Big Kahuna - IREC 2025 - Dawsyn's Final Commit (#16)HEADmain

# Dawsyn's Final Commit

This one is a little emotional as this is my final commit in this repository and as a member of Rocketry at Virginia Tech. This merges the changes seen in the branch known as 'big_kahuna' into main. This is the version of the ADS software as seen on [Roadkill](https://drive.google.com/file/d/120BvI-0ntliHo6i9UxcCn2pXAl-JsdP_/view?usp=drive_link) in the 2025 IREC competition. There are bound to be bugs, but I have found it useful to have the final competition version to be the one present on main at the end of every academic year. Hopefully this is useful to the next lead.

## Primary Changes
+ NEW I2C drivers to support sensors present on new ADS custom PCB
+ NEW logging library found in separate repository and pulled in as submodule ([pico-logger](https://github.com/rocketryvt/pico-logger))
     + No longer dependent on different flash chip from one used for code storage! Compile executable as RP2040 'copy-to-ram' type to increase flash read/write speeds!
+ NEW fixed-point libraries to allow for increased performance and sensor sampling speeds on RP2040 that lacks FPU
+ FreeRTOS Simultaneous Multi-processing (SMP) architecture for task handling and easier introduction / testing of new features
+ Serial monitor / command system with task performance monitoring commands
+ WORKING Kalman filter that takes altitude from barometer as measurement and z-axis acceleration from IMU as control to generate state vector containing filtered altitude and vertical velocity
+ NEW CFD equations from the Ben-ogrithm (to replace the Chen-ogrithm) that includes:
    + Apogee prediction model that takes current drag force, altitude, and vertical velocity
    + Current Drag Force equation based on current deployment and vertical velocity to use for Apogee Prediction model
    + Desired Drag force equation based on current altitude and vertical velocity to generate what drag force is needed to reach 10K ft
    + Deployment percentage equation based on current velocity and desired drag force to map to flap deployment percentage

