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, 286 insertions, 0 deletions

diff --git a/src/unused/ads.cpp b/src/unused/ads.cpp
new file mode 100644
index 0000000..5484970
--- /dev/null
+++ b/src/unused/ads.cpp
@@ -0,0 +1,286 @@
+#include "../include/ads.hpp"
+
+
+// Private----------------------------------------------------------------------
+void ADS::logSummary() {
+    
+    std::string output_string = "" + state_for_log[rocket.status];
+
+    if (!rocket.altiInitFail && !rocket.altiReadFail) {
+
+        output_string += format_data(" ", rocket.filtered_altitude, 3);     
+    }
+
+    output_string += format_data(" ", rocket.deployment_angle, 2);    
+
+    if (!rocket.imuInitFail && !rocket.imuReadFail) {
+
+        output_string += format_data(" ", rocket.acceleration[2], 2);    
+        output_string += format_data(" ", rocket.filtered_velocity, 2);    
+    }
+
+    Logger::Get().log(output_string);
+}
+
+
+void ADS::updateOnPadAltitude() {
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+    double avg_alt = 0;
+    double alt_read_count = 0;
+
+    while (alt_read_count < COUNT_LIMIT) {
+        
+        altimeter.getData(&rocket.current_altitude);
+        alt_read_count++;
+        avg_alt = (avg_alt * (alt_read_count - 1) + rocket.current_altitude) / alt_read_count;
+    }
+ 
+    Logger::Get().log(format_data("pad altitude initialization complete - ", avg_alt, 3));
+    rocket.ON_PAD_altitude = avg_alt;
+}
+
+
+void ADS::updateSensorData() {
+
+    if (!rocket.imuInitFail) {
+        
+        try {
+            imu.getData((void*)&rocket);
+        }
+
+        catch (...) {
+            std::exception_ptr e = std::current_exception();
+            Logger::Get().logErr(e.__cxa_exception_type()->name());
+            rocket.imuReadFail = true;
+        }
+    }  
+
+    rocket.previous_altitude = rocket.current_altitude; // Why was this placed here????
+    
+    if (!rocket.altiInitFail) {
+        
+        try {
+            altimeter.getData((void*)&rocket.current_altitude);
+            if (rocket.ON_PAD_fail) {
+                rocket.ON_PAD_altitude = rocket.current_altitude;
+                rocket.ON_PAD_fail = false;
+            }
+
+            rocket.altiReadFail = false;
+        }
+
+        catch (...) {
+            std::exception_ptr e = std::current_exception();
+            Logger::Get().logErr(e.__cxa_exception_type()->name());
+            rocket.altiReadFail = true;
+        }
+    }
+}
+
+
+void ADS::updateRocketState() {
+
+    // Filter sensor data
+    VectorXf control_input(1);
+    VectorXf measurement(1);
+    control_input << rocket.acceleration[2];
+    measurement << rocket.current_altitude;
+    VectorXf filtered = kf.run(control_input, measurement, rocket.dt);
+    rocket.filtered_altitude = filtered(0);
+    rocket.filtered_velocity = filtered(1);
+
+    if (rocket.apogee_altitude < rocket.filtered_altitude) {
+        rocket.apogee_altitude = rocket.filtered_altitude;
+    }
+
+    // (VEHICLE ON PAD)
+    if (rocket.status == ON_PAD) {
+
+        // If launch detected
+        if (rocket.acceleration[2] >= BOOST_ACCEL_THRESH * G_0 
+            && rocket.filtered_altitude >= BOOST_HEIGHT_THRESH + rocket.ON_PAD_altitude) {
+            Logger::Get().log(format_data("LOM at -- ", (double)(rocket.liftoff_time - rocket.start_time), 3));
+        }
+
+        if (TEST_MODE && time(nullptr) - rocket.start_time >= 15) {
+            Logger::Get().log(format_data("TEST LOM at -- ", (double)(rocket.liftoff_time - rocket.start_time), 3));
+        }
+
+        if (time(nullptr) - rocket.relog_time > 2*60*60 
+            && rocket.status == ON_PAD) {
+            std::cout << "OverWR Success" << std::endl;
+        }
+    }
+
+    // (VEHICLE BOOSTING)
+    else if (rocket.status == BOOST) {
+
+        if (rocket.acceleration[2] <= GLIDE_ACCEL_THRESH * G_0 
+            || time(nullptr) - rocket.liftoff_time >= TIME_BO) {
+            rocket.status = GLIDE;
+        }
+        
+    }
+
+    // (VEHICLE IN GLIDE)
+    else if (rocket.status == GLIDE) {
