IMU class template

Common/Inc/CommonDataTypes.hpp

@@ -1,21 +1,35 @@
-//
-// Created by Gordon Fountain 2022-11-30.
-//
+/** CommonDataTypes.hpp
+ * Contains a bunch of common datatypes!
+ * 
+ * Created by: Gordon Fountain 2022-11-30
+ * Updated by: Anthony Luo
+ * Last update: 2024-04-18
+*/
 
 #ifndef ZPSW3_COMMON_DATATYPES_HPP
 #define ZPSW3_COMMON_DATATYPES_HPP
 
 #include <stdint.h>
 
+/************************************************
+ * Sensor/Error structs (can be either or. tbd ig)
+ ************************************************/
+typedef enum SensorErrorCode {
+ SENSOR_SUCCESS = 0,
+ SENSOR_FAIL = -1,
+ SENSOR_BUSY = 1,
+} SensorErrorCode;
+
+/************************************************
+ * Control limits & inter-manager datatypes
+ ************************************************/
 namespace AM {
-
 struct AttitudeManagerInput {
  float roll;
  float pitch;
  float yaw;
  float throttle;
 };
-
 } // Namespace AM
 
 typedef enum {

Drivers/imu/inc/imu.hpp

@@ -0,0 +1,52 @@
+/**
+ * IMU class definition / stub
+ * Designed to be extended by IMU devices
+ * Created by: Anthony Luo on 2024-04-18
+ * Maintained by:
+ * Last updated:
+*/
+
+#ifndef IMU_HPP
+#define IMU_HPP
+
+#include "CommonDataTypes.hpp"
+
+/************************************************
+ * Definitions
+ ************************************************/
+
+struct IMUData_t {
+ float gyrx, gyry, gyrz;
+ float accx, accy, accz;
+ float magx, magy, magz;
+
+ bool is_data_new;
+ SensorErrorCode sensor_status; // TODO: determine if we need this?
+};
+
+/************************************************
+ * Prototypes
+ ************************************************/
+class IMU{
+ public:
+ // Leaving the constructor to be elsewhere.... don't know how to handle passing SPI/I2C handles
+
+ /**
+ * Re-calibrates sensor. Useful if we need to hard re-set an IMU in-flight or something.
+ */
+ virtual SensorErrorCode calibrate() = 0;
+ /**
+ * Begins IMU data sampling. TODO: determine how this is determined
+ * Data should be stored in a buffer and accessible at any time.
+ * 
+ */
+ virtual void beginMeasuring() = 0;
+
+ /**
+ * Retrieves newest data stored by IMU.
+ * TODO: determine if we want to return error codes or if we want to set the struct
+ */
+ virtual SensorErrorCode getResult(IMUData_t &data) = 0;
+ private:
+ IMUData_t latest_data;
+};