  gy = gyro.gyro.y; //* SENSORS_RADS_TO_DPS; //omega y
+  gz = gyro.gyro.z; //* SENSORS_RADS_TO_DPS; //omega z
 
   // Update the SensorFusion filter
   filter.update(gx, gy, gz, 
@@ -113,19 +132,22 @@ int updateIMU() {
   // print the heading, pitch and roll
   roll = filter.getRoll();
   pitch = filter.getPitch();
-  heading = filter.getYaw();
+  yaw = filter.getYaw();
 
 
   //float qw, qx, qy, qz;
   filter.getQuaternion(&qw, &qx, &qy, &qz);
 
 
-#if defined(ASTRA_FULL_DEBUG) or defined(ASTRA_IMU_DEBUG)
+  filter.getLinearAcceleration(&linearAccelX, &linearAccelY, &linearAccelZ); //"a" -  linear acceleration
 
-  Serial.print("I2C took "); Serial.print(millis()-timestamp); Serial.println(" ms");
+  linearAccelVector << linearAccelX, linearAccelY, linearAccelZ;
 
-  Serial.print("Update took "); Serial.print(millis()-timestamp); Serial.println(" ms");
+#if defined(ASTRA_FULL_DEBUG) or defined(ASTRA_IMU_DEBUG)
+
+  //Serial.print("I2C took "); Serial.print(millis()-timestamp); Serial.println(" ms");
 
+  //Serial.print("Update took "); Serial.print(millis()-timestamp); Serial.println(" ms");
   Serial.print("Raw: ");
   Serial.print(accel.acceleration.x, 4); Serial.print(", ");
   Serial.print(accel.acceleration.y, 4); Serial.print(", ");
@@ -152,7 +174,8 @@ int updateIMU() {
   Serial.print(qy, 4);
   Serial.print(", ");
   Serial.println(qz, 4);  
-  Serial.print("Took "); Serial.print(millis()-timestamp); Serial.println(" ms");
+  //Serial.print("Took "); Serial.print(millis()-timestamp); Serial.println(" ms");
+
 #endif
 
 

ASTRA/IMU/src/IMU.h

@@ -3,7 +3,9 @@
 IMU.h - Header file for the IMU Driver
 Description: Contains all functions and variables to interact with the IMU
 Author: Vincent Palmerio
+
 Last updated: 11/4/2023
+
 */
 
 #ifndef IMU_H
@@ -16,6 +18,9 @@ Last updated: 11/4/2023
 #include <Adafruit_Sensor_Calibration.h>
 #include <Adafruit_AHRS.h>
 
+
+#include <ArduinoEigenDense.h>
+
 //uncomment to print data to console for just IMU
 //#define ASTRA_IMU_DEBUG 
 
@@ -43,16 +48,23 @@ Last updated: 11/4/2023
 //#define AHRS_DEBUG_OUTPUT
 
 
-extern float roll, pitch, heading;
+extern float* values;
+extern float roll, pitch, yaw;
+extern Eigen::VectorXd linearAccelVector;
+extern float linearAccelX, linearAccelY, linearAccelZ;
+
 extern float gx, gy, gz; //degrees per second on gyro
 extern float qw, qx, qy, qz; //quaternarion
 
 // slower == better quality output
 static Adafruit_NXPSensorFusion filter; // slowest
 
-extern int initalizeIMU();
+
+extern int initializeIMU();
 extern int updateIMU();
 extern int loadPresetCalibration();
+extern float* getValues();
+
 
 #endif
 

ASTRA/error/DriverError.h

@@ -2,8 +2,10 @@
 DriverError.h - Error Header/Constants File for Drivers
 Description: Error Constants for all Driver Errors that occur
 Author: Vincent Palmerio
+
 Created: 10/2/2023
 Last updated: 10/2/2023
+
 */
 
