reefwing

# Copyright (c) 2024 David Such
# 
# This software is released under the MIT License.
# https://opensource.org/licenses/MIT

import numpy as np
import pandas as pd
from sklearn.gaussian_process import GaussianProcessRegressor
from sklearn.gaussian_process.kernels import RBF, ConstantKernel as C
from sklearn.model_selection import GridSearchCV

reefwing

# Copyright (c) 2024 David Such
# 
# This software is released under the MIT License.
# https://opensource.org/licenses/MIT

import os
import requests
import zipfile
import scipy.io
import pandas as pd

reefwing

struct ForceLookup {
  uint16_t voltage;   //  millivolts (mV)
  uint16_t force;     //  grams (g)
 };

 ForceLookup table[FLT_SIZE] = {  {0, 0}, {900, 20}, {1400, 50}, {1750, 100}, {2250, 200}, {2500, 310},
                            {2800, 450}, {3000, 580}, {3200, 710}, {3400, 900}, {3450, 1000}   };

 float interpolate(uint16_t adc_mV) {
  //  Based on ADC voltage (mV), lookup the force (g) and interpolate between adjacent values if required.

reefwing

void sendResponse(char *key, char *value) {
  Serial.print("{\"");
  Serial.print(key);
  Serial.print("\":\"");
  Serial.print(value);
  Serial.print("\"}\r\n");
 }

 void sendResponse(char *key, int value) {
  Serial.print("{\"");

reefwing

void parseCommand() {
  char *cmdPtr = rx.getCommand();

  switch(rx.hash(cmdPtr) % HASH_SIZE) {
    case xIMU3_ping:
      rx.sendPing(pingPacket);
      break;
    case xIMU3_deviceName:
      rx.sendResponse("deviceName", "Arduino");
      break;

reefwing

#define BAD_ID -1

typedef struct { 
  char *key; 
  int val; 
} msp_commands_t;

static msp_commands_t lookupTable[] = {
    { "MSP_API_VERSION", MSP_API_VERSION }, { "MSP_FC_VARIANT", MSP_FC_VARIANT }, { "MSP_FC_VERSION", MSP_FC_VERSION }, { "MSP_BOARD_INFO", MSP_BOARD_INFO },
    { "MSP_BUILD_INFO", MSP_BUILD_INFO }, { "MSP_NAME", MSP_NAME }, { "MSP_SET_NAME", MSP_SET_NAME }, { "MSP_IDENT", MSP_IDENT }, { "MSP_STATUS", MSP_STATUS },

reefwing

unsigned long hash(unsigned char *str) {
  unsigned long hash = 5381;
  int c;

  while (c = *str++)
    hash = ((hash << 5) + hash) + c; /* hash * 33 + c */

  return hash;
}

reefwing

void checkForCommand() {
  char buffer[BUFFER_SIZE];
  
  //  Check for xIMU3 Command Messages
  if (Serial.available() > 0) {
    // read the incoming bytes:
    int blen = Serial.readBytesUntil(STOP_BYTE, buffer, BUFFER_SIZE);
    bool cmdFound = false;
    
    //  Command character count

reefwing

MagTestResults ReefwingLSM9DS1::selfTestMag() {
  MagTestResults results;
  BiasOffsets mag_noST, mag_ST;

  //  Write 0x1C = 0b0001 1100 to CTRL_REG1_M
  //  ODR = 80 Hz, OM = Low Performance, FAST_ODR disabled, Self Test disabled
  writeByte(LSM9DS1M_ADDRESS, LSM9DS1M_CTRL_REG1_M, 0x1C);

  //  Write 0x40 = 0b0100 0000 to CTRL_REG2_M
  //  FS = ± 12 gauss

reefwing

ScaledData ReefwingLSM9DS1::readGyro() {
  RawData gyr;
  ScaledData result;

  //  Read the signed 16-bit RAW values
  gyr = readGyroRaw();

  //  Subtract the bias offsets
  gyr.rx -= _config.gyro.bias.x;
  gyr.ry -= _config.gyro.bias.y;