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, 121 insertions, 0 deletions

diff --git a/include/unused/rocketUtils.hpp b/include/unused/rocketUtils.hpp
new file mode 100644
index 0000000..65b9cea
--- /dev/null
+++ b/include/unused/rocketUtils.hpp
@@ -0,0 +1,121 @@
+#pragma once
+#include <iostream>
+#include <vector>
+#include <ctime>
+#include <vector>
+#include <iomanip>
+#include <sstream>
+#include <fstream>
+
+// Deployment angle limits
+#define MAX_ANGLE 100
+#define MIN_ANGLE 120
+
+// Altimeter initialization count limit
+#define COUNT_LIMIT 50
+
+// Constants
+#define G_0 9.8066
+
+// Threshold limits
+#define BOOST_ACCEL_THRESH 3
+#define BOOST_HEIGHT_THRESH 20
+#define GLIDE_ACCEL_THRESH 0.5
+
+#define ALTI_DEPL_THRESHOLD 0.5
+#define RATE_ALTI_DEPL 1/50
+#define FSM_DONE_SURFACE_ALTITUDE 200
+#define APOGEE_FSM_CHANGE 3
+
+#define INIT_DEPLOYMENT 0 
+
+#define TIME_BO 8
+#define TIME_APO 25
+#define TIME_END 120
+
+#define PAD_PRESSURE 102250
+
+#define DUTY_MAX 14.5
+#define DUTY_MIN 3
+
+#define LAUNCH_DATE "4-15-2023"
+#define LOG_FILENAME "DataLog_" LAUNCH_DATE ".txt"
+
+#define LED_GAP_TIME 0.5
+#define LED_ONE_PATH "/sys/class/leds/beaglebone:green:usr1"
+#define LED_BRIGHTNESS_FILE "brightness"
+#define LED_FILENAME LED_ONE_PATH LED_BRIGHTNESS_FILE
+
+#define TEST_MODE false
+
+
+enum VehicleState {ON_PAD, BOOST, GLIDE, APOGEE, DONE};
+extern std::string state_for_log[5];
+
+struct Vehicle {
+
+	int status;
+
+	std::vector<double> acceleration; 
+    std::vector<double> linear_acceleration;
+
+    double apogee_altitude;
+	double previous_altitude;
+	double current_altitude;
+	double filtered_altitude;
+
+	double filtered_velocity;
+
+	double deployment_angle;
+
+	bool imuInitFail;
+	bool imuReadFail;
+	bool altiInitFail;
+	bool altiReadFail;
+
+	double ON_PAD_altitude;
+	bool ON_PAD_fail;
+
+	double duty_span;
+
+	double dt;
+
+	int led_brightness;
+
+	time_t start_time;
+	time_t fail_time; // For failure termination
+	time_t liftoff_time;
+	time_t relog_time;
+	time_t deploy_time; // NOT INITIALIZED YET
+	time_t loop_time;
+	time_t led_time;
+};
+
+/**
+ * @brief Convert fin deployment percentage to fin rotation angle
+ * 
+ * @param percentage Fin deployment percentage
+ * @return double 
+ */
+double deploy_percentage_to_angle(double percentage);
+
+/**
+ * @brief Set the decimal precision of the given data, and return it 
+ * 		as a formatted string with a prefix containing a relevant description of the data. 
+ * 
+ * @param prefix Identifying or clarifying information about the loggef data
+ * @param data Data to Log
+ * @param precision The decimal precision value for the data
+ * 
+ * @return A string with the formatted data.
+ */
+std::string format_data(std::string prefix, double data, int precision);
+
+/**
+ * @brief Blink Beaglebone LED 1
+ * 
+ * @param vehicle Holds settings pertinent to the Beaglebone LED
+ * @return true Successful Blink
+ * @return false Unsuccessful Blink
+ */
+bool led_out(Vehicle *vehicle);