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, 19 insertions, 34 deletions

diff --git a/README.md b/README.md
index cb569aa..ae9dcec 100644
--- a/README.md
+++ b/README.md
@@ -1,9 +1,13 @@
-# THIS IS THE BRANCH USED FOR SOUTH CAROLINA TEST LAUNCH 02/24/2024
-
 # Active Drag System (ADS)
-This is the main codebase for Rocketry at Virginia Tech's Active Drag System, also known colloquially as the ADS, for the 2023-2024 competition year. It runs primarily on a BeagleBone Black, and its goal is to autonomously control the ADS' deployment during flight.
+This is the main codebase for Rocketry at Virginia Tech's Active Drag System, also known colloquially as the ADS, for the 2023-2024 competition year. It runs primarily on a Raspberry Pi Pico, and its goal is to autonomously control the ADS' deployment during flight.
 
-`Eigen` Library, `cmake` and `Google Test` required for successful build.
+`Eigen` Library, `cmake`, and `arm-none-eabi-gcc` tooling required for successful build.
+## Before Build
+```shell
+git clone https://github.com/RocketryVT/active-drag-system.git
+cd active-drag-system/
+git submodule update --init --recursive
+```
 
 ## BUILD
 ```shell
@@ -18,50 +22,31 @@ Enable WSL2 in windows
 Install Ubuntu 22 LTS from Windows Store
 ```shell
 sudo apt update && upgrade
-sudo apt install build-essential cmake valgrind crossbuild-essential-armhf
-sudo apt install musl musl-tools
+sudo apt install build-essential cmake valgrind gcc-arm-none-eabi
 ```
 Then to actually build:
 ```shell
 cmake -B build
-cmake --build build/
+cmake --build build
 ```
 
 ## BUILD Alternative (Mac)
 ```shell
-brew install arm-linux-gnueabihf-binutils
-# This installs just the arm library, you can remove x86_64 if you want those too
-brew install FiloSottile/musl-cross/musl-cross --without-x86_64 --with-arm-hf
+brew install arm-none-eabi-gcc
 ```
 To check if installed correctly run:
 ```shell
-ls /opt/homebrew/bin | grep "musl"
+ls /opt/homebrew/bin | grep "none"
 ```
-you should see:
+you should see a list including but not limited to:
 ```shell
-arm-linux-musleabihf-gcc
-arm-linux-musleabihf-g++
+arm-none-eabi-gcc
+arm-none-eabi-g++
 ```
-
-## RUN
+Next:
 ```shell
-scp -r src/ads [email protected]:~/
-ssh [email protected]
-./ads
-```
-
-## TEST
-```shell
-scp -r test/test_ads [email protected]:~/
-ssh [email protected]
-./test_ads
+cmake -B build
+cmake --build build
 ```
 
-## GPIO Pins
-The GPIO number is calculated by taking the GPIO chip
-number, multiplying it by 32, and then adding the offset. For example,
-GPIO1_12 = (1 × 32) + 12 = GPIO 44.
-
-```shell
-/sys/class/gpio/gpio44 = GPIO1_12
-```
+Binary files should be located in build/src/*.uf2 after a successful build.