SNS - Changes for IMUs to work

src/debugging/can_listener.cpp

@@ -21,7 +21,6 @@ bool CanListener::hasId(uint32_t id, bool extended)
     log_.debug("received extended CAN message; skipping");
     return false;
   }
-
   return ids_.find(id) != ids_.end(); 
 }
 

src/sensors/imu.cpp

@@ -29,7 +29,7 @@ static constexpr uint8_t kPwrMgmt1 = 0x06;  // userbank 0
 static constexpr uint8_t kPwrMgmt2 = 0x07;  // userbank 0
 
 // Configuration
-static constexpr uint8_t kReadFlag = 0x80;  // unable to find in datasheet
+static constexpr uint8_t kReadFlag = 0x80;  // msb is 1 which signifies a read operation for SPI
 
 // Configuration bits Imu
 // constexpr uint8_t kBitsFs250Dps             = 0x00;
@@ -286,12 +286,13 @@ data::ImuData Imu::getData()
       }
     } else {
       log_.debug("Getting Imu data");
-      uint8_t response[8];
+      uint8_t response[6];
       int16_t bit_data;
       float value;
       std::array<float, 3> acceleration_data;
 
-      readBytes(kAccelXoutH, response, 8);
+      // Reading six bytes - first two give x-acceleration, next two give y-acceleration, last two give z-acceleration (high and low byte pairs)
+      readBytes(kAccelXoutH, response, 6); 
       for (size_t i = 0; i < 3; ++i) {
         bit_data                = ((int16_t)response[i * 2] << 8) | response[i * 2 + 1];
         value                   = static_cast<float>(bit_data);

src/sensors/main.cpp

@@ -387,7 +387,7 @@ std::optional<std::vector<uint8_t>> Main::brakePressurePinsFromFile(utils::Logge
   }
   const auto brake_pressure_pin_array = config_object["brake_pressure_pins"].GetArray();
   if (brake_pressure_pin_array.Size() != data::Sensors::kNumBrakePressure) {
-    log.error("Found %d brake sensor pins but %d were expected in configuration file at %s",
+    log.error("Found %d brake pressure pins but %d were expected in configuration file at %s",
               brake_pressure_pin_array.Size(), data::Sensors::kNumBrakePressure, path.c_str());
   }
   std::vector<uint8_t> brake_pressure_pins;

src/utils/io/gpio.cpp

@@ -133,7 +133,7 @@ void Gpio::exportGPIO()
   // let the kernel know we are using this pin
   int fd;
   uint32_t len;
-  fd = open("/sys/class/gpio/export", O_WRONLY);
+  fd = open("/sys/class/gpio/export", O_RDWR);
   if (fd < 0) {
     log_.error("could not open export file");
     return;

src/utils/io/spi.cpp

@@ -96,7 +96,7 @@ Spi &Spi::getInstance()
 
 Spi::Spi(Logger &log) : spi_fd_(-1), hw_(0), ch_(0), log_(log)
 {
-  const char device[] = "/dev/spidev1.0";  // spidev1.0 for SPI0
+  const char device[] = "/dev/spidev0.0";  // spidev0.0 for SPI0
   spi_fd_             = open(device, O_RDWR, 0);
 
   if (spi_fd_ < 0) {
@@ -105,7 +105,7 @@ Spi::Spi(Logger &log) : spi_fd_(-1), hw_(0), ch_(0), log_(log)
   }
 
   // set clock frequency
-  setClock(Clock::k1MHz);
+  setClock(Clock::k500KHz);
 
   uint8_t bits = SPI_BITS;  // need to change this value
   if (ioctl(spi_fd_, SPI_IOC_WR_BITS_PER_WORD, &bits) < 0) {
@@ -149,14 +149,16 @@ bool Spi::initialise()
   ch_ = &hw_->ch0;
 
   log_.info("Mapping successfully created %d", sizeof(SPI_HW));
-  log_.info("revision 0x%x", hw_->revision);
   return true;
 }
 
 void Spi::setClock(Clock clk)
 {
   uint32_t data;
   switch (clk) {
+    case Clock::k500KHz:
+      data = 500000;
+      break;
     case Clock::k1MHz:
       data = 1000000;
       break;

src/utils/io/spi.hpp

@@ -15,7 +15,7 @@ class Spi {
  public:
   static Spi &getInstance();
 
-  enum class Clock { k1MHz, k4MHz, k16MHz, k20MHz };
+  enum class Clock { k500KHz, k1MHz, k4MHz, k16MHz, k20MHz };
 
   void setClock(Clock clk);