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/src/AltEst/algebra.cpp b/src/AltEst/algebra.cpp
new file mode 100644
index 0000000..653c3b9
--- /dev/null
+++ b/src/AltEst/algebra.cpp
@@ -0,0 +1,292 @@
+/*
+  algebra.cpp: This file contains a number of utilities useful for handling
+  3D vectors
+
+  This work is an adaptation from vvector.h, written by Linas Vepstras. The
+  original code can be found at:
+
+  https://github.com/markkilgard/glut/blob/master/lib/gle/vvector.h
+
+  HISTORY:
+  Written by Linas Vepstas, August 1991
+  Added 2D code, March 1993
+  Added Outer products, C++ proofed, Linas Vepstas October 1993
+  Adapted for altitude estimation tasks by Juan Gallostra June 2018
+*/
+
+//#include <cmath>
+#include <stdio.h>
+
+#include "algebra.h"
+
+// Copy 3D vector
+void copyVector(float b[3],float a[3])
+{
+   b[0] = a[0];
+   b[1] = a[1];
+   b[2] = a[2];
+}
+
+
+// Vector difference
+void subtractVectors(float v21[3], float v2[3], float v1[3])
+{
+   v21[0] = v2[0] - v1[0];
+   v21[1] = v2[1] - v1[1];
+   v21[2] = v2[2] - v1[2];
+}
+
+// Vector sum
+void sumVectors(float v21[3], float v2[3], float v1[3])
+{
+   v21[0] = v2[0] + v1[0];
+   v21[1] = v2[1] + v1[1];
+   v21[2] = v2[2] + v1[2];
+}
+
+// scalar times vector
+void scaleVector(float c[3],float a, float b[3])
+{
+   (c)[0] = a*b[0];
+   (c)[1] = a*b[1];
+   (c)[2] = a*b[2];
+}
+
+// accumulate scaled vector
+void accumulateScaledVector(float c[3], float a, float b[3])
+{
+   (c)[0] += a*b[0];
+   (c)[1] += a*b[1];
+   (c)[2] += a*b[2];
+}
+
+// Vector dot product
+void dotProductVectors(float * c, float a[3], float b[3])
+{
+   *c = a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
+}
+
+// Vector length
+void vectorLength(float * len, float a[3])
+{
+   float tmp;
+   tmp = a[0]*a[0] + a[1]*a[1]+a[2]*a[2];
+   *len = sqrt(tmp);
+}
+
+// Normalize vector
+void normalizeVector(float a[3])
+{
+   float len;
+   vectorLength(& len,a);
+   if (len != 0.0) {
+      len = 1.0 / len;
+      a[0] *= len;
+      a[1] *= len;
+      a[2] *= len;
+   }
+}
+
+// 3D Vector cross product yeilding vector
+void crossProductVectors(float c[3], float a[3], float b[3])
+{
+   c[0] = a[1] * b[2] - a[2] * b[1];
+   c[1] = a[2] * b[0] - a[0] * b[2];
+   c[2] = a[0] * b[1] - a[1] * b[0];
+}
+
+// initialize matrix
+void identityMatrix3x3(float m[3][3])
+{
+   m[0][0] = 1.0;
+   m[0][1] = 0.0;
+   m[0][2] = 0.0;
+
+   m[1][0] = 0.0;
+   m[1][1] = 1.0;
+   m[1][2] = 0.0;
+
+   m[2][0] = 0.0;
+   m[2][1] = 0.0;
+   m[2][2] = 1.0;
+}
+
+// matrix copy
+void copyMatrix3x3(float b[3][3], float a[3][3])
+{
+   b[0][0] = a[0][0];
+   b[0][1] = a[0][1];
+   b[0][2] = a[0][2];
+
+   b[1][0] = a[1][0];
+   b[1][1] = a[1][1];
+   b[1][2] = a[1][2];
+
+   b[2][0] = a[2][0];
+   b[2][1] = a[2][1];
+   b[2][2] = a[2][2];
+}
+
+// matrix transpose
+void transposeMatrix3x3(float b[3][3], float a[3][3])
+{
+   b[0][0] = a[0][0];
+   b[0][1] = a[1][0];
+   b[0][2] = a[2][0];
+
+   b[1][0] = a[0][1];
+   b[1][1] = a[1][1];
+   b[1][2] = a[2][1];
+
+   b[2][0] = a[0][2];
+   b[2][1] = a[1][2];
+   b[2][2] = a[2][2];
+}
+
+// multiply matrix by scalar
+void scaleMatrix3x3(float b[3][3], float s, float a[3][3])
+{
+   b[0][0] = (s) * a[0][0];
+   b[0][1] = (s) * a[0][1];
+   b[0][2] = (s) * a[0][2];
+
+   b[1][0] = (s) * a[1][0];
+   b[1][1] = (s) * a[1][1];
+   b[1][2] = (s) * a[1][2];
+
+   b[2][0] = (s) * a[2][0];
+   b[2][1] = (s) * a[2][1];
+   b[2][2] = (s) * a[2][2];
+}
+
+// multiply matrix by scalar and add result to another matrix
+void scaleAndAccumulateMatrix3x3(float b[3][3], float s, float a[3][3])
+{
+   b[0][0] += s * a[0][0];
+   b[0][1] += s * a[0][1];
+   b[0][2] += s * a[0][2];
+
+   b[1][0] += s * a[1][0];
+   b[1][1] += s * a[1][1];
+   b[1][2] += s * a[1][2];
+
+   b[2][0] += s * a[2][0];
+   b[2][1] += s * a[2][1];
