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, 292 insertions, 0 deletions

diff --git a/include/bno055.hpp b/include/bno055.hpp
new file mode 100644
index 0000000..7fbac4d
--- /dev/null
+++ b/include/bno055.hpp
@@ -0,0 +1,292 @@
+#pragma once
+
+#include <vector>
+#include <string>
+
+#include "boards/pico_w.h"
+#include "hardware/gpio.h"
+#include "hardware/i2c.h"
+#include "pico/stdlib.h"
+#include "pico/time.h"
+#include "pico/types.h"
+
+#include <Eigen/Geometry>
+
+//Register addresses and data structs copied from Adafruit implementation
+/** BNO055 Address A **/
+#define BNO055_ADDRESS_A (0x28)
+/** BNO055 Address B **/
+#define BNO055_ADDRESS_B (0x29)
+/** BNO055 ID **/
+#define BNO055_ID (0xA0)
+
+/** Offsets registers **/
+#define NUM_BNO055_OFFSET_REGISTERS (22)
+
+
+/** A structure to represent offsets **/
+typedef struct {
+    int16_t accel_offset_x; /**< x acceleration offset */
+    int16_t accel_offset_y; /**< y acceleration offset */
+    int16_t accel_offset_z; /**< z acceleration offset */
+
+    int16_t mag_offset_x; /**< x magnetometer offset */
+    int16_t mag_offset_y; /**< y magnetometer offset */
+    int16_t mag_offset_z; /**< z magnetometer offset */
+
+    int16_t gyro_offset_x; /**< x gyroscrope offset */
+    int16_t gyro_offset_y; /**< y gyroscrope offset */
+    int16_t gyro_offset_z; /**< z gyroscrope offset */
+
+    int16_t accel_radius; /**< acceleration radius */
+
+    int16_t mag_radius; /**< magnetometer radius */
+} bno055_offsets_t;
+
+/** Operation mode settings **/
+typedef enum {
+    OPERATION_MODE_CONFIG = 0X00,
+    OPERATION_MODE_ACCONLY = 0X01,
+    OPERATION_MODE_MAGONLY = 0X02,
+    OPERATION_MODE_GYRONLY = 0X03,
+    OPERATION_MODE_ACCMAG = 0X04,
+    OPERATION_MODE_ACCGYRO = 0X05,
+    OPERATION_MODE_MAGGYRO = 0X06,
+    OPERATION_MODE_AMG = 0X07,
+    OPERATION_MODE_IMUPLUS = 0X08,
+    OPERATION_MODE_COMPASS = 0X09,
+    OPERATION_MODE_M4G = 0X0A,
+    OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
+    OPERATION_MODE_NDOF = 0X0C
+} bno055_opmode_t;
+
+/** BNO055 Registers **/
+typedef enum {
+    /* Page id register definition */
+    BNO055_PAGE_ID_ADDR = 0X07,
+
+    /* PAGE0 REGISTER DEFINITION START*/
+    BNO055_CHIP_ID_ADDR = 0x00,
+    BNO055_ACCEL_REV_ID_ADDR = 0x01,
+    BNO055_MAG_REV_ID_ADDR = 0x02,
+    BNO055_GYRO_REV_ID_ADDR = 0x03,
+    BNO055_SW_REV_ID_LSB_ADDR = 0x04,
+    BNO055_SW_REV_ID_MSB_ADDR = 0x05,
+    BNO055_BL_REV_ID_ADDR = 0X06,
+
+    /* Accel data register */
+    BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
+    BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
+    BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
+    BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
+    BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
+    BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
+
+    /* Mag data register */
+    BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
+    BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
+    BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
+    BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
+    BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
+    BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
+
+    /* Gyro data registers */
+    BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
+    BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
+    BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
+    BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
+    BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
+    BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
+
+    /* Euler data registers */
+    BNO055_EULER_H_LSB_ADDR = 0X1A,
+    BNO055_EULER_H_MSB_ADDR = 0X1B,
+    BNO055_EULER_R_LSB_ADDR = 0X1C,
+    BNO055_EULER_R_MSB_ADDR = 0X1D,
+    BNO055_EULER_P_LSB_ADDR = 0X1E,
+    BNO055_EULER_P_MSB_ADDR = 0X1F,
+
+    /* Quaternion data registers */
+    BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
+    BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
+    BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
+    BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
+    BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
+    BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
+    BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
+    BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
+
+    /* Linear acceleration data registers */
+    BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
+    BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
+    BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
+    BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
+    BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
+    BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
+
+    /* Gravity data registers */
+    BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
+    BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
+    BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
+    BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
