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, 53 insertions, 48 deletions

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 0a50318..59d21de 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,49 +1,54 @@
 add_executable(ads
-    active_drag_system.cpp
-)
-
-add_executable(pru1
-        pru1/sensors.cpp
-)
-
-add_executable(pru2
-        pru2/servos.cpp
-)
-
-target_link_options(pru1 PRIVATE -static)
-target_link_options(pru2 PRIVATE -static)
-cmake_minimum_required(VERSION 3.16.3)
-
-include_directories( ../include )
-
-# Set Variables
-set(TARGET ActiveDragSystem)
-set(SOURCES active-drag-system.cpp ads.cpp actuationPlan.cpp surfaceFitModel.cpp rocketUtils.cpp sensorIMU.cpp sensorAltimeter.cpp motor.cpp logger.cpp kalmanfilter.cpp)
-
-
-# Create Executables & Link Dependencies
-add_executable(${TARGET} ${SOURCES})
-
-add_executable(${TARGET_B} ${SOURCES_B})
-target_link_libraries(${TARGET_B} PUBLIC gtest_main)
-add_test(NAME ${TARGET_B} COMMAND ${TARGET_B})
-
-add_executable(${TARGET_C} ${SOURCES_C})
-target_link_libraries(${TARGET_C} PUBLIC gtest_main)
-add_test(NAME ${TARGET_C} COMMAND ${TARGET_C})
-
-add_executable(${TARGET_D} ${SOURCES_D})
-target_link_libraries(${TARGET_D} PUBLIC gtest_main)
-add_test(NAME ${TARGET_D} COMMAND ${TARGET_D})
-
-add_executable(${TARGET_E} ${SOURCES_E})
-target_link_libraries(${TARGET_E} PUBLIC gtest_main)
-add_test(NAME ${TARGET_E} COMMAND ${TARGET_E})
-
-add_executable(${TARGET_F} ${SOURCES_F})
-target_link_libraries(${TARGET_F} PUBLIC gtest_main)
-add_test(NAME ${TARGET_F} COMMAND ${TARGET_F})
-
-add_executable(${TARGET_G} ${SOURCES_G})
-target_link_libraries(${TARGET_G} PUBLIC gtest_main)
-add_test(NAME ${TARGET_G} COMMAND ${TARGET_G})
+        active_drag_system.cpp
+        spi_flash.c
+        bno055.cpp
+        SimpleKalmanFilter.cpp
+        # kalmanfilter.cpp
+        pwm.cpp
+        AltEst/algebra.cpp
+        AltEst/altitude.cpp
+        AltEst/filters.cpp
+        )
+
+add_executable(read_flash
+        read_flash.c
+        spi_flash.c
+        )
+
+add_executable(servo_test
+        servo_test.cpp
+        pwm.cpp
+        )
+
+add_executable(alt_test
+        altimeter.cpp
+        )
+
+# pull in common dependencies
+target_link_libraries(ads pico_stdlib pico_multicore pico_sync hardware_i2c hardware_spi hardware_pwm pico_cyw43_arch_none ${Eigen_LIBRARIES})
+target_include_directories(ads PUBLIC ../include)
+
+target_link_libraries(read_flash pico_stdlib hardware_spi)
+target_include_directories(read_flash PUBLIC ../include)
+
+target_link_libraries(servo_test pico_stdlib hardware_pwm hardware_i2c)
+target_include_directories(servo_test PUBLIC ../include)
+
+target_link_libraries(alt_test pico_stdlib hardware_i2c hardware_gpio)
+
+pico_enable_stdio_usb(ads 1)
+pico_enable_stdio_uart(ads 0)
+
+pico_enable_stdio_usb(read_flash 1)
+pico_enable_stdio_uart(read_flash 0)
+
+pico_enable_stdio_usb(servo_test 1)
+pico_enable_stdio_uart(servo_test 0)
+
+pico_enable_stdio_usb(alt_test 1)
+pico_enable_stdio_uart(alt_test 0)
+# create map/bin/hex file etc.
+pico_add_extra_outputs(ads)
+pico_add_extra_outputs(read_flash)
+pico_add_extra_outputs(servo_test)
+pico_add_extra_outputs(alt_test)