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/CMakeLists.txt | 101 ++++++++++++++++++++++++++++------------------------- 1 file changed, 53 insertions(+), 48 deletions(-) (limited to 'src/CMakeLists.txt') diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 0a50318..59d21de 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,49 +1,54 @@ add_executable(ads - active_drag_system.cpp -) - -add_executable(pru1 - pru1/sensors.cpp -) - -add_executable(pru2 - pru2/servos.cpp -) - -target_link_options(pru1 PRIVATE -static) -target_link_options(pru2 PRIVATE -static) -cmake_minimum_required(VERSION 3.16.3) - -include_directories( ../include ) - -# Set Variables -set(TARGET ActiveDragSystem) -set(SOURCES active-drag-system.cpp ads.cpp actuationPlan.cpp surfaceFitModel.cpp rocketUtils.cpp sensorIMU.cpp sensorAltimeter.cpp motor.cpp logger.cpp kalmanfilter.cpp) - - -# Create Executables & Link Dependencies -add_executable(${TARGET} ${SOURCES}) - -add_executable(${TARGET_B} ${SOURCES_B}) -target_link_libraries(${TARGET_B} PUBLIC gtest_main) -add_test(NAME ${TARGET_B} COMMAND ${TARGET_B}) - -add_executable(${TARGET_C} ${SOURCES_C}) -target_link_libraries(${TARGET_C} PUBLIC gtest_main) -add_test(NAME ${TARGET_C} COMMAND ${TARGET_C}) - -add_executable(${TARGET_D} ${SOURCES_D}) -target_link_libraries(${TARGET_D} PUBLIC gtest_main) -add_test(NAME ${TARGET_D} COMMAND ${TARGET_D}) - -add_executable(${TARGET_E} ${SOURCES_E}) -target_link_libraries(${TARGET_E} PUBLIC gtest_main) -add_test(NAME ${TARGET_E} COMMAND ${TARGET_E}) - -add_executable(${TARGET_F} ${SOURCES_F}) -target_link_libraries(${TARGET_F} PUBLIC gtest_main) -add_test(NAME ${TARGET_F} COMMAND ${TARGET_F}) - -add_executable(${TARGET_G} ${SOURCES_G}) -target_link_libraries(${TARGET_G} PUBLIC gtest_main) -add_test(NAME ${TARGET_G} COMMAND ${TARGET_G}) + active_drag_system.cpp + spi_flash.c + bno055.cpp + SimpleKalmanFilter.cpp + # kalmanfilter.cpp + pwm.cpp + AltEst/algebra.cpp + AltEst/altitude.cpp + AltEst/filters.cpp + ) + +add_executable(read_flash + read_flash.c + spi_flash.c + ) + +add_executable(servo_test + servo_test.cpp + pwm.cpp + ) + +add_executable(alt_test + altimeter.cpp + ) + +# pull in common dependencies +target_link_libraries(ads pico_stdlib pico_multicore pico_sync hardware_i2c hardware_spi hardware_pwm pico_cyw43_arch_none ${Eigen_LIBRARIES}) +target_include_directories(ads PUBLIC ../include) + +target_link_libraries(read_flash pico_stdlib hardware_spi) +target_include_directories(read_flash PUBLIC ../include) + +target_link_libraries(servo_test pico_stdlib hardware_pwm hardware_i2c) +target_include_directories(servo_test PUBLIC ../include) + +target_link_libraries(alt_test pico_stdlib hardware_i2c hardware_gpio) + +pico_enable_stdio_usb(ads 1) +pico_enable_stdio_uart(ads 0) + +pico_enable_stdio_usb(read_flash 1) +pico_enable_stdio_uart(read_flash 0) + +pico_enable_stdio_usb(servo_test 1) +pico_enable_stdio_uart(servo_test 0) + +pico_enable_stdio_usb(alt_test 1) +pico_enable_stdio_uart(alt_test 0) +# create map/bin/hex file etc. +pico_add_extra_outputs(ads) +pico_add_extra_outputs(read_flash) +pico_add_extra_outputs(servo_test) +pico_add_extra_outputs(alt_test) -- cgit v1.2.3