Big Kahuna - IREC 2025 - Dawsyn's Final Commit (#16)HEADmain

# Dawsyn's Final Commit

This one is a little emotional as this is my final commit in this repository and as a member of Rocketry at Virginia Tech. This merges the changes seen in the branch known as 'big_kahuna' into main. This is the version of the ADS software as seen on [Roadkill](https://drive.google.com/file/d/120BvI-0ntliHo6i9UxcCn2pXAl-JsdP_/view?usp=drive_link) in the 2025 IREC competition. There are bound to be bugs, but I have found it useful to have the final competition version to be the one present on main at the end of every academic year. Hopefully this is useful to the next lead.

## Primary Changes
+ NEW I2C drivers to support sensors present on new ADS custom PCB
+ NEW logging library found in separate repository and pulled in as submodule ([pico-logger](https://github.com/rocketryvt/pico-logger))
     + No longer dependent on different flash chip from one used for code storage! Compile executable as RP2040 'copy-to-ram' type to increase flash read/write speeds!
+ NEW fixed-point libraries to allow for increased performance and sensor sampling speeds on RP2040 that lacks FPU
+ FreeRTOS Simultaneous Multi-processing (SMP) architecture for task handling and easier introduction / testing of new features
+ Serial monitor / command system with task performance monitoring commands
+ WORKING Kalman filter that takes altitude from barometer as measurement and z-axis acceleration from IMU as control to generate state vector containing filtered altitude and vertical velocity
+ NEW CFD equations from the Ben-ogrithm (to replace the Chen-ogrithm) that includes:
    + Apogee prediction model that takes current drag force, altitude, and vertical velocity
    + Current Drag Force equation based on current deployment and vertical velocity to use for Apogee Prediction model
    + Desired Drag force equation based on current altitude and vertical velocity to generate what drag force is needed to reach 10K ft
    + Deployment percentage equation based on current velocity and desired drag force to map to flap deployment percentage

1 files changed, 134 insertions, 0 deletions

diff --git a/src/serial.cpp b/src/serial.cpp
new file mode 100644
index 0000000..9dfd5d9
--- /dev/null
+++ b/src/serial.cpp
@@ -0,0 +1,134 @@
+#include "serial.hpp"
+#include "portable.h"
+#include "portmacro.h"
+#include <pico/multicore.h>
+#include <pico/stdio.h>
+
+void serial_task( void *pvParameters ) {
+    char *str = (char *) malloc(1024);
+    size_t len = 1024;
+
+    
+    printf("Welcome! :3\n");
+
+    while (1) {
+        printf("# ");
+        stdio_flush();
+
+        size_t n = input_line(str,len);
+        printf("\n");
+        if (n > 0) {
+            for (int i = 0; i < (NUM_BASE_CMDS + num_user_cmds); i++) {
+                if ((i < NUM_BASE_CMDS) && n >= base_commands[i].len && strncmp(str, base_commands[i].name, base_commands[i].len) == 0) {
+                    base_commands[i].function();
+                    break;
+                }
+
+                if ((i >= NUM_BASE_CMDS && ((i - NUM_BASE_CMDS) < num_user_cmds)) && n >= user_commands[i - NUM_BASE_CMDS].len && strncmp(str, user_commands[i - NUM_BASE_CMDS].name, user_commands[i - NUM_BASE_CMDS].len) == 0) {
+                    user_commands[i - NUM_BASE_CMDS].function();
+                    break;
+                }
+                if (i == (NUM_BASE_CMDS + num_user_cmds - 1)) {
+                    printf("Invalid command! Please try again or use 'help' to see the available commands.\n");
+                }
+            }
+        }
+    }
+}
+
+int input_line(char *buffer, size_t len) {
+    size_t n = 0;
+    int c;
+    for (n = 0; n < len - 1; n++) {
+
+        c = getchar_timeout_us(0);
+        switch (c) {
+            case 127: /* fall through to below */
+            case '\b': /* backspace character received */
+                if (n > 0)
+                    n--;
+                buffer[n] = 0;
+                stdio_putchar('\b'); /* output backspace character */
+                stdio_putchar(' ');
+                stdio_putchar('\b');
+                n--; /* set up next iteration to deal with preceding char location */
+                break;
+            case '\n': /* fall through to \r */
+            case '\r':
+                buffer[n] = 0;
+                return n;
+            default:
+                if (c != PICO_ERROR_TIMEOUT && c < 256) {
+                    stdio_putchar(c);
+                    buffer[n] = c;
+                } else {
+                    n--;
+                }
+            break;
+        }
+    }
+    buffer[len - 1] = 0;
+    return 0; // Filled up buffer without reading a linebreak
+}
+
+void info_cmd_func() {
+    extern const char* executeable_name;
+    printf("%s", logo);
+    printf("#####################################################################################\n");
+    printf("#                          \e[0;31mRocketry \e[0;37mat \e[0;33mVirginia Tech\e[0;37m                                #\n");
+    printf("#                         Executeable: %s                       #\n", executeable_name);
+    printf("#####################################################################################\n\n");
+}
+
+void help_cmd_func() {
+    printf("Commands: \n");
+    for (int i = 0; i < NUM_BASE_CMDS; i++) {
+        printf("\t%s\n", base_commands[i].name);
+    }
+
+    for (int i = 0; i < num_user_cmds; i++) {
+        printf("\t%s\n", user_commands[i].name);
+    }
+}
+
+void clear_cmd_func() {
+    printf("%c%c%c%c",0x1B,0x5B,0x32,0x4A);
+}
+
+void top_cmd_func() {
+#if (configGENERATE_RUN_TIME_STATS == 1)
+    UBaseType_t num_tasks = uxTaskGetNumberOfTasks();
+    char* buffer = (char *) malloc( 40 * num_tasks );
+    vTaskGetRunTimeStats(buffer);
+    printf("%s", buffer);
+    free(buffer);
+#endif
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+    HeapStats_t heap_stats;
+    vPortGetHeapStats(&heap_stats);
+    printf("\n\tAvailable Heap Space In Bytes:\t%d\nSize Of Largest Free Block In Bytes:\t%d\nNumber Of Successful Allocations:\t%d\n", heap_stats.xAvailableHeapSpaceInBytes, heap_stats.xSizeOfLargestFreeBlockInBytes, heap_stats.xNumberOfSuccessfulAllocations);
+#endif
+}
+
+static void reset_cmd_task(void * unused_arg) {
+    reset_cmd_func();
+}
+
+void reset_cmd_func() {
+#define AIRCR_Register (*((volatile uint32_t*)(PPB_BASE + 0x0ED0C)))
+    if (get_core_num() == 0) {
+        vTaskSuspendAll();
+        multicore_reset_core1();
+        printf("\nOn core zero! Going dark!\n");
+        stdio_flush();
+        AIRCR_Register = 0x5FA0004;
+    } else {
+        printf("\nOn core one! Tasking core zero with the reset!\n");
+        stdio_flush();
+        TaskHandle_t reset_task = NULL;
+        vTaskSuspendAll();
+        xTaskCreate(reset_cmd_task, "reset", 256, NULL, (configMAX_PRIORITIES - 1), &reset_task);
+        vTaskCoreAffinitySet( reset_task, 0x01 );
+        xTaskResumeAll();
+    }
+}