Where to begin…. (#13)

+/- Reworked collection of altimeter related functions into altimeter class
+/- Reworked bno055 class to be imu class with minimal functionality

\- Removed external Kalman filter implementations in favor of own in house version
\- Removed any/unused files
\+ Added buffer logger for when sitting on pad for extended period of time in effort to prevent filling of flash chip
\+ Added heartbeat LED for alive status

1 files changed, 78 insertions, 0 deletions

diff --git a/tools/read_flash.c b/tools/read_flash.c
new file mode 100644
index 0000000..91c75fb
--- /dev/null
+++ b/tools/read_flash.c
@@ -0,0 +1,78 @@
+#include <stdio.h>
+#include <inttypes.h>
+#include "boards/pico_w.h"
+#include "hardware/spi.h"
+#include "spi_flash.h"
+
+int main() {
+    stdio_init_all();
+    getchar();
+    // Enable SPI 0 at 1 MHz and connect to GPIOs
+    spi_init(spi_default, 1000 * 1000 * 60);
+    gpio_set_function(PICO_DEFAULT_SPI_RX_PIN, GPIO_FUNC_SPI);
+    gpio_set_function(PICO_DEFAULT_SPI_TX_PIN, GPIO_FUNC_SPI);
+    gpio_set_function(PICO_DEFAULT_SPI_SCK_PIN, GPIO_FUNC_SPI);
+
+    // Chip select is active-low, so we'll initialise it to a driven-high state
+    gpio_init(PICO_DEFAULT_SPI_CSN_PIN);
+    gpio_set_dir(PICO_DEFAULT_SPI_CSN_PIN, GPIO_OUT);
+    gpio_put(PICO_DEFAULT_SPI_CSN_PIN, 1);
+
+    uint8_t entry[PACKET_SIZE];
+
+    // flash_erase(spi_default, PICO_DEFAULT_SPI_CSN_PIN);
+    flash_read(spi_default, PICO_DEFAULT_SPI_CSN_PIN, base_addr, page_buffer, FLASH_PAGE_SIZE);
+    for (uint16_t i = 0; i < FLASH_PAGE_SIZE; i += PACKET_SIZE) {
+        if (page_buffer[i] == 0xFF) {
+            base_addr += i;
+            break;
+        }
+        if ((i + PACKET_SIZE) == FLASH_PAGE_SIZE) {
+            base_addr += FLASH_PAGE_SIZE;
+            flash_read(spi_default, PICO_DEFAULT_SPI_CSN_PIN, base_addr, page_buffer, FLASH_PAGE_SIZE);
+            i = 0;
+        }
+    }
+
+    printf("\nRead Data:\n");
+    printf("time,state,board_temp,deploy_percent,altitude,velocity,lin_ax,lin_ay,lin_az,quat_w,quat_x,quat_y,quat_z\n");
+    for (uint32_t i = 0; i < base_addr; i += PACKET_SIZE) {
+        flash_read(spi_default, PICO_DEFAULT_SPI_CSN_PIN, i, entry, PACKET_SIZE);
+        uint64_t now_us = (((uint64_t)entry[0] << 56) | ((uint64_t)entry[1] << 48) | \
+                          ((uint64_t)entry[2] << 40)  | ((uint64_t)entry[3] << 32) | \
+                          ((uint64_t)entry[4] << 24)  | ((uint64_t)entry[5] << 16) | \
+                          ((uint64_t)entry[6] << 8)   | ((uint64_t)entry[7]));
+
+        uint8_t state = entry[8] >> 4;
+        uint16_t temperature_data = ((uint16_t)(entry[8] & 0x0F) << 8) | ((uint16_t)entry[9]);
+        const float conversionFactor = 3.3f / (1 << 12);
+        float tempC = 27.0f - (((float)(temperature_data) * conversionFactor) - 0.706f) / 0.001721f;
+
+        uint8_t deploy_percent = entry[10];
+
+        float altitude = (float) ((int16_t) ((entry[11] << 8) | entry[12])) + (float) (entry[13] >> 4) * 0.0625;
+        uint32_t vel_bits = (entry[14] << 24) | (entry[15] << 16) | (entry[16] << 8) | (entry[17]);
+        float velocity = *(float *)(&vel_bits);
+
+        int16_t ax = ((int16_t)entry[18]) | (((int16_t)entry[19]) << 8);
+        int16_t ay = ((int16_t)entry[20]) | (((int16_t)entry[21]) << 8);
+        int16_t az = ((int16_t)entry[22]) | (((int16_t)entry[23]) << 8);
+        float lax = ((float)ax) / 100.0;
+        float lay = ((float)ay) / 100.0;
+        float laz = ((float)az) / 100.0;
+
+        int16_t w, x, y, z;
+        w = x = y = z = 0;
+        w = ((int16_t)entry[24]) | (((int16_t)entry[25]) << 8);
+        x = ((int16_t)entry[26]) | (((int16_t)entry[27]) << 8);
+        y = ((int16_t)entry[28]) | (((int16_t)entry[29]) << 8);
+        z = ((int16_t)entry[30]) | (((int16_t)entry[31]) << 8);
+        float qw = ((float)w) / 16384.0;
+        float qx = ((float)x) / 16384.0;
+        float qy = ((float)y) / 16384.0;
+        float qz = ((float)z) / 16384.0;
+
+        printf("%"PRIu64",%"PRIu8",%04.2f,%"PRIu8",%04.2f,%04.2f,%04.2f,%04.2f,%04.2f,%04.2f,%04.2f,%04.2f,%04.2f\r\n", \
+                now_us, state, tempC, deploy_percent, altitude, velocity, lax, lay, laz, qw, qx, qy, qz);
+    }
+}