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, 115 insertions, 0 deletions

diff --git a/src/unused/sensorAltimeter.cpp b/src/unused/sensorAltimeter.cpp
new file mode 100644
index 0000000..8ec065d
--- /dev/null
+++ b/src/unused/sensorAltimeter.cpp
@@ -0,0 +1,115 @@
+#include "sensorAltimeter.hpp"
+
+AltimeterSensor::AltimeterSensor(std::string I2C_FILE_in) {
+    I2C_FILE = I2C_FILE_in;
+    deviceAddress = 0x60;
+}
+
+//Startup routine copied from Adafruit library, as is most of the data getting methods
+//Adaptation is largely editing for readability and porting from Adafruit_I2C to BBB I2C (sensorI2C.hpp implementation)
+bool AltimeterSensor::init() {
+
+    // Vehicle *vehicle = (Vehicle *) data;
+    // // Do Stuff 
+    // data = (void*) vehicle;
+
+    //Pass file string from parent to setup function, actual I2C bus gets stored internally.
+    setupI2C(I2C_FILE);
+
+    // Check a register with a hard-coded value to see if comms are working
+    uint8_t whoami = readSingleRegister(MPL3115A2_WHOAMI);
+    if (whoami != 0xC4) {
+        fprintf(stderr, "MPL INITIALIZATION DID NOT PASS WHOAMI DEVICE CHECK!, got: %X, expected: 0xC4\n", whoami);
+        return false;
+    }
+
+    //Send device dedicated reset byte to CTRL1 Register
+    writeRegister(MPL3115A2_CTRL_REG1, MPL3115A2_CTRL_REG1_RST);
+    //Wait for reset to wipe its way through device and reset appropriate bit of CTRL1 Register
+    while (readSingleRegister(MPL3115A2_CTRL_REG1) & MPL3115A2_CTRL_REG1_RST);
+
+     //Set oversampling (?) and altitude mode by default
+    currentMode = MPL3115A2_ALTIMETER;
+    ctrl_reg1.reg = MPL3115A2_CTRL_REG1_OS128 | MPL3115A2_CTRL_REG1_ALT;
+    writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg);
+
+    //Configure data return types, I don't really understand this chunk but Adafruit does it this way so we will too I guess
+    writeRegister(MPL3115A2_PT_DATA_CFG, MPL3115A2_PT_DATA_CFG_TDEFE |
+                                    MPL3115A2_PT_DATA_CFG_PDEFE |
+                                    MPL3115A2_PT_DATA_CFG_DREM);
+
+    return true;
+}
+
+//EXPECTED THAT USER WILL NEVER SET MODE TO PRESSURE AFTER INITIAL CONFIGURATION
+void AltimeterSensor::setMode(mpl3115a2_mode_t mode) {
+    ctrl_reg1.reg = readSingleRegister(MPL3115A2_CTRL_REG1);
+    ctrl_reg1.bit.ALT = mode;
+    writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg);
+    currentMode = mode;
+}
+
+double AltimeterSensor::getAltitude() {
+    //Request new data reading
+    requestOneShotReading();
+    //If new data is available, read it and store it to internal fields
+    if (isNewDataAvailable()) {
+        //Logger flag here for new data?
+        updateCurrentDataBuffer();
+    }
+    //Return internal field, whether updated or not
+    return internalAltitude;
+}
+
+double AltimeterSensor::getTemperature() {
+    //Request new data reading
+    requestOneShotReading();
+    //If new data is available, read it and store it to internal fields
+    if (isNewDataAvailable()) {
+        //Logger flag here for new data?
+        updateCurrentDataBuffer();
+    }
+    //Return internal field, whether updated or not
+    return internalTemperature;
+}
+
+void AltimeterSensor::requestOneShotReading() {
+    //Request current status of oneshot reading
+    ctrl_reg1.reg = readSingleRegister(MPL3115A2_CTRL_REG1);
+    //If oneshot is complete, proc a new one; if it isn't, do nothing.
+    //THIS PRODUCES DUPLICATE DATA IF READING REQUESTS FROM BB DON'T LINE UP WITH READING COMPLETION ON SENSOR.
+    if (!ctrl_reg1.bit.OST) {
+        // initiate one-shot measurement
+        ctrl_reg1.bit.OST = 1;
+        writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg);
+    }
+}
+
+bool AltimeterSensor::isNewDataAvailable() {
+    //Returns PTDR bit of status register, 1 if new data for Temp OR Alt/Pres is available
+    //There *are* registers available for exclusively temperature *or* pressure/altitude, but 
+    //for simplicity's sake we'll use the combined one for now.
+    return ((readSingleRegister(MPL3115A2_REGISTER_STATUS) & MPL3115A2_REGISTER_STATUS_PTDR) != 0);
+}
+
+//Adafruit returns specific field based on input parameter, this method updates all internal fields at once instead
+void AltimeterSensor::updateCurrentDataBuffer() {
+    uint8_t buffer[5] = {MPL3115A2_REGISTER_PRESSURE_MSB, 0, 0, 0, 0};
+    readMultipleRegisters(MPL3115A2_REGISTER_PRESSURE_MSB, 5);
+
+    //Pressure is no longer used, assumed rocket is only logging altitude
+    // uint32_t pressure;
+    // pressure = uint32_t(buffer[0]) << 16 | uint32_t(buffer[1]) << 8 |
+    //         uint32_t(buffer[2]);
+    // return double(pressure) / 6400.0;
+
+    //Altitude Conversion
+    int32_t alt;
+    alt = uint32_t(buffer[0]) << 24 | uint32_t(buffer[1]) << 16 |
+        uint32_t(buffer[2]) << 8;
+    internalAltitude = double(alt) / 65536.0;
+
+    int16_t t;
+    t = uint16_t(buffer[3]) << 8 | uint16_t(buffer[4]);
+    internalTemperature = double(t) / 256.0;
+}