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 --- src/AltEst/algebra.cpp | 292 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 292 insertions(+) create mode 100644 src/AltEst/algebra.cpp (limited to 'src/AltEst/algebra.cpp') diff --git a/src/AltEst/algebra.cpp b/src/AltEst/algebra.cpp new file mode 100644 index 0000000..653c3b9 --- /dev/null +++ b/src/AltEst/algebra.cpp @@ -0,0 +1,292 @@ +/* + algebra.cpp: This file contains a number of utilities useful for handling + 3D vectors + + This work is an adaptation from vvector.h, written by Linas Vepstras. The + original code can be found at: + + https://github.com/markkilgard/glut/blob/master/lib/gle/vvector.h + + HISTORY: + Written by Linas Vepstas, August 1991 + Added 2D code, March 1993 + Added Outer products, C++ proofed, Linas Vepstas October 1993 + Adapted for altitude estimation tasks by Juan Gallostra June 2018 +*/ + +//#include +#include + +#include "algebra.h" + +// Copy 3D vector +void copyVector(float b[3],float a[3]) +{ + b[0] = a[0]; + b[1] = a[1]; + b[2] = a[2]; +} + + +// Vector difference +void subtractVectors(float v21[3], float v2[3], float v1[3]) +{ + v21[0] = v2[0] - v1[0]; + v21[1] = v2[1] - v1[1]; + v21[2] = v2[2] - v1[2]; +} + +// Vector sum +void sumVectors(float v21[3], float v2[3], float v1[3]) +{ + v21[0] = v2[0] + v1[0]; + v21[1] = v2[1] + v1[1]; + v21[2] = v2[2] + v1[2]; +} + +// scalar times vector +void scaleVector(float c[3],float a, float b[3]) +{ + (c)[0] = a*b[0]; + (c)[1] = a*b[1]; + (c)[2] = a*b[2]; +} + +// accumulate scaled vector +void accumulateScaledVector(float c[3], float a, float b[3]) +{ + (c)[0] += a*b[0]; + (c)[1] += a*b[1]; + (c)[2] += a*b[2]; +} + +// Vector dot product +void dotProductVectors(float * c, float a[3], float b[3]) +{ + *c = a[0]*b[0] + a[1]*b[1] + a[2]*b[2]; +} + +// Vector length +void vectorLength(float * len, float a[3]) +{ + float tmp; + tmp = a[0]*a[0] + a[1]*a[1]+a[2]*a[2]; + *len = sqrt(tmp); +} + +// Normalize vector +void normalizeVector(float a[3]) +{ + float len; + vectorLength(& len,a); + if (len != 0.0) { + len = 1.0 / len; + a[0] *= len; + a[1] *= len; + a[2] *= len; + } +} + +// 3D Vector cross product yeilding vector +void crossProductVectors(float c[3], float a[3], float b[3]) +{ + c[0] = a[1] * b[2] - a[2] * b[1]; + c[1] = a[2] * b[0] - a[0] * b[2]; + c[2] = a[0] * b[1] - a[1] * b[0]; +} + +// initialize matrix +void identityMatrix3x3(float m[3][3]) +{ + m[0][0] = 1.0; + m[0][1] = 0.0; + m[0][2] = 0.0; + + m[1][0] = 0.0; + m[1][1] = 1.0; + m[1][2] = 0.0; + + m[2][0] = 0.0; + m[2][1] = 0.0; + m[2][2] = 1.0; +} + +// matrix copy +void copyMatrix3x3(float b[3][3], float a[3][3]) +{ + b[0][0] = a[0][0]; + b[0][1] = a[0][1]; + b[0][2] = a[0][2]; + + b[1][0] = a[1][0]; + b[1][1] = a[1][1]; + b[1][2] = a[1][2]; + + b[2][0] = a[2][0]; + b[2][1] = a[2][1]; + b[2][2] = a[2][2]; +} + +// matrix transpose +void transposeMatrix3x3(float b[3][3], float a[3][3]) +{ + b[0][0] = a[0][0]; + b[0][1] = a[1][0]; + b[0][2] = a[2][0]; + + b[1][0] = a[0][1]; + b[1][1] = a[1][1]; + b[1][2] = a[2][1]; + + b[2][0] = a[0][2]; + b[2][1] = a[1][2]; + b[2][2] = a[2][2]; +} + +// multiply matrix by scalar +void scaleMatrix3x3(float b[3][3], float s, float a[3][3]) +{ + b[0][0] = (s) * a[0][0]; + b[0][1] = (s) * a[0][1]; + b[0][2] = (s) * a[0][2]; + + b[1][0] = (s) * a[1][0]; + b[1][1] = (s) * a[1][1]; + b[1][2] = (s) * a[1][2]; + + b[2][0] = (s) * a[2][0]; + b[2][1] = (s) * a[2][1]; + b[2][2] = (s) * a[2][2]; +} + +// multiply matrix by scalar and add result to another matrix +void scaleAndAccumulateMatrix3x3(float b[3][3], float s, float a[3][3]) +{ + b[0][0] += s * a[0][0]; + b[0][1] += s * a[0][1]; + b[0][2] += s * a[0][2]; + + b[1][0] += s * a[1][0]; + b[1][1] += s * a[1][1]; + b[1][2] += s * a[1][2]; + + b[2][0] += s * a[2][0]; + b[2][1] += s * a[2][1]; + b[2][2] += s * a[2][2]; +} + +// matrix product +// c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y] +void matrixProduct3x3(float c[3][3], float a[3][3], float b[3][3]) +{ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]; + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]; + c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]; + + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]; + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]; + c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]; + + c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]; + c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]; + c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]; +} + +// matrix times vector +void matrixDotVector3x3(float p[3], float m[3][3], float v[3]) +{ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; +} + +// determinant of matrix +// Computes determinant of matrix m, returning d +void determinant3x3(float * d, float m[3][3]) +{ + *d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); + *d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); + *d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); +} + +// adjoint of matrix +// Computes adjoint of matrix m, returning a +// (Note that adjoint is just the transpose of the cofactor matrix) +void adjoint3x3(float a[3][3], float m[3][3]) +{ + a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1]; + a[1][0] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]); + a[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0]; + a[0][1] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]); + a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0]; + a[2][1] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]); + a[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1]; + a[1][2] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]); + a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]; +} + +// compute adjoint of matrix and scale +// Computes adjoint of matrix m, scales it by s, returning a +void scaleAdjoint3x3(float a[3][3], float s, float m[3][3]) +{ + a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); + a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); + a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); + + a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); + a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); + a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); + + a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); + a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); + a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); +} + +// inverse of matrix +// Compute inverse of matrix a, returning determinant m and +// inverse b +void invert3x3(float b[3][3], float a[3][3]) +{ + float tmp; + determinant3x3(& tmp, a); + tmp = 1.0 / (tmp); + scaleAdjoint3x3(b, tmp, a); +} + +// skew matrix from vector +void skew(float a[3][3], float v[3]) +{ + a[0][1] = -v[2]; + a[0][2] = v[1]; + a[1][2] = -v[0]; + a[1][0] = v[2]; + a[2][0] = -v[1]; + a[2][1] = v[0]; + // set diagonal to 0 + a[0][0] = 0.0; + a[1][1] = 0.0; + a[2][2] = 0.0; +} + +void printMatrix3X3(float mmm[3][3]) +{ + int i,j; + printf ("matrix mmm is \n"); + if (mmm == NULL) { + printf (" Null \n"); + } else { + for (i=0; i<3; i++) { + for (j=0; j<3; j++) { + printf ("%f ", mmm[i][j]); + } + printf (" \n"); + } + } +} + +void vecPrint(float a[3]) +{ + float len; + vectorLength(& len, a); + printf(" a is %f %f %f length of a is %f \n", a[0], a[1], a[2], len); +} -- cgit v1.2.3