 #ifndef DRIVER_ERROR_H

ASTRA/testing/IMU_Debug/platformio.ini

@@ -14,6 +14,8 @@ board = teensy41
 framework = arduino
 lib_extra_dirs = ../../IMU
 lib_deps =
+
+	hideakitai/ArduinoEigen@^0.3.0
     adafruit/Adafruit LSM6DS@^4.7.0
     adafruit/Adafruit LIS3MDL@^1.2.1
 	adafruit/Adafruit AHRS@^2.3.3

ASTRA/testing/IMU_Debug/src/main.cpp

@@ -1,11 +1,65 @@
 #include "../../../IMU/src/IMU.h"
 
+
+/*
+main.cpp
+Description: Main file for running testing code for the IMU driver
+Author: Vincent Palmerio
+*/
+
+Adafruit_LSM6DSOX sox;
+
 void setup() {
-    initalizeIMU();
+    initializeIMU();
+
+    if (!sox.begin_I2C()) {
+        // if (!sox.begin_SPI(LSM_CS)) {
+        // if (!sox.begin_SPI(LSM_CS, LSM_SCK, LSM_MISO, LSM_MOSI)) {
+        // Serial.println("Failed to find LSM6DSOX chip");
+        while (1) {
+            delay(10);
+        }
+    }
 }
 
 void loop() {
+
     updateIMU();
-    Serial.print("test");
-    Serial.print(heading);
+    Serial.print("Fusion values: ");
+    Serial.print(yaw);
+    Serial.print(" ");
+    Serial.print(roll);
+    Serial.print(" ");
+    Serial.print(pitch);
+    Serial.println();
+
+
+    sensors_event_t accel;
+    sensors_event_t gyro;
+    sensors_event_t temp;
+    sox.getEvent(&accel, &gyro, &temp);
+
+    Serial.print(millis(),7);
+    Serial.print(",");
+
+    Serial.print(temp.temperature,7);
+    Serial.print(",");
+
+    /* Display the results (acceleration is measured in m/s^2) */
+    Serial.print(accel.acceleration.x,7);
+    Serial.print(",");
+    Serial.print(accel.acceleration.y,7);
+    Serial.print(",");
+    Serial.print(accel.acceleration.z,7);
+    Serial.print(",");
+
+    /* Display the results (rotation is measured in rad/s) */
+    Serial.print(gyro.gyro.x,7);
+    Serial.print(",");
+    Serial.print(gyro.gyro.y,7);
+    Serial.print(",");
+    Serial.print(gyro.gyro.z,7);
+    Serial.println();
+
+
 }

README.md

@@ -1 +1,46 @@
-# Avionics
+![Logo](https://purdueseds.space/wp-content/uploads/2022/02/PSP-ActiveControls-1Color-White.svg)  
+
+# Active Controls Avionics Repository
+
+Welcome to the AC Avionics Repository!
+
+This Repo is organized into the following project folders:
+ASTRA, DAQ, Ground_Station, and Lander
+
+Most folders in this repository will have two subfolders: /lib and /src
+### /lib
+This folder is used for libraries and dependencies associated with the code in /src.
+### /src
+This folder is used for storing c++ files.
+
+## ASTRA
+This folder holds all low-level code associated with the ASTRA project.
+
+### /IMU
+This folder is dedicated to IMU drivers
+### /Barometer
+This folder is dedicated to Barometer drivers
+### /ESC
+This folder is dedicated to ESC drivers
+### /BMS
+This folder is dedicated to BMS drivers
+### /error
+This folder is associated with the error codes that can occur on any drivers. It is meant to be an easy look up for all driver error codes.
+
+## DAQ
+This folder holds all code associated with test stands and setups that require data aquisition.
+
+### /Loadcell
+This folder is dedicated to the -Insert Model Here- Loadcell
+### /Thrust_Stand
+This folder is dedicated to the Thrust Stand
+### /Torque_Stand
+This folder is dedicated to the Torque Stand
+### /Mag_Encoders
+This folder is dedicated to magnetic encoders
+
+## Ground_Station
+This folder holds all code associated with the Ground Base Station.
+
+## Lander
+This folder holds all low-level code associated with the Lander project.