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/sensorAltimeter.hpp | 165 +++++++++++++++++++++++++++++++++++++ 1 file changed, 165 insertions(+) create mode 100644 include/unused/sensorAltimeter.hpp (limited to 'include/unused/sensorAltimeter.hpp') diff --git a/include/unused/sensorAltimeter.hpp b/include/unused/sensorAltimeter.hpp new file mode 100644 index 0000000..aa3a3cd --- /dev/null +++ b/include/unused/sensorAltimeter.hpp @@ -0,0 +1,165 @@ +#pragma once +#include "sensorI2C.hpp" +#include + +/* +Header file for driver for MPL3115a2 breakout, based heavily on https://github.com/adafruit/Adafruit_MPL3115A2_Library/tree/master +Based on register declarations found https://cdn-shop.adafruit.com/datasheets/1893_datasheet.pdf +Designed using subclass for I2C handler for Beaglebone Black +*/ + +class AltimeterSensor : public sensorI2C { + + + private: + double internalTemperature = 0; + double internalAltitude = 0; + + //ENUMS COPIED DIRECTLY FROM ADAFRUIT IMPLEMENTATION + /** MPL3115A2 registers **/ + enum { + MPL3115A2_REGISTER_STATUS = (0x00), + + MPL3115A2_REGISTER_PRESSURE_MSB = (0x01), + MPL3115A2_REGISTER_PRESSURE_CSB = (0x02), + MPL3115A2_REGISTER_PRESSURE_LSB = (0x03), + + MPL3115A2_REGISTER_TEMP_MSB = (0x04), + MPL3115A2_REGISTER_TEMP_LSB = (0x05), + + MPL3115A2_REGISTER_DR_STATUS = (0x06), + + MPL3115A2_OUT_P_DELTA_MSB = (0x07), + MPL3115A2_OUT_P_DELTA_CSB = (0x08), + MPL3115A2_OUT_P_DELTA_LSB = (0x09), + + MPL3115A2_OUT_T_DELTA_MSB = (0x0A), + MPL3115A2_OUT_T_DELTA_LSB = (0x0B), + + MPL3115A2_WHOAMI = (0x0C), + //This is hard-coded in the device from the factory + MPL3115A2_WHOAMI_EXPECTED = (0xC4), + + MPL3115A2_BAR_IN_MSB = (0x14), + MPL3115A2_BAR_IN_LSB = (0x15), + + MPL3115A2_OFF_H = (0x2D), + }; + + /** MPL3115A2 status register BITS **/ + enum { + MPL3115A2_REGISTER_STATUS_TDR = 0x02, + MPL3115A2_REGISTER_STATUS_PDR = 0x04, + MPL3115A2_REGISTER_STATUS_PTDR = 0x08, + }; + + /** MPL3115A2 PT DATA register BITS **/ + enum { + MPL3115A2_PT_DATA_CFG = 0x13, + MPL3115A2_PT_DATA_CFG_TDEFE = 0x01, + MPL3115A2_PT_DATA_CFG_PDEFE = 0x02, + MPL3115A2_PT_DATA_CFG_DREM = 0x04, + }; + + /** MPL3115A2 control registers **/ + enum { + MPL3115A2_CTRL_REG1 = (0x26), + MPL3115A2_CTRL_REG2 = (0x27), + MPL3115A2_CTRL_REG3 = (0x28), + MPL3115A2_CTRL_REG4 = (0x29), + MPL3115A2_CTRL_REG5 = (0x2A), + }; + + /** MPL3115A2 control register BITS **/ + enum { + MPL3115A2_CTRL_REG1_SBYB = 0x01, + MPL3115A2_CTRL_REG1_OST = 0x02, + MPL3115A2_CTRL_REG1_RST = 0x04, + MPL3115A2_CTRL_REG1_RAW = 0x40, + MPL3115A2_CTRL_REG1_ALT = 0x80, + MPL3115A2_CTRL_REG1_BAR = 0x00, + }; + + /** MPL3115A2 oversample values **/ + enum { + MPL3115A2_CTRL_REG1_OS1 = 0x00, + MPL3115A2_CTRL_REG1_OS2 = 0x08, + MPL3115A2_CTRL_REG1_OS4 = 0x10, + MPL3115A2_CTRL_REG1_OS8 = 0x18, + MPL3115A2_CTRL_REG1_OS16 = 0x20, + MPL3115A2_CTRL_REG1_OS32 = 0x28, + MPL3115A2_CTRL_REG1_OS64 = 0x30, + MPL3115A2_CTRL_REG1_OS128 = 0x38, + }; + + /** MPL3115A2 measurement modes **/ + typedef enum { + MPL3115A2_BAROMETER = 0, + MPL3115A2_ALTIMETER, + } mpl3115a2_mode_t; + + /** MPL3115A2 measurement types **/ + typedef enum { + MPL3115A2_PRESSURE, + MPL3115A2_ALTITUDE, + MPL3115A2_TEMPERATURE, + } mpl3115a2_meas_t; + + //This never actually gets used, and I can't find anything in the datasheet about it?? + #define MPL3115A2_REGISTER_STARTCONVERSION (0x12) ///< start conversion + + //Store current operating mode, sent to device during startup procedure + //This is why an enum is used rather than raw #define statements + mpl3115a2_mode_t currentMode; + + //Struct for storing ctrl register contents, copied from adafruit implementation + typedef union { + struct { + uint8_t SBYB : 1; + uint8_t OST : 1; + uint8_t RST : 1; + uint8_t OS : 3; + uint8_t RAW : 1; + uint8_t ALT : 1; + } bit; + uint8_t reg; + } CTRL_REG_1_STRUCT; + //Create instance of this register config to use during device startup and operation + CTRL_REG_1_STRUCT ctrl_reg1; + + public: + + /** + * @brief Construct a new Altimeter Sensor object + * + */ + AltimeterSensor(std::string I2C_FILE); + + /** + * @brief Initialize the Altimeter + * + * @param data Data for initializing the sensor + * @return true Initialization Success + * @return false Initialization Failure + */ + bool init() override; + + //Data getters and setters + // double getPressure(); + double getAltitude(); + double getTemperature(); + double setSeaLevelPressure(double pressure); + + //Data and mode handlers + //Use altimeter mode by default as this is what rocket logger wants + void setMode(mpl3115a2_mode_t mode = MPL3115A2_ALTIMETER); + void requestOneShotReading(); + bool isNewDataAvailable(); + void updateCurrentDataBuffer(); + + +}; + + + + -- cgit v1.2.3