Raspberry Pi Pico (#12)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

* Conversion to Raspberry Pi Pico Build System; Removed Beaglebone
specific code; Simple blinking example in ADS source file; builds for
Pico W

* Rearranged build so dependent upon cmake file already existing in pico-sdk; current executable prints current altitude, velocity, and time taken to read and calculate said values; ~320 us to do so

* Altimeter interrupt callback for Pad to Boost State; dummy templates for other callbacks with comments describing potential implementation details

* Altimeter interrupts relatively finished; need to test with vacuum chamber to verify behavior

* Established interrupt pins as pullup and active-low; adjusted callback functions to properly use function pointers; still need to verify interrupt system with vacuum chamber

* Removed weird artifact in .gitignore, adjust CMakeLists to auto pull pico sdk, added Dockerfile

* added Docker dev container file

* modified CMakeLists to auto pull sdk if not already downloaded, add build.sh script, fixed Dockerfile

* added bno055 support

* changed bno055 lin accel struct to use float instead of double

* added bno055 support not tested, but compiles, fixed CMakLists to before I messed with it

* added absolute quaternion output from bno055

* Added Euler and aboslute linear accelration

* Flash implementation for data logging; each log entry is 32 bytes long

* added base pwm functions and started on apogee detection

* State machine verified functional with logging capabilities; currently on same core

* Ooops missed double define, renamed LOOP_HZ to LOOP_PERIOD; State machine functional after merge still

* Simple test program to see servo PWM range; logging with semaphores for safe multithreading

* Kalman filters generously provided from various sources for temporary replacement; minimum deployment 30 percent; state machine functionality restored; multithreading logging verified; altimeter broke and replaced

* Stop logging on END state; provide deployment function with AGL instead of ASL altitude

* Various minimal changes; Flash size from 1MB to 8MB; M1939 to M2500T burn time; pin assignments for new PCB; External Status LED to Internal Status LED

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>
Co-authored-by: Gregory Wainer <[email protected]>

1 files changed, 23 insertions, 42 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 28e3426..4973b9d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,51 +1,32 @@
-cmake_minimum_required(VERSION 3.14)
-set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_PROCESSOR ARM)
-set(CMAKE_BUILD_TYPE Debug)
-set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
-
-# Set the cross-compiler for ARM32
-if(CMAKE_HOST_APPLE)
-    message(STATUS "Running on an Apple system")
-    set(CMAKE_CXX_STANDARD 14)
-    set(CMAKE_CXX_STANDARD_REQUIRED ON)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
-    include(CTest)
-    # Apple Settings
-    # Musl has many targets, must select one
-    set(CMAKE_C_COMPILER /opt/homebrew/bin/arm-linux-musleabihf-gcc)
-    set(CMAKE_CXX_COMPILER /opt/homebrew/bin/arm-linux-musleabihf-g++)
-elseif(UNIX)
-    message(STATUS "Running on an Linux system")
-
-    # Linux Settings
-    # (arm-linux-musleabihf- is 32 bit, aarch64-linux... is the 64 bit version)
-    set(CMAKE_C_COMPILER arm-linux-musleabihf-gcc)
-    set(CMAKE_CXX_COMPILER arm-linux-musleabihf-g++)
-endif()
+cmake_minimum_required(VERSION 3.12)
 
-# Set the architecture and flags
-# set(CMAKE_C_FLAGS "-march=armv7-a+fp")
-# set(CMAKE_CXX_FLAGS "-march=armv7-a+fp")
+set(PICO_BOARD pico_w)
+# Pull in SDK (must be before project)
+include(include/pico-sdk/pico_sdk_init.cmake)
+include_directories(include/eigen)
 
-# project(Active-Drag-System CXX)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_C_COMPILER arm-none-eabi-gcc)
+set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
 
-# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/out")
+project(active-drag-system C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
 
-add_subdirectory(src)
+if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.0")
+    message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.3.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
+endif()
 
-if(BUILD_TESTING)
-    include(CTest)
+# Initialize the SDK
+pico_sdk_init()
 
-    add_subdirectory(test)
+add_subdirectory(src)
 
-    include(FetchContent)
-    FetchContent_Declare(
-      googletest
-      URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
-    )
 
-    # For Windows: Prevent overriding the parent project's compiler/linker settings
-    set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-    FetchContent_MakeAvailable(googletest)
+add_compile_options(-Wall
+        -Wno-format          # int != int32_t as far as the compiler is concerned because gcc has int32_t as long int
+        -Wno-unused-function # we have some for the docs that aren't called
+        )
+if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    add_compile_options(-Wno-maybe-uninitialized)
 endif()