From 93acde052369568beaefb0d99629d8797f5c191f Mon Sep 17 00:00:00 2001 From: Dawsyn Schraiber <32221234+dawsynth@users.noreply.github.com> Date: Thu, 9 May 2024 02:05:35 -0400 Subject: 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 Co-authored-by: Cian Capacci <46614295+BeeGuyDude@users.noreply.github.com> Co-authored-by: Gregory Wainer --- CMakeLists.txt | 65 +++++++++++++++++++++------------------------------------- 1 file changed, 23 insertions(+), 42 deletions(-) (limited to 'CMakeLists.txt') diff --git a/CMakeLists.txt b/CMakeLists.txt index 28e3426..4973b9d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,51 +1,32 @@ -cmake_minimum_required(VERSION 3.14) -set(CMAKE_SYSTEM_NAME Linux) -set(CMAKE_SYSTEM_PROCESSOR ARM) -set(CMAKE_BUILD_TYPE Debug) -set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE) - -# Set the cross-compiler for ARM32 -if(CMAKE_HOST_APPLE) - message(STATUS "Running on an Apple system") - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra") - include(CTest) - # Apple Settings - # Musl has many targets, must select one - set(CMAKE_C_COMPILER /opt/homebrew/bin/arm-linux-musleabihf-gcc) - set(CMAKE_CXX_COMPILER /opt/homebrew/bin/arm-linux-musleabihf-g++) -elseif(UNIX) - message(STATUS "Running on an Linux system") - - # Linux Settings - # (arm-linux-musleabihf- is 32 bit, aarch64-linux... is the 64 bit version) - set(CMAKE_C_COMPILER arm-linux-musleabihf-gcc) - set(CMAKE_CXX_COMPILER arm-linux-musleabihf-g++) -endif() +cmake_minimum_required(VERSION 3.12) -# Set the architecture and flags -# set(CMAKE_C_FLAGS "-march=armv7-a+fp") -# set(CMAKE_CXX_FLAGS "-march=armv7-a+fp") +set(PICO_BOARD pico_w) +# Pull in SDK (must be before project) +include(include/pico-sdk/pico_sdk_init.cmake) +include_directories(include/eigen) -# project(Active-Drag-System CXX) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) +set(CMAKE_C_COMPILER arm-none-eabi-gcc) +set(CMAKE_CXX_COMPILER arm-none-eabi-g++) -# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/out") +project(active-drag-system C CXX ASM) +set(CMAKE_C_STANDARD 11) +set(CMAKE_CXX_STANDARD 17) -add_subdirectory(src) +if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.0") + message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.3.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}") +endif() -if(BUILD_TESTING) - include(CTest) +# Initialize the SDK +pico_sdk_init() - add_subdirectory(test) +add_subdirectory(src) - include(FetchContent) - FetchContent_Declare( - googletest - URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip - ) - # For Windows: Prevent overriding the parent project's compiler/linker settings - set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) - FetchContent_MakeAvailable(googletest) +add_compile_options(-Wall + -Wno-format # int != int32_t as far as the compiler is concerned because gcc has int32_t as long int + -Wno-unused-function # we have some for the docs that aren't called + ) +if (CMAKE_C_COMPILER_ID STREQUAL "GNU") + add_compile_options(-Wno-maybe-uninitialized) endif() -- cgit v1.2.3