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, 132 insertions, 0 deletions

diff --git a/src/unused/logger.cpp b/src/unused/logger.cpp
new file mode 100644
index 0000000..a857be8
--- /dev/null
+++ b/src/unused/logger.cpp
@@ -0,0 +1,132 @@
+#include "../include/logger.hpp"
+
+// Private----------------------------------------------------------------------
+std::string Logger::getDate() {
+
+    t = time(nullptr);
+    now = localtime(&t);
+    return "(" + days[now->tm_wday] + " " + months[now->tm_mon] + " " 
+        + std::to_string(now->tm_mday) + " " + std::to_string(now->tm_year + 1900) + ")";
+}
+
+std::string Logger::getTime() {
+
+    t = time(nullptr);
+    now = localtime(&t);
+    std::string hour = std::to_string(now->tm_hour);
+    std::string min = std::to_string(now->tm_min);
+    std::string sec = std::to_string(now->tm_sec);
+    //string hour = "0" + to_string(now->tm_hour);
+
+    if (now->tm_hour < 10) {
+        hour = "0" + std::to_string(now->tm_hour);
+    }
+
+    if (now->tm_min < 10) {
+        min = "0" + std::to_string(now->tm_min);
+    }
+
+    if (now->tm_sec < 10) {
+        sec = "0" + std::to_string(now->tm_sec);
+    }
+
+    return hour + ":" + min + 
+        ":" + sec;
+}
+
+
+// Public----------------------------------------------------------------------
+Logger& Logger::Get() {
+
+    static Logger loggerSingleton;
+    return loggerSingleton;
+}
+
+//Logger Logger::loggerSingleton;
+
+
+bool Logger::openLog(std::string _filename) {
+
+    filename = _filename;
+    
+    if (file_open) {
+        return false;
+    }
+    
+    file.open(filename, std::ios::in | std::ios::out | std::ios::app);
+
+    if (!file) {
+        return false;
+    }
+
+    file_open = true;
+    std::string date = getDate();
+    std::string timestamp = getTime();
+    file << timestamp << infoTag << "Log Start---- " << date << std::endl;
+
+    return true;
+}
+
+
+void Logger::closeLog() {
+
+    std::string timestamp = getTime();
+    file << timestamp << infoTag << "Log End----\n\n";
+
+    file.close();
+    file_open = false;
+}
+
+
+bool Logger::log(std::string data) {
+
+    if (!file) {
+        return false;
+    }
+
+    if (!file_open) {
+        return false;
+    }
+    std::string timestamp = getTime();
+    file << timestamp << infoTag << data << std::endl;
+    return true;
+}
+
+bool Logger::logErr(std::string data) {
+
+    if (!file) {
+        return false;
+    }
+
+    if (!file_open) {
+        return false;
+    }
+
+    std::string timestamp = getTime();
+    file << timestamp << errorTag << data << std::endl;
+    return true;
+}
+
+
+bool Logger::printLog() {
+
+    if (file.is_open()) {
+        std::cout << "Log still open. Please close Log." << std::endl;
+        return false;
+    }
+
+    file.open(filename, std::ios::in);
+
+    if (!file.is_open()) {
+        return false;
+    }
+
+    std::string line;
+    while(getline(file, line)) {
+        std::cout << line << std::endl;
+    }
+
+    file.close();
+
+    return true;
+}