+
+        if (rocket.filtered_altitude < rocket.apogee_altitude - APOGEE_FSM_CHANGE 
+            || time(nullptr) - rocket.liftoff_time >= TIME_BO + TIME_APO) {
+            rocket.status = APOGEE;
+            Logger::Get().log(format_data("APO: ", (double)(rocket.apogee_altitude), 2));
+        }
+    }
+
+    // (VEHICLE AT APOGEE)
+    else if (rocket.status == APOGEE) {
+
+        if (rocket.filtered_altitude <= FSM_DONE_SURFACE_ALTITUDE + rocket.ON_PAD_altitude) {
+            rocket.status = DONE;
+            return;
+        }
+    }
+}
+
+
+// Public----------------------------------------------------------------------
+ADS::ADS(ActuationPlan plan) : plan(plan) {
+
+    rocket.status = ON_PAD;
+
+    rocket.apogee_altitude = 0;
+    rocket.previous_altitude = 0;
+    rocket.current_altitude = 0;
+    rocket.filtered_altitude = 0;
+
+    rocket.filtered_velocity = 0;
+
+    rocket.duty_span = DUTY_MAX - DUTY_MIN;
+    rocket.deployment_angle = deploy_percentage_to_angle(INIT_DEPLOYMENT); 
+
+    rocket.dt = 0.1;
+
+    rocket.imuInitFail = false;
+    rocket.imuReadFail = false;
+    rocket.altiInitFail = false;
+    rocket.altiReadFail = false;
+
+    rocket.ON_PAD_altitude = 0;
+    rocket.ON_PAD_fail = false;
+
+    rocket.start_time = time(nullptr);
+    rocket.fail_time = rocket.start_time;
+    rocket.relog_time = rocket.start_time;
+    rocket.led_time = rocket.start_time;
+
+    imu = IMUSensor();
+    altimeter = AltimeterSensor();
+    motor = Motor();
+    kf = KalmanFilter(2, 1, 1, rocket.dt);
+
+    Logger::Get().openLog(LOG_FILENAME);
+    
+    motor.init(&rocket);
+
+    imu.init(nullptr);
+    altimeter.init(nullptr);
+
+    if (TEST_MODE) {
+
+        Logger::Get().log("TEST Record Start --");
+    }
+}
+
+
+
+void ADS::run() {
+
+    if (!rocket.altiInitFail) {
+        try {
+            updateOnPadAltitude();
+        }
+
+        catch (...) {
+            std::exception_ptr e = std::current_exception();
+            Logger::Get().logErr(e.__cxa_exception_type()->name());
+            rocket.ON_PAD_fail = true;
+        }
+    }
+
+    rocket.loop_time = time(nullptr);
+    while (rocket.status != DONE) {
+
+        updateSensorData();
+
+        if (!rocket.imuInitFail && !rocket.altiInitFail) {
+
+            updateRocketState();
+
+            // Run the Actuation Plan----------------------------------
+            plan.runPlan(rocket);
+
+            if (rocket.imuReadFail || rocket.altiReadFail) {
+
+                if (rocket.imuReadFail) {
+                    imu.init(nullptr); // Restart
+                    Logger::Get().log("Altimeter reset attempt");
+                }
+
+                if (rocket.altiReadFail) {
+                    altimeter.init(nullptr); // Restart
+                    Logger::Get().log("IMU reset attempt");
+                }
+            }
+        }
+
+        // Altimeter or IMU setup failed. Attempt to reinitialize
+        else {
+
+            if (time(nullptr) - rocket.fail_time >= TIME_END) {
+                rocket.status = DONE;
+            }
+
+            if (rocket.altiInitFail || rocket.altiReadFail) {
+                imu.init(nullptr); // Restart
+                Logger::Get().log("Altimeter reset attempt");
+            }
+
+            if (rocket.imuInitFail || rocket.imuReadFail) {
+                altimeter.init(nullptr); // Restart
+                Logger::Get().log("IMU reset attempt");
+            }
+
+            rocket.deployment_angle = deploy_percentage_to_angle(INIT_DEPLOYMENT);
+        }
+
+        // Actuate Servos
+        motor.writeData(&rocket);
+
+        logSummary();
+
+        // Blink Beaglebone LED 1
+        if (time(nullptr) - rocket.led_time > LED_GAP_TIME) {
+            led_out(&rocket);
+        }
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        rocket.dt = time(nullptr) - rocket.loop_time;
+        rocket.loop_time = time(nullptr);
+    }
+
+    Logger::Get().closeLog();
+    std::cout << "Done" << std::endl;
+}
+
+
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+