Merge branch 'dev' of https://github.com/Propulsive-Landing/ferda int…

…o dev

README.md

@@ -11,3 +11,86 @@ Create features in branches created from dev branch. When feature is complete, m
 3. Run `sudo apt install libeigen3-dev`
 4. Build the repo (make sure you're in debug or release mode depending on which one you need)
 5. Run the executable that gets created in the `build/` folder
+
+
+## Hardware Config
+
+  ### Device Symbolic Linking
+  1. Create a Shell Script
+  First, create a shell script that will perform the device detection and symbolic link creation.
+
+  Script: `/home/pi/link_iio_devices.sh`
+
+  ```
+  #!/bin/bash
+
+  # Define the home directory for symbolic links
+  HOME_DIR="/home/your_username"
+  
+  # Define the symbolic links
+  IMU_LINK="${HOME_DIR}/imu_device"
+  BAROMETER_LINK="${HOME_DIR}/barometer_device"
+  GYROSCOPE_LINK="${HOME_DIR}/gyroscope_device"
+  
+  # Remove old links if they exist
+  rm -f "$IMU_LINK" "$BAROMETER_LINK" "$GYROSCOPE_LINK"
+  
+  # Iterate over the IIO device directories
+  for device in /sys/bus/iio/devices/iio:device*; do
+      if [[ -d "$device" ]]; then
+          if [[ -f "$device/in_accel_scale_available" ]]; then
+              ln -s "$device" "$IMU_LINK"
+              echo "IMU device found: $device"
+          elif [[ -f "$device/in_temp_scale" ]]; then
+              ln -s "$device" "$BAROMETER_LINK"
+              echo "Barometer device found: $device"
+          elif [[ -f "$device/in_anglvel_scale" ]]; then
+              ln -s "$device" "$GYROSCOPE_LINK"
+              echo "Gyroscope device found: $device"
+          fi
+      fi
+  ```
+
+  2. Make the Script Executable
+  Run the following command to make the script executable:
+
+  ```
+  sudo chmod +x /usr/local/bin/link_iio_devices.sh
+  ```
+
+  3. Create the Systemd Service File
+  Next, create a systemd service file to run this script at startup.
+
+  Service File: /etc/systemd/system/link_iio_devices.service
+
+  ```
+  [Unit]
+  Description=Link IIO Devices
+  After=local-fs.target
+  
+  [Service]
+  Type=oneshot
+  ExecStart=/usr/local/bin/link_iio_devices.sh
+  RemainAfterExit=yes
+  
+  [Install]
+  WantedBy=multi-user.target
+  ```
+
+  4. Enable the Systemd Service
+  Enable the service so that it runs at startup:
+
+  ```
+  sudo systemctl enable link_iio_devices.service
+  ```
+
+  5. Start the Service (Optional)
+  You can start the service immediately (for testing purposes) using:
+
+  ```
+  sudo systemctl start link_iio_devices.service
+  ```
+
+  Home Directory: Replace `pi` in the script with the actual username or adjust the home directory path as needed.
+  Permissions: Ensure that your user has permission to create symbolic links in the specified home directory.
+  Testing: After creating the service, you can check the status with sudo systemctl status link_iio_devices.service to see if it executed successfully.