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 --- include/spi_flash.h | 55 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 55 insertions(+) create mode 100644 include/spi_flash.h (limited to 'include/spi_flash.h') diff --git a/include/spi_flash.h b/include/spi_flash.h new file mode 100644 index 0000000..d3c0247 --- /dev/null +++ b/include/spi_flash.h @@ -0,0 +1,55 @@ +#ifndef SPI_FLASH +#define SPI_FLASH + +#include +#include "hardware/spi.h" +#include "boards/pico_w.h" +#include "pico/stdlib.h" + +#ifdef __cplusplus +extern "C" { +#endif + +#define FLASH_PAGE_SIZE 256 +#define FLASH_NUM_PAGES 32768 +#define FLASH_SECTOR_SIZE 4096 +#define FLASH_BLOCK_SIZE 65536 +#define FLASH_PHYS_SIZE (FLASH_PAGE_SIZE * FLASH_NUM_PAGES) + +#define FLASH_CMD_PAGE_PROGRAM 0x02 +#define FLASH_CMD_READ 0x03 +#define FLASH_CMD_STATUS 0x05 +#define FLASH_CMD_WRITE_EN 0x06 +#define FLASH_CMD_SECTOR_ERASE 0x20 +#define FLASH_CMD_BLOCK_ERASE 0xD8 +#define FLASH_CMD_CHIP_ERASE 0xC7 + +#define FLASH_STATUS_BUSY_MASK 0x01 + +// #define FLASH_TEST + +#define PACKET_SIZE 32 + + +static uint8_t page_buffer[FLASH_PAGE_SIZE]; +static uint32_t base_addr = 0; + +void write_entry(uint8_t* data_entry); + +void __not_in_flash_func(flash_read)(spi_inst_t *spi, uint cs_pin, uint32_t addr, uint8_t *dest, size_t len); + + +void __not_in_flash_func(flash_write_enable)(spi_inst_t *spi, uint cs_pin); +void __not_in_flash_func(flash_page_program)(spi_inst_t *spi, uint cs_pin, uint32_t addr, uint8_t* src); +void __not_in_flash_func(flash_write)(spi_inst_t *spi, uint cs_pin, uint32_t addr, uint8_t* src, size_t size); + +void __not_in_flash_func(flash_wait_done)(spi_inst_t *spi, uint cs_pin); + +void __not_in_flash_func(flash_sector_erase)(spi_inst_t *spi, uint cs_pin, uint32_t addr); +void __not_in_flash_func(flash_block_erase)(spi_inst_t *spi, uint cs_pin, uint32_t addr); +void __not_in_flash_func(flash_erase)(spi_inst_t *spi, uint cs_pin); + +#ifdef __cplusplus +} +#endif +#endif -- cgit v1.2.3