1 files changed, 164 insertions, 0 deletions

diff --git a/include/FreeRTOSConfig.h b/include/FreeRTOSConfig.h
new file mode 100644
index 0000000..028ae77
--- /dev/null
+++ b/include/FreeRTOSConfig.h
@@ -0,0 +1,164 @@
+/*
+ * FreeRTOS V202107.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+ #ifndef FREERTOS_CONFIG_H
+ #define FREERTOS_CONFIG_H
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    extern "C" {
+#endif
+
+ /*-----------------------------------------------------------
+  * Application specific definitions.
+  *
+  * These definitions should be adjusted for your particular hardware and
+  * application requirements.
+  *
+  * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+  * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+  *
+  * See http://www.freertos.org/a00110.html
+  *----------------------------------------------------------*/
+ 
+ /* Scheduler Related */
+ #define configUSE_PREEMPTION                    1
+ #define configUSE_TICKLESS_IDLE                 0
+ #define configUSE_IDLE_HOOK                     0
+ #define configUSE_TICK_HOOK                     1
+ #define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+ #define configMAX_PRIORITIES                    32
+ #define configMINIMAL_STACK_SIZE                ( configSTACK_DEPTH_TYPE ) 256
+ #define configUSE_16_BIT_TICKS                  0
+ 
+ #define configIDLE_SHOULD_YIELD                 1
+ 
+ /* Synchronization Related */
+ #define configUSE_MUTEXES                       1
+ #define configUSE_RECURSIVE_MUTEXES             1
+ #define configUSE_APPLICATION_TASK_TAG          0
+ #define configUSE_COUNTING_SEMAPHORES           1
+ #define configQUEUE_REGISTRY_SIZE               8
+ #define configUSE_QUEUE_SETS                    1
+ #define configUSE_TIME_SLICING                  1
+ #define configUSE_NEWLIB_REENTRANT              0
+ #define configENABLE_BACKWARD_COMPATIBILITY     0
+ #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+
+ #define configUSE_TASK_NOTIFICATIONS            1
+ #define configTASK_NOTIFICATION_ARRAY_ENTRIES   32
+ 
+ /* System */
+ #define configSTACK_DEPTH_TYPE                  uint32_t
+ #define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+ 
+ /* Memory allocation related definitions. */
+ #define configSUPPORT_STATIC_ALLOCATION         0
+ #define configSUPPORT_DYNAMIC_ALLOCATION        1
+ #define configTOTAL_HEAP_SIZE                   (72*1024)
+ #define configAPPLICATION_ALLOCATED_HEAP        0
+ 
+ /* Hook function related definitions. */
+ #define configCHECK_FOR_STACK_OVERFLOW          2
+ #define configUSE_MALLOC_FAILED_HOOK            1
+ #define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+ 
+ /* Run time and task stats gathering related definitions. */
+ #define configGENERATE_RUN_TIME_STATS           1
+ #define configUSE_TRACE_FACILITY                1
+ #define configUSE_STATS_FORMATTING_FUNCTIONS    1
+ 
+ /* Co-routine related definitions. */
+ #define configUSE_CO_ROUTINES                   0
+ #define configMAX_CO_ROUTINE_PRIORITIES         1
+ 
+ /* Software timer related definitions. */
+ #define configUSE_TIMERS                        1
+ #define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
+ #define configTIMER_QUEUE_LENGTH                10
+ #define configTIMER_TASK_STACK_DEPTH            1024
+ 
+ /* Interrupt nesting behaviour configuration. */
+ /*
+ #define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
+ #define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
+ #define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
+ */
+ 
+#define FREE_RTOS_KERNEL_SMP 1
+#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
+/* SMP port only */
+#define configNUM_CORES                         2
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           1
+#define configUSE_CORE_AFFINITY                 1
+#define configUSE_PASSIVE_IDLE_HOOK		0
+#else
+#define configNUM_CORES                         1
+#endif
+#define configNUMBER_OF_CORES			configNUM_CORES
+
+ /* RP2040 specific */
+ #define configSUPPORT_PICO_SYNC_INTEROP         1
+ #define configSUPPORT_PICO_TIME_INTEROP         1
+ 
+ #include <assert.h>
+ /* Define to trap errors during development. */
+ #define configASSERT(x)                         assert(x)
+ 
+ /* Set the following definitions to 1 to include the API function, or zero
+ to exclude the API function. */
+ #define INCLUDE_vTaskPrioritySet                1
+ #define INCLUDE_uxTaskPriorityGet               1
+ #define INCLUDE_vTaskDelete                     1
+ #define INCLUDE_vTaskSuspend                    1
+ #define INCLUDE_vTaskDelayUntil                 1
+ #define INCLUDE_vTaskDelay                      1
+ #define INCLUDE_xTaskGetSchedulerState          1
+ #define INCLUDE_xTaskGetCurrentTaskHandle       1
+ #define INCLUDE_uxTaskGetStackHighWaterMark     1
+ #define INCLUDE_xTaskGetIdleTaskHandle          1
+ #define INCLUDE_eTaskGetState                   1
+ #define INCLUDE_xTimerPendFunctionCall          1
+ #define INCLUDE_xTaskAbortDelay                 1
+ #define INCLUDE_xTaskGetHandle                  1
+ #define INCLUDE_xTaskResumeFromISR              1
+ #define INCLUDE_xQueueGetMutexHolder            1
+ 
+ /* A header file that defines trace macro can be included here. */
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() 
+extern uint64_t time_us_64(void);						// "hardware/timer.h"
+#define RUN_TIME_STAT_time_us_64Divider 1000			// stat granularity is mS
+#define portGET_RUN_TIME_COUNTER_VALUE() (time_us_64()/RUN_TIME_STAT_time_us_64Divider)	// runtime counter in mS
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    }
+#endif
+
+#endif /* FREERTOS_CONFIG_H */
+