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, 35 insertions, 0 deletions

diff --git a/src/pwm.cpp b/src/pwm.cpp
new file mode 100644
index 0000000..3a78d23
--- /dev/null
+++ b/src/pwm.cpp
@@ -0,0 +1,35 @@
+#include "pwm.hpp"
+
+void PWM::init() {
+    // Tell GPIO 0 they are allocated to the PWM
+    gpio_set_function(SERVO_PIN, GPIO_FUNC_PWM);
+    // Find out which PWM slice is connected to GPIO 0 (it's slice 0)
+    uint slice_num = pwm_gpio_to_slice_num(SERVO_PIN);
+
+    // Configure PWM slice and set it running
+    pwm_config cfg = pwm_get_default_config();
+    // Set the PWM clock divider to 38.15
+    pwm_config_set_clkdiv(&cfg, CLOCK_DIV_RATE);
+    // Set the PWM wrap value to 65535
+    pwm_set_wrap(slice_num, WRAP_VALUE);
+    // Set the PWM duty cycle to 0 and enable the PWM
+    pwm_init(slice_num, &cfg, true);
+
+    // Enable the PWM again cause idk
+    pwm_set_enabled(slice_num, true);
+}
+
+void PWM::set_duty_cycle(int duty_cycle_percent) {
+    // Calculate the raw value
+    uint32_t raw_value = WRAP_VALUE * (duty_cycle_percent / 100.0);
+
+    // Set the duty cycle
+    pwm_set_gpio_level(SERVO_PIN, raw_value);
+}
+
+void PWM::set_servo_percent(int percent) {
+    // Calculate the value by clamping the percent from 0 to 100
+    // to the SERVO_MIN and SERVO_MAX
+    uint32_t value = ((percent * SERVO_RANGE) / 100) + SERVO_MIN;
+    PWM::set_duty_cycle(value);
+}