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, 55 insertions, 0 deletions

diff --git a/include/spi_flash.h b/include/spi_flash.h
new file mode 100644
index 0000000..d3c0247
--- /dev/null
+++ b/include/spi_flash.h
@@ -0,0 +1,55 @@
+#ifndef SPI_FLASH
+#define SPI_FLASH
+
+#include <stdint.h>
+#include "hardware/spi.h"
+#include "boards/pico_w.h"
+#include "pico/stdlib.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define FLASH_PAGE_SIZE        256
+#define FLASH_NUM_PAGES        32768
+#define FLASH_SECTOR_SIZE      4096
+#define FLASH_BLOCK_SIZE       65536
+#define FLASH_PHYS_SIZE        (FLASH_PAGE_SIZE * FLASH_NUM_PAGES)
+
+#define FLASH_CMD_PAGE_PROGRAM 0x02
+#define FLASH_CMD_READ         0x03
+#define FLASH_CMD_STATUS       0x05
+#define FLASH_CMD_WRITE_EN     0x06
+#define FLASH_CMD_SECTOR_ERASE 0x20
+#define FLASH_CMD_BLOCK_ERASE  0xD8
+#define FLASH_CMD_CHIP_ERASE   0xC7
+
+#define FLASH_STATUS_BUSY_MASK 0x01
+
+// #define FLASH_TEST
+
+#define PACKET_SIZE            32
+
+
+static uint8_t page_buffer[FLASH_PAGE_SIZE];
+static uint32_t base_addr = 0;
+
+void write_entry(uint8_t* data_entry);
+
+void __not_in_flash_func(flash_read)(spi_inst_t *spi, uint cs_pin, uint32_t addr, uint8_t *dest, size_t len);
+
+
+void __not_in_flash_func(flash_write_enable)(spi_inst_t *spi, uint cs_pin);
+void __not_in_flash_func(flash_page_program)(spi_inst_t *spi, uint cs_pin, uint32_t addr, uint8_t* src);
+void __not_in_flash_func(flash_write)(spi_inst_t *spi, uint cs_pin, uint32_t addr, uint8_t* src, size_t size);
+
+void __not_in_flash_func(flash_wait_done)(spi_inst_t *spi, uint cs_pin);
+
+void __not_in_flash_func(flash_sector_erase)(spi_inst_t *spi, uint cs_pin, uint32_t addr);
+void __not_in_flash_func(flash_block_erase)(spi_inst_t *spi, uint cs_pin, uint32_t addr);
+void __not_in_flash_func(flash_erase)(spi_inst_t *spi, uint cs_pin);
+
+#ifdef __cplusplus
+}
+#endif
+#endif