WIP: extra sensors

[ArendJan]

Update develop

[ArendJan]

After this mr, branch modules2 can be merged to add support for the pca9685

[ArendJan]

@CodiumAI-Agent /review

[CodiumAI-Agent]

PR Analysis

• 🎯 Main theme: Adding sensor support
• 📝 PR summary: This PR adds support for multiple sensors to the project. It includes new files for handling specific sensors and helper functions for I2C communication. It also includes modifications to some existing files to accommodate these changes.
• 📌 Type of PR: Enhancement
• 🧪 Relevant tests added: No
• ⏱️ Estimated effort to review [1-5]: 4
  This PR includes a significant amount of new code across multiple files, including complex calculations and hardware interactions. It will require a developer familiar with sensor integration and the specific hardware being used to review effectively.
• 🔒 Security concerns: No security concerns found

PR Feedback

• 💡 General suggestions: The PR includes a lot of new functionalities and changes. It would be beneficial to have some unit tests to ensure the new functionalities work as expected and do not break any existing features. Also, it would be helpful to have more context or documentation about the specific sensors being used and the expected data they will produce.

• 🤖 Code feedback:

  • relevant file: include/MPU9250/QuaternionFilter.h
    suggestion: Consider refactoring the update method to reduce its complexity and improve readability. The method is currently very long and handles multiple cases (MADGWICK, MAHONY, NONE). Each case could potentially be moved to its own method. [important]
    relevant line: void update(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float* q) {

  • relevant file: include/HX711.hpp
    suggestion: It would be beneficial to encapsulate the member variables of the HX711 class and provide public getter and setter methods. This would adhere to the principle of data encapsulation in OOP and make the code safer and easier to maintain. [medium]
    relevant line: byte PD_SCK; // Power Down and Serial Clock Input Pin

  • relevant file: src/i2c_helpers.cpp
    suggestion: The write_i2c and read_i2c functions could benefit from error handling. Currently, if the i2c_write_blocking_until or i2c_read_blocking_until functions do not return the expected value, the functions return a success status. It would be better to return an error status or throw an exception in these cases. [important]
    relevant line: int write_i2c(int i2c_port, int addr, const std::vector<uint8_t> &bytes, bool nostop)

  • relevant file: include/MPU9250/QuaternionFilter.h
    suggestion: The madgwick and mahony methods perform a lot of calculations without clear explanations or references. Including comments or references to the source of these calculations would make the code easier to understand and maintain. [medium]
    relevant line: void madgwick(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float* q) {

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