✨ Add support for VEX Inertial Sensor

.gitignore

@@ -6,6 +6,8 @@ template/
 version
 cquery_log.txt
 compile_commands.json
+.ccls-cache/
+.ccls
 temp.log
 temp.errors
-.d/
+.d/

include/api.h

@@ -41,14 +41,15 @@
 
 #define PROS_VERSION_MAJOR 3
 #define PROS_VERSION_MINOR 2
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "3.2.0"
+#define PROS_VERSION_PATCH 1
+#define PROS_VERSION_STRING "3.2.1"
 
 #define PROS_ERR (INT32_MAX)
 #define PROS_ERR_F (INFINITY)
 
 #include "pros/adi.h"
 #include "pros/colors.h"
+#include "pros/imu.h"
 #include "pros/llemu.h"
 #include "pros/misc.h"
 #include "pros/motors.h"
@@ -57,6 +58,7 @@
 
 #ifdef __cplusplus
 #include "pros/adi.hpp"
+#include "pros/imu.hpp"
 #include "pros/llemu.hpp"
 #include "pros/misc.hpp"
 #include "pros/motors.hpp"

include/pros/apix.h

@@ -369,6 +369,7 @@ void queue_reset(queue_t queue);
 typedef enum v5_device_e {
 	E_DEVICE_NONE = 0,
 	E_DEVICE_MOTOR = 2,
+	E_DEVICE_IMU = 6,
 	E_DEVICE_RADIO = 8,
 	E_DEVICE_VISION = 11,
 	E_DEVICE_ADI = 12,

include/pros/imu.h

@@ -0,0 +1,256 @@
+/**
+ * \file pros/imu.h
+ *
+ * Contains prototypes for functions related to the VEX Inertial sensor.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/imu.html to learn
+ * more.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#ifndef _PROS_IMU_H_
+#define _PROS_IMU_H_
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+namespace pros {
+namespace c {
+#endif
+
+typedef enum imu_status_e {
+	E_IMU_STATUS_CALIBRATING = 0x01,
+	E_IMU_STATUS_ERROR = 0xFF,  // NOTE: used for returning an error from the get_status function, not that the IMU is
+	                            // necessarily in an error state
+} imu_status_e_t;
+
+typedef struct __attribute__((__packed__)) quaternion_s {
+	double x;
+	double y;
+	double z;
+	double w;
+} quaternion_s_t;
+
+struct imu_raw_s {
+	double x;
+	double y;
+	double z;
+};
+
+typedef struct imu_raw_s imu_gyro_s_t;
+typedef struct imu_raw_s imu_accel_s_t;
+
+typedef struct __attribute__((__packed__)) euler_s {
+	double pitch;
+	double roll;
+	double yaw;
+} euler_s_t;
+
+/**
+ * Calibrate IMU
+ *
+ * This takes approximately 2 seconds, and is a non-blocking operation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is already calibrating
+ *
+ * \param port
+ *        The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_reset(uint8_t port);
+
+/**
+ * Get the total number of degrees the Inertial Sensor has spun about the z-axis
+ *
+ * This value is theoretically unbounded. Clockwise rotations are represented
+ * with positive degree values, while counterclockwise rotations are represented
+ * with negative ones.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+double imu_get_rotation(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's heading relative to the initial direction of its
+ * x-axis
+ *
+ * This value is bounded by (-360,360). Clockwise rotations are represented with
+ * positive degree values, while counterclockwise rotations are represented with
+ * negative ones.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+double imu_get_heading(uint8_t port);
+
+/**
+ * Get a quaternion representing the Inertial Sensor's orientation
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The quaternion representing the sensor's orientation. If the
+ * operation failed, all the quaternion's members are filled with PROS_ERR_F and
+ * errno is set.
+ */
+quaternion_s_t imu_get_quaternion(uint8_t port);
+
+/**
+ * Get the Euler angles representing the Inertial Sensor's orientation
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The Euler angles representing the sensor's orientation. If the
+ * operation failed, all the structure's members are filled with PROS_ERR_F and
+ * errno is set.
+ */
+euler_s_t imu_get_euler(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's pitch angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The pitch angle, or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+double imu_get_pitch(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's roll angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The roll angle, or PROS_ERR_F if the operation failed, setting errno.
+ */
+double imu_get_roll(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's yaw angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The yaw angle, or PROS_ERR_F if the operation failed, setting errno.
+ */
+double imu_get_yaw(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's raw gyroscope values
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The raw gyroscope values. If the operation failed, all the
+ * structure's members are filled with PROS_ERR_F and errno is set.
+ */
+imu_gyro_s_t imu_get_gyro_rate(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's raw acceleroneter values
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The raw accelerometer values. If the operation failed, all the
+ * structure's members are filled with PROS_ERR_F and errno is set.
+ */
+imu_accel_s_t imu_get_accel(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's status
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The Inertial Sensor's status code, or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+imu_status_e_t imu_get_status(uint8_t port);
+
+// NOTE: not used
+// void imu_set_mode(uint8_t port, uint32_t mode);
+// uint32_t imu_get_mode(uint8_t port);
+
+#ifdef __cplusplus
+}
+}
+}
+#endif
+
+#endif