Make ImuWatcher class for handling pico idiosyncracies
This provides a class to consistently handle the IMUValuesBatch coming
from the imu process on a pi.
Change-Id: Id2cdeb23fdd0a3e1c2bd01219678d957906112fa
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/imu_reader/imu_failures.fbs b/frc971/imu_reader/imu_failures.fbs
new file mode 100644
index 0000000..e6d9d85
--- /dev/null
+++ b/frc971/imu_reader/imu_failures.fbs
@@ -0,0 +1,16 @@
+namespace frc971.controls;
+
+// Counters to track how many times different errors have occurred.
+table ImuFailures {
+ // Count of total number of checksum mismatches between the IMU and the
+ // pico itself.
+ imu_to_pico_checksum_mismatch:uint (id: 0);
+ // Count of total number of checksum mismatches between the pico board
+ // and the raspberry pi.
+ pico_to_pi_checksum_mismatch:uint (id: 1);
+ // Total number of dropped/missed messages.
+ missed_messages:uint (id: 2);
+ // Total number of messages dropped for any other conditions that can fault
+ // the zeroer (e.g., diagnostic failures in the IMU).
+ other_zeroing_faults:uint (id: 3);
+}