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docs/Assignments/week_4_programming/programming.md
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## Introduction
I'm very familiar with coding in C++ because of my university. At the moment im studying computer sciences at the Applied University of Amsterdam.
### Switching to platformIO.
At the local lecture we got thought how to use platformIO. I was already used to Arduino IDE v2. But I found the UI and the speeds of PlatformIO very nice so that's why I decided to switch to PlatformIO.
First off. I created a new project with the Xiao espC3 because the espC6 isn't registered on the list. I've googled a bit and that's because PlatformIO needs to get profit so they ask money to the board developers to add the board to their platform. So we need to set the correct board later on.
![alt text](image-3.jpg)
When it created the project. I copied all the files over to the src folder and renament my drone.ino to main.cpp. Now I had a lot of include errors because Arduino IDE automatically imports everything and with PlatformIO you need to define everything yourself. So I started out in the Library manager installing all the libraries to the project I needed.
![alt text](image-4.jpg)
#### Setting the correct board
Before
```ini
[env:seeed_xiao_esp32c3]
platform = espressif32
board = seeed_xiao_esp32c3
framework = arduino
```
After
```ini
[env:seeed_xiao_esp32c6]
platform = https://github.com/mnowak32/platform-espressif32.git#boards/seeed_xiao_esp32c6
platform_packages =
framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.2
framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.2/esp32-arduino-libs-3.0.2.zip
framework = arduino
board = seeed_xiao_esp32c6
```
To get the correct configuration if it isn't listed on PlatformIO, is to go to the Board manufactors website and hope there is a PlatformIO example configuration. For example this example was listed on the Xiao website. [Link](https://wiki.seeedstudio.com/xiao_esp32c6_with_platform_io/).
#### Installing libraries in platformIO
To install a library click the platformIO icon. In there click the libraries button. Then you can search a library and click add to project. Now you have added a library to your project!
![alt text](image.jpg)
After that it will edit platformio.ini and there you will see the library added to the project. It's also in `.pio/libdeps`
### Important for linux users.
When setting up PlatformIO on another system we ran into the issue that the machine couldn't upload the code properly. We first checked how the OS interacted with `dmesg`. `dmesg` on linux shows the kernel activity.
### Programming and compiling and uploading
Using platformIO is really straight forward. The only folder you should look at in your platformIO project is the `src` folder.
![alt text](image-5.jpg)
In the main.cpp file you can write your program to run on a microcontroller.
On the bottom of your screen you see that there are a few new buttons.
![alt text](image-6.jpg)
The Compile and Upload and Serial console buttons are going to be the most used. Compile compiles the code and checks if it's correct. If it has incorrect syntax you need to correct it. The upload button compiles the code first and then sends it to the Microcontroller. The Serial console is a really nice debug tool to see what the microcontroller is doing if you added print statements in your code.
## First code to read from the BNO085
I first wanted to create the drone firmware myself. But then I looked through some research papers and existing programs and saw all the math that was needed to keep it upright. Then I decided to modify an existing program.
This was my first attempts at getting the sensor to read
@@ -117,7 +174,6 @@ First used the wrong library I used the Adafruit bno0xx library instead of the S
## New driver
After researching for a while and looking through other fab academy projects I found out that other people also made drones with micro controllers and used a pre-made driver that they customized (https://fab.cba.mit.edu/classes/863.23/Architecture/people/Zhixing/finalproject.html). After doing some research on how to keep the drone upright I also decided to use an existing driver because the math required for that is way above my level. Im gonna be using the [dRhemFlightVTOL](https://github.com/nickrehm/dRehmFlight/tree/master) driver. The only problem is that it doesn't support my Inertial measuring unit (BNO085). So I will have to customize the driver to make it work with it.
### Implementing the BNO085
### Hijacking the controls
I need to reverse engineer the controls because now it just calls a function called radiocontrols() that manages the controls. There are 4 pwm channel that controls where the drone is going. I wanna make my own controller and simulate these pwm signals.
@@ -149,61 +205,6 @@ In this case minVal is 800 an maxVal is 2200. So we need to stay between these r
[ESC calibration](https://ardupilot.org/copter/docs/esc-calibration.html)
### Switching to platformIO.
At the local lecture we got thought how to use platformIO. I was already used to Arduino IDE v2. But I found the UI and the speeds of PlatformIO very nice so that's why I decided to switch to PlatformIO.
First off. I created a new project with the Xiao espC3 because the espC6 isn't registered on the list. I've googled a bit and that's because PlatformIO needs to get profit so they ask money to the board developers to add the board to their platform. So we need to set the correct board later on.
![alt text](image-3.jpg)
When it created the project. I copied all the files over to the src folder and renament my drone.ino to main.cpp. Now I had a lot of include errors because Arduino IDE automatically imports everything and with PlatformIO you need to define everything yourself. So I started out in the Library manager installing all the libraries to the project I needed.
![alt text](image-4.jpg)
#### Setting the correct board
Before
```ini
[env:seeed_xiao_esp32c3]
platform = espressif32
board = seeed_xiao_esp32c3
framework = arduino
```
After
```ini
[env:seeed_xiao_esp32c6]
platform = https://github.com/mnowak32/platform-espressif32.git#boards/seeed_xiao_esp32c6
platform_packages =
framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.2
framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.2/esp32-arduino-libs-3.0.2.zip
framework = arduino
board = seeed_xiao_esp32c6
```
To get the correct configuration if it isn't listed on PlatformIO, is to go to the Board manufactors website and hope there is a PlatformIO example configuration. For example this example was listed on the Xiao website. [Link](https://wiki.seeedstudio.com/xiao_esp32c6_with_platform_io/).
#### Installing libraries in platformIO
To install a library click the platformIO icon. In there click the libraries button. Then you can search a library and click add to project. Now you have added a library to your project!
![alt text](image.jpg)
After that it will edit platformio.ini and there you will see the library added to the project. It's also in `.pio/libdeps`
### Important for linux users.
When setting up PlatformIO on another system we ran into the issue that the machine couldn't upload the code properly. We first checked how the OS interacted with `dmesg`. `dmesg` on linux shows the kernel activity.
### Programming and compiling and uploading
Using platformIO is really straight forward. The only folder you should look at in your platformIO project is the `src` folder.
![alt text](image-5.jpg)
In the main.cpp file you can write your program to run on a microcontroller.
On the bottom of your screen you see that there are a few new buttons.
![alt text](image-6.jpg)
The Compile and Upload and Serial console buttons are going to be the most used. Compile compiles the code and checks if it's correct. If it has incorrect syntax you need to correct it. The upload button compiles the code first and then sends it to the Microcontroller. The Serial console is a really nice debug tool to see what the microcontroller is doing if you added print statements in your code.
## Editing the new driver
Adding in support for the BNO085. The original driver doesn't support the BNO085.
I first started off searching for every instance of an existing sensor.