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/sensorI2C.hpp | 105 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 105 insertions(+) create mode 100644 include/unused/sensorI2C.hpp (limited to 'include/unused/sensorI2C.hpp') diff --git a/include/unused/sensorI2C.hpp b/include/unused/sensorI2C.hpp new file mode 100644 index 0000000..bd497a5 --- /dev/null +++ b/include/unused/sensorI2C.hpp @@ -0,0 +1,105 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +class sensorI2C { + + + //Predominantly used for I2C handler functions; implement high-level functions in sensor classes + //Implemented as a combination of Jazz' implementation and Derek Malloy's code + public: + + //Initial single byte write, used at beginning of read operation + //Returns 0 if successful, -1 if not + int initialWrite(unsigned char registerAddress) { + unsigned char *convertedAddressBuffer = new unsigned char[1]; + convertedAddressBuffer[0] = registerAddress; + //Expect 1 byte response from 1 byte write + if (write(i2c_bus, convertedAddressBuffer, 1) != 1) { + fprintf(stderr, "ERROR DOING INITIAL READ TRANSACTION WRITE TO REGISTER %x FOR DEVICE %x\n", registerAddress, deviceAddress); + return 0; + } + return 1; + } + + int writeRegister(unsigned char registerAddress, unsigned char value) { + //initialWrite() not used here because it's easier to just pack it into one buffer for file writing + unsigned char writeBuffer[2]; + writeBuffer[0] = registerAddress; + writeBuffer[1] = value; + + //Expect 2 byte output + if (write(i2c_bus, writeBuffer, 2) != 2) { + //These error messages are kind of obtuse but I'd rather have too much information than not enough + fprintf(stderr, "ERROR WRITING %x TO REGISTER %x ON DEVICE %x\n", value, registerAddress, deviceAddress); + return -1; + } + return 0; + } + + //Could probably be uint8_t but Derek Malloy does it with unsigned chars and that's what worked during testing so I don't want to touch it + unsigned char readSingleRegister(unsigned char registerAddress) { + printf("reg addr: %X\n", registerAddress); + + initialWrite(registerAddress); + unsigned char* readBuffer = new unsigned char[1]; + if (read(i2c_bus, readBuffer, 1) != 1){ + fprintf(stderr, "FAILED TO READ VALUE FROM REGISTER %x ON DEVICE %x\n", registerAddress, deviceAddress); + return -1; + } + printf("readBuffer: %X\n", readBuffer[0]); + return readBuffer[0]; + } + + unsigned char* readMultipleRegisters(unsigned char startingRegisterAddress, int numberOfRegisters) { + initialWrite(startingRegisterAddress); + unsigned char* readBuffer = new unsigned char[numberOfRegisters]; + if (read(i2c_bus, readBuffer, numberOfRegisters) != numberOfRegisters) { + fprintf(stderr, "ERROR TRYING TO READ %d REGISTERS STARTING AT ADDRESS %x ON DEVICE %x\n", + numberOfRegisters, startingRegisterAddress, deviceAddress); + } + return readBuffer; + } + + + //Intakes device address and file + //Private because IT'S ASSUMED PROGRAMMER WILL CALL THIS METHOD DURING INIT() ROUTINE + int setupI2C(std::string I2C_FILE) { + // Open i2c driver file + i2c_bus = open("/dev/i2c-2", O_RDWR); + if(i2c_bus < 0){ + fprintf(stderr, "FAILED TO OPEN I2C BUS USING FILE %s\n", "/dev/i2c-2"); + close(i2c_bus); + return -1; + } + + // Identify slave device address (MODIFIED FROM INITIAL IMPLEMENTATION, USES INTERNAL deviceAddress INSTEAD OF PARAMETER) + if(ioctl(i2c_bus, I2C_SLAVE, deviceAddress) < 0){ + fprintf(stderr, "FAILED TO CONNECT TO DEVICE AT ADDRESS %x VIA I2C\n", deviceAddress); + close(i2c_bus); + return -1; + } + return 0; + } + + /** + * @brief Initialize the sensor. + * + * @param data Data for initializing the sensor + * + * @return true Initialization Success + * @return false Initialization Failure + */ + virtual bool init() = 0; + + unsigned char deviceAddress; + int i2c_bus; + std::string I2C_FILE; +}; -- cgit v1.2.3