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 --- README.md | 53 +++++++++++++++++++---------------------------------- 1 file changed, 19 insertions(+), 34 deletions(-) (limited to 'README.md') diff --git a/README.md b/README.md index cb569aa..ae9dcec 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,13 @@ -# THIS IS THE BRANCH USED FOR SOUTH CAROLINA TEST LAUNCH 02/24/2024 - # Active Drag System (ADS) -This is the main codebase for Rocketry at Virginia Tech's Active Drag System, also known colloquially as the ADS, for the 2023-2024 competition year. It runs primarily on a BeagleBone Black, and its goal is to autonomously control the ADS' deployment during flight. +This is the main codebase for Rocketry at Virginia Tech's Active Drag System, also known colloquially as the ADS, for the 2023-2024 competition year. It runs primarily on a Raspberry Pi Pico, and its goal is to autonomously control the ADS' deployment during flight. -`Eigen` Library, `cmake` and `Google Test` required for successful build. +`Eigen` Library, `cmake`, and `arm-none-eabi-gcc` tooling required for successful build. +## Before Build +```shell +git clone https://github.com/RocketryVT/active-drag-system.git +cd active-drag-system/ +git submodule update --init --recursive +``` ## BUILD ```shell @@ -18,50 +22,31 @@ Enable WSL2 in windows Install Ubuntu 22 LTS from Windows Store ```shell sudo apt update && upgrade -sudo apt install build-essential cmake valgrind crossbuild-essential-armhf -sudo apt install musl musl-tools +sudo apt install build-essential cmake valgrind gcc-arm-none-eabi ``` Then to actually build: ```shell cmake -B build -cmake --build build/ +cmake --build build ``` ## BUILD Alternative (Mac) ```shell -brew install arm-linux-gnueabihf-binutils -# This installs just the arm library, you can remove x86_64 if you want those too -brew install FiloSottile/musl-cross/musl-cross --without-x86_64 --with-arm-hf +brew install arm-none-eabi-gcc ``` To check if installed correctly run: ```shell -ls /opt/homebrew/bin | grep "musl" +ls /opt/homebrew/bin | grep "none" ``` -you should see: +you should see a list including but not limited to: ```shell -arm-linux-musleabihf-gcc -arm-linux-musleabihf-g++ +arm-none-eabi-gcc +arm-none-eabi-g++ ``` - -## RUN +Next: ```shell -scp -r src/ads debian@beaglebone.local:~/ -ssh debian@beaglebone.local -./ads -``` - -## TEST -```shell -scp -r test/test_ads debian@beaglebone.local:~/ -ssh debian@beaglebone.local -./test_ads +cmake -B build +cmake --build build ``` -## GPIO Pins -The GPIO number is calculated by taking the GPIO chip -number, multiplying it by 32, and then adding the offset. For example, -GPIO1_12 = (1 × 32) + 12 = GPIO 44. - -```shell -/sys/class/gpio/gpio44 = GPIO1_12 -``` +Binary files should be located in build/src/*.uf2 after a successful build. -- cgit v1.2.3