+    BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
+    BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
+
+    /* Temperature data register */
+    BNO055_TEMP_ADDR = 0X34,
+
+    /* Status registers */
+    BNO055_CALIB_STAT_ADDR = 0X35,
+    BNO055_SELFTEST_RESULT_ADDR = 0X36,
+    BNO055_INTR_STAT_ADDR = 0X37,
+
+    BNO055_SYS_CLK_STAT_ADDR = 0X38,
+    BNO055_SYS_STAT_ADDR = 0X39,
+    BNO055_SYS_ERR_ADDR = 0X3A,
+
+    /* Unit selection register */
+    BNO055_UNIT_SEL_ADDR = 0X3B,
+
+    /* Mode registers */
+    BNO055_OPR_MODE_ADDR = 0X3D,
+    BNO055_PWR_MODE_ADDR = 0X3E,
+
+    BNO055_SYS_TRIGGER_ADDR = 0X3F,
+    BNO055_TEMP_SOURCE_ADDR = 0X40,
+
+    /* Axis remap registers */
+    BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
+    BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
+
+    /* SIC registers */
+    BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
+    BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
+    BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
+    BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
+    BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
+    BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
+    BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
+    BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
+    BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
+    BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
+    BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
+    BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
+    BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
+    BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
+    BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
+    BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
+    BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
+    BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
+
+    /* Accelerometer Offset registers */
+    ACCEL_OFFSET_X_LSB_ADDR = 0X55,
+    ACCEL_OFFSET_X_MSB_ADDR = 0X56,
+    ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
+    ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
+    ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
+    ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
+
+    /* Magnetometer Offset registers */
+    MAG_OFFSET_X_LSB_ADDR = 0X5B,
+    MAG_OFFSET_X_MSB_ADDR = 0X5C,
+    MAG_OFFSET_Y_LSB_ADDR = 0X5D,
+    MAG_OFFSET_Y_MSB_ADDR = 0X5E,
+    MAG_OFFSET_Z_LSB_ADDR = 0X5F,
+    MAG_OFFSET_Z_MSB_ADDR = 0X60,
+
+    /* Gyroscope Offset register s*/
+    GYRO_OFFSET_X_LSB_ADDR = 0X61,
+    GYRO_OFFSET_X_MSB_ADDR = 0X62,
+    GYRO_OFFSET_Y_LSB_ADDR = 0X63,
+    GYRO_OFFSET_Y_MSB_ADDR = 0X64,
+    GYRO_OFFSET_Z_LSB_ADDR = 0X65,
+    GYRO_OFFSET_Z_MSB_ADDR = 0X66,
+
+    /* Radius registers */
+    ACCEL_RADIUS_LSB_ADDR = 0X67,
+    ACCEL_RADIUS_MSB_ADDR = 0X68,
+    MAG_RADIUS_LSB_ADDR = 0X69,
+    MAG_RADIUS_MSB_ADDR = 0X6A,
+
+    /* Interrupt registers*/
+    RST_INT = 0x01,
+
+    NO_MOTION_INT_ADDR = 0x00,
+    SLOW_NO_MOTION_INT_ADDR = 0x01,
+    THRESHOLD_INT_ADDR = 0x02,
+} bno055_reg_t;
+
+/** BNO055 power settings */
+typedef enum {
+    POWER_MODE_NORMAL = 0X00,
+    POWER_MODE_LOWPOWER = 0X01,
+    POWER_MODE_SUSPEND = 0X02
+} bno055_powermode_t;
+
+/** Vector Mappings **/
+typedef enum {
+    VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
+    VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
+    VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
+    VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
+    VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
+    VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
+} vector_type_t;
+
+struct quarternion {
+    float w;
+    float x;
+    float y;
+    float z;
+};
+
+struct vector3f {
+    float x;
+    float y;
+    float z;
+};
+
+struct CALIB_STATUS {
+    uint8_t sys;
+    uint8_t gyro;
+    uint8_t accel;
+    uint8_t mag;
+};
+
+extern volatile vector3f linear_acceleration;
+extern volatile vector3f acceleration;
+extern volatile quarternion abs_quaternion;
+extern volatile CALIB_STATUS calib_status;
+
+extern volatile vector3f euler_angles;
+extern volatile vector3f abs_lin_accel;
+extern volatile vector3f rot_y_vec;
+extern volatile vector3f vel_at_angle;
+
+extern volatile vector3f accel_gravity;
+
+extern uint8_t accel[6];
+extern uint8_t quat[8];
+
+class BNO055 {
+    public:
+        BNO055();
+        //Sanity check for factory device ID 
+        void reset_bno055();
+        void init();
+        void read_lin_accel();
+        void read_abs_quaternion();
+        void read_euler_angles();
+        void read_accel();
+        void read_calib_status();
+        void calculate_abs_linear_acceleration();
+        void accel_to_gravity();
+        void quaternion_to_euler(); 
+        void get_rotation_vector();
+        void clamp_close_zero(volatile float &val);
+        
+    private:
+        unsigned char bno055_address;
+        int32_t _sensorID;
+        bno055_opmode_t default_mode;
+};