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, 96 insertions, 0 deletions

diff --git a/src/AltEst/algebra.h b/src/AltEst/algebra.h
new file mode 100644
index 0000000..382103e
--- /dev/null
+++ b/src/AltEst/algebra.h
@@ -0,0 +1,96 @@
+/*
+  algebra.h: 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
+  Separated .h, .cpp by Simon D. Levy July 2018
+*/
+
+#pragma once
+
+//#include <cmath>
+#include <math.h>
+
+// Copy 3D vector
+void copyVector(float b[3],float a[3]);
+
+
+// Vector difference
+void subtractVectors(float v21[3], float v2[3], float v1[3]);
+
+// Vector sum
+void sumVectors(float v21[3], float v2[3], float v1[3]);
+
+// scalar times vector
+void scaleVector(float c[3],float a, float b[3]);
+
+// accumulate scaled vector
+void accumulateScaledVector(float c[3], float a, float b[3]);
+
+// Vector dot product
+void dotProductVectors(float * c, float a[3], float b[3]);
+
+// Vector length
+void vectorLength(float * len, float a[3]);
+
+// Normalize vector
+void normalizeVector(float a[3]);
+
+// 3D Vector cross product yeilding vector
+void crossProductVectors(float c[3], float a[3], float b[3]);
+
+// initialize matrix
+void identityMatrix3x3(float m[3][3]);
+
+// matrix copy
+void copyMatrix3x3(float b[3][3], float a[3][3]);
+
+// matrix transpose
+void transposeMatrix3x3(float b[3][3], float a[3][3]);
+
+// multiply matrix by scalar
+void scaleMatrix3x3(float b[3][3], float s, float a[3][3]);
+
+// multiply matrix by scalar and add result to another matrix
+void scaleAndAccumulateMatrix3x3(float b[3][3], float s, float a[3][3]);
+
+// 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]);
+
+// matrix times vector
+void matrixDotVector3x3(float p[3], float m[3][3], float v[3]);
+
+// determinant of matrix
+// Computes determinant of matrix m, returning d
+void determinant3x3(float * d, float m[3][3]);
+
+// 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]);
+
+// 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]);
+
+// inverse of matrix
+// Compute inverse of matrix a, returning determinant m and
+// inverse b
+void invert3x3(float b[3][3], float a[3][3]);
+
+// skew matrix from vector
+void skew(float a[3][3], float v[3]);
+
+void printMatrix3X3(float mmm[3][3]);
+
+void vecPrint(float a[3]);