+   b[2][2] += s * a[2][2];
+}
+
+// matrix product
+// c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y]
+void matrixProduct3x3(float c[3][3], float a[3][3], float b[3][3])
+{
+   c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0];
+   c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1];
+   c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2];
+
+   c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0];
+   c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1];
+   c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2];
+
+   c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0];
+   c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1];
+   c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2];
+}
+
+// matrix times vector
+void matrixDotVector3x3(float p[3], float m[3][3], float v[3])
+{
+   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2];
+   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2];
+   p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2];
+}
+
+// determinant of matrix
+// Computes determinant of matrix m, returning d
+void determinant3x3(float * d, float m[3][3])
+{
+   *d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]);
+   *d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]);
+   *d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]);
+}
+
+// adjoint of matrix
+// Computes adjoint of matrix m, returning a
+// (Note that adjoint is just the transpose of the cofactor matrix)
+void adjoint3x3(float a[3][3], float m[3][3])
+{
+   a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1];
+   a[1][0] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]);
+   a[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0];
+   a[0][1] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]);
+   a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0];
+   a[2][1] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]);
+   a[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1];
+   a[1][2] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]);
+   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0];
+}
+
+// compute adjoint of matrix and scale
+// Computes adjoint of matrix m, scales it by s, returning a
+void scaleAdjoint3x3(float a[3][3], float s, float m[3][3])
+{
+   a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]);
+   a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]);
+   a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
+
+   a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]);
+   a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]);
+   a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]);
+
+   a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]);
+   a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]);
+   a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]);
+}
+
+// inverse of matrix
+// Compute inverse of matrix a, returning determinant m and
+// inverse b
+void invert3x3(float b[3][3], float a[3][3])
+{
+   float tmp;
+   determinant3x3(& tmp, a);
+   tmp = 1.0 / (tmp);
+   scaleAdjoint3x3(b, tmp, a);
+}
+
+// skew matrix from vector
+void skew(float a[3][3], float v[3])
+{
+  a[0][1] = -v[2];
+  a[0][2] = v[1];
+  a[1][2] = -v[0];
+  a[1][0] = v[2];
+  a[2][0] = -v[1];
+  a[2][1] = v[0];
+  // set diagonal to 0
+  a[0][0] = 0.0;
+  a[1][1] = 0.0;
+  a[2][2] = 0.0;
+}
+
+void printMatrix3X3(float mmm[3][3])
+{
+   int i,j;
+   printf ("matrix mmm is \n");
+   if (mmm == NULL) {
+      printf (" Null \n");
+   } else {
+      for (i=0; i<3; i++) {
+         for (j=0; j<3; j++) {
+            printf ("%f ", mmm[i][j]);
+         }
+         printf (" \n");
+      }
+   }
+}
+
+void vecPrint(float a[3])
+{
+   float len;
+   vectorLength(& len, a);
+   printf(" a is %f %f %f length of a is %f \n", a[0], a[1], a[2], len);
+}