Fix IMU merge conflicts in NUsenseIO

NUbots · Mar 29, 2024 · 84236e9 · 84236e9
1 parent e89efc4
commit 84236e9
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Showing 2 changed files with 10 additions and 18 deletions.
diff --git a/NUsenseCpp/Core/Src/platform/NUsense/NUsenseIO.hpp b/NUsenseCpp/Core/Src/platform/NUsense/NUsenseIO.hpp
@@ -55,12 +55,12 @@ namespace platform::NUsense {
         ///         to serialise and sent to the NUC
         message_platform_NUSense nusense_msg;
 
-        /// TODO:   DMA implementation of IMU conversion in one function
-        /// @brief  The container for decoded IMU values (float)
-        NU_IMU_converted_data converted_data;
+        // @brief   The IMU instance
+        // @note    The namespacing is gross af and needs to be fixed
+        ::NUsense::IMU imu;
 
-        /// @brief  The container for raw IMU values (int16_t's)
-        NU_IMU_raw_data raw_data;
+        /// @brief  The container for decoded IMU values (float)
+        ::NUsense::IMU::ConvertedData converted_data;
 
         /// @brief  Container for the raw data received IMU ReadBurst calls
         uint8_t IMU_rx[14];
@@ -116,13 +116,14 @@ namespace platform::NUsense {
                              dynamixel::PacketHandler(ports[3]),
                              dynamixel::PacketHandler(ports[4]),
                              dynamixel::PacketHandler(ports[5])})
-            , nuc() {
+            , nuc()
+            , imu() {
             // Begin at the beginning of the chains.
             chain_indices.fill(0);
             // Initialise our nanopb struct to init_zero
             nusense_msg = message_platform_NUSense_init_zero;
             // Begin IMU for polling
-            NU_IMU_Init();
+            imu.init();
         }
 
         /**

diff --git a/NUsenseCpp/Core/Src/platform/NUsense/NUsenseIO/send_nusense_data.cpp b/NUsenseCpp/Core/Src/platform/NUsense/NUsenseIO/send_nusense_data.cpp
@@ -2,17 +2,8 @@
 
 namespace platform::NUsense {
     bool NUsenseIO::nusense_to_nuc() {
-        NU_IMU_ReadBurst(ACCEL_XOUT_H, IMU_rx, 14);
-
-        raw_data.accelerometer.x = ((uint16_t) IMU_rx[0] << 8) | IMU_rx[1];
-        raw_data.accelerometer.y = ((uint16_t) IMU_rx[2] << 8) | IMU_rx[3];
-        raw_data.accelerometer.z = ((uint16_t) IMU_rx[4] << 8) | IMU_rx[5];
-        raw_data.temperature     = ((uint16_t) IMU_rx[6] << 8) | IMU_rx[7];
-        raw_data.gyroscope.x     = ((uint16_t) IMU_rx[8] << 8) | IMU_rx[9];
-        raw_data.gyroscope.y     = ((uint16_t) IMU_rx[10] << 8) | IMU_rx[11];
-        raw_data.gyroscope.z     = ((uint16_t) IMU_rx[12] << 8) | IMU_rx[13];
-
-        NU_IMU_ConvertRawData(&raw_data, &converted_data);
+        // Get a new lot of IMU data
+        converted_data = imu.getNewConvertedData();
 
         // TODO: (JohanneMontano) Handle IMU read and conversions if it fails
         // Fill the struct with the values we converted from the IMU output