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, 165 insertions, 0 deletions

diff --git a/include/unused/sensorAltimeter.hpp b/include/unused/sensorAltimeter.hpp
new file mode 100644
index 0000000..aa3a3cd
--- /dev/null
+++ b/include/unused/sensorAltimeter.hpp
@@ -0,0 +1,165 @@
+#pragma once
+#include "sensorI2C.hpp"
+#include <string>
+
+/*
+Header file for driver for MPL3115a2 breakout, based heavily on https://github.com/adafruit/Adafruit_MPL3115A2_Library/tree/master
+Based on register declarations found https://cdn-shop.adafruit.com/datasheets/1893_datasheet.pdf
+Designed using subclass for I2C handler for Beaglebone Black
+*/
+
+class AltimeterSensor : public sensorI2C {
+
+
+    private:
+        double internalTemperature = 0;
+        double internalAltitude = 0;
+        
+        //ENUMS COPIED DIRECTLY FROM ADAFRUIT IMPLEMENTATION
+        /** MPL3115A2 registers **/
+        enum {
+            MPL3115A2_REGISTER_STATUS = (0x00),
+
+            MPL3115A2_REGISTER_PRESSURE_MSB = (0x01),
+            MPL3115A2_REGISTER_PRESSURE_CSB = (0x02),
+            MPL3115A2_REGISTER_PRESSURE_LSB = (0x03),
+
+            MPL3115A2_REGISTER_TEMP_MSB = (0x04),
+            MPL3115A2_REGISTER_TEMP_LSB = (0x05),
+
+            MPL3115A2_REGISTER_DR_STATUS = (0x06),
+
+            MPL3115A2_OUT_P_DELTA_MSB = (0x07),
+            MPL3115A2_OUT_P_DELTA_CSB = (0x08),
+            MPL3115A2_OUT_P_DELTA_LSB = (0x09),
+
+            MPL3115A2_OUT_T_DELTA_MSB = (0x0A),
+            MPL3115A2_OUT_T_DELTA_LSB = (0x0B),
+
+            MPL3115A2_WHOAMI = (0x0C),
+            //This is hard-coded in the device from the factory
+            MPL3115A2_WHOAMI_EXPECTED = (0xC4),
+
+            MPL3115A2_BAR_IN_MSB = (0x14),
+            MPL3115A2_BAR_IN_LSB = (0x15),
+
+            MPL3115A2_OFF_H = (0x2D),
+        };
+
+        /** MPL3115A2 status register BITS **/
+        enum {
+            MPL3115A2_REGISTER_STATUS_TDR = 0x02,
+            MPL3115A2_REGISTER_STATUS_PDR = 0x04,
+            MPL3115A2_REGISTER_STATUS_PTDR = 0x08,
+        };
+
+        /** MPL3115A2 PT DATA register BITS **/
+        enum {
+            MPL3115A2_PT_DATA_CFG = 0x13,
+            MPL3115A2_PT_DATA_CFG_TDEFE = 0x01,
+            MPL3115A2_PT_DATA_CFG_PDEFE = 0x02,
+            MPL3115A2_PT_DATA_CFG_DREM = 0x04,
+        };
+
+        /** MPL3115A2 control registers **/
+        enum {
+            MPL3115A2_CTRL_REG1 = (0x26),
+            MPL3115A2_CTRL_REG2 = (0x27),
+            MPL3115A2_CTRL_REG3 = (0x28),
+            MPL3115A2_CTRL_REG4 = (0x29),
+            MPL3115A2_CTRL_REG5 = (0x2A),
+        };
+
+        /** MPL3115A2 control register BITS **/
+        enum {
+            MPL3115A2_CTRL_REG1_SBYB = 0x01,
+            MPL3115A2_CTRL_REG1_OST = 0x02,
+            MPL3115A2_CTRL_REG1_RST = 0x04,
+            MPL3115A2_CTRL_REG1_RAW = 0x40,
+            MPL3115A2_CTRL_REG1_ALT = 0x80,
+            MPL3115A2_CTRL_REG1_BAR = 0x00,
+        };
+
+        /** MPL3115A2 oversample values **/
+        enum {
+            MPL3115A2_CTRL_REG1_OS1 = 0x00,
+            MPL3115A2_CTRL_REG1_OS2 = 0x08,
+            MPL3115A2_CTRL_REG1_OS4 = 0x10,
+            MPL3115A2_CTRL_REG1_OS8 = 0x18,
+            MPL3115A2_CTRL_REG1_OS16 = 0x20,
+            MPL3115A2_CTRL_REG1_OS32 = 0x28,
+            MPL3115A2_CTRL_REG1_OS64 = 0x30,
+            MPL3115A2_CTRL_REG1_OS128 = 0x38,
+        };
+
+        /** MPL3115A2 measurement modes **/
+        typedef enum {
+            MPL3115A2_BAROMETER = 0,
+            MPL3115A2_ALTIMETER,
+        } mpl3115a2_mode_t;
+
+        /** MPL3115A2 measurement types **/
+        typedef enum {
+            MPL3115A2_PRESSURE,
+            MPL3115A2_ALTITUDE,
+            MPL3115A2_TEMPERATURE,
+        } mpl3115a2_meas_t;
+
+        //This never actually gets used, and I can't find anything in the datasheet about it??
+        #define MPL3115A2_REGISTER_STARTCONVERSION (0x12) ///< start conversion
+
+        //Store current operating mode, sent to device during startup procedure
+        //This is why an enum is used rather than raw #define statements
+        mpl3115a2_mode_t currentMode;
+
+        //Struct for storing ctrl register contents, copied from adafruit implementation
+        typedef union {
+            struct {
+                uint8_t SBYB : 1;
+                uint8_t OST : 1;
+                uint8_t RST : 1;
+                uint8_t OS : 3;
+                uint8_t RAW : 1;
+                uint8_t ALT : 1;
+            } bit;
+            uint8_t reg;
+        } CTRL_REG_1_STRUCT;
+        //Create instance of this register config to use during device startup and operation
+        CTRL_REG_1_STRUCT ctrl_reg1;
+
+    public:
+
+        /**
+         * @brief Construct a new Altimeter Sensor object
+         * 
+         */
+        AltimeterSensor(std::string I2C_FILE);
+
+        /**
+         * @brief Initialize the Altimeter
+         * 
+         * @param data Data for initializing the sensor
+         * @return true Initialization Success
+         * @return false Initialization Failure
+         */
+        bool init() override;
+
+        //Data getters and setters
+        // double getPressure();
+        double getAltitude();
+        double getTemperature();
+        double setSeaLevelPressure(double pressure);
+
+        //Data and mode handlers
+        //Use altimeter mode by default as this is what rocket logger wants
+        void setMode(mpl3115a2_mode_t mode = MPL3115A2_ALTIMETER);
+        void requestOneShotReading();
+        bool isNewDataAvailable();
+        void updateCurrentDataBuffer();
+
+
+};
+
+
+
+