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/unused/rocketUtils.hpp | 121 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 121 insertions(+) create mode 100644 include/unused/rocketUtils.hpp (limited to 'include/unused/rocketUtils.hpp') diff --git a/include/unused/rocketUtils.hpp b/include/unused/rocketUtils.hpp new file mode 100644 index 0000000..65b9cea --- /dev/null +++ b/include/unused/rocketUtils.hpp @@ -0,0 +1,121 @@ +#pragma once +#include +#include +#include +#include +#include +#include +#include + +// Deployment angle limits +#define MAX_ANGLE 100 +#define MIN_ANGLE 120 + +// Altimeter initialization count limit +#define COUNT_LIMIT 50 + +// Constants +#define G_0 9.8066 + +// Threshold limits +#define BOOST_ACCEL_THRESH 3 +#define BOOST_HEIGHT_THRESH 20 +#define GLIDE_ACCEL_THRESH 0.5 + +#define ALTI_DEPL_THRESHOLD 0.5 +#define RATE_ALTI_DEPL 1/50 +#define FSM_DONE_SURFACE_ALTITUDE 200 +#define APOGEE_FSM_CHANGE 3 + +#define INIT_DEPLOYMENT 0 + +#define TIME_BO 8 +#define TIME_APO 25 +#define TIME_END 120 + +#define PAD_PRESSURE 102250 + +#define DUTY_MAX 14.5 +#define DUTY_MIN 3 + +#define LAUNCH_DATE "4-15-2023" +#define LOG_FILENAME "DataLog_" LAUNCH_DATE ".txt" + +#define LED_GAP_TIME 0.5 +#define LED_ONE_PATH "/sys/class/leds/beaglebone:green:usr1" +#define LED_BRIGHTNESS_FILE "brightness" +#define LED_FILENAME LED_ONE_PATH LED_BRIGHTNESS_FILE + +#define TEST_MODE false + + +enum VehicleState {ON_PAD, BOOST, GLIDE, APOGEE, DONE}; +extern std::string state_for_log[5]; + +struct Vehicle { + + int status; + + std::vector acceleration; + std::vector linear_acceleration; + + double apogee_altitude; + double previous_altitude; + double current_altitude; + double filtered_altitude; + + double filtered_velocity; + + double deployment_angle; + + bool imuInitFail; + bool imuReadFail; + bool altiInitFail; + bool altiReadFail; + + double ON_PAD_altitude; + bool ON_PAD_fail; + + double duty_span; + + double dt; + + int led_brightness; + + time_t start_time; + time_t fail_time; // For failure termination + time_t liftoff_time; + time_t relog_time; + time_t deploy_time; // NOT INITIALIZED YET + time_t loop_time; + time_t led_time; +}; + +/** + * @brief Convert fin deployment percentage to fin rotation angle + * + * @param percentage Fin deployment percentage + * @return double + */ +double deploy_percentage_to_angle(double percentage); + +/** + * @brief Set the decimal precision of the given data, and return it + * as a formatted string with a prefix containing a relevant description of the data. + * + * @param prefix Identifying or clarifying information about the loggef data + * @param data Data to Log + * @param precision The decimal precision value for the data + * + * @return A string with the formatted data. + */ +std::string format_data(std::string prefix, double data, int precision); + +/** + * @brief Blink Beaglebone LED 1 + * + * @param vehicle Holds settings pertinent to the Beaglebone LED + * @return true Successful Blink + * @return false Unsuccessful Blink + */ +bool led_out(Vehicle *vehicle); -- cgit v1.2.3