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/altimeter.cpp | 50 ++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 src/altimeter.cpp (limited to 'src/altimeter.cpp') diff --git a/src/altimeter.cpp b/src/altimeter.cpp new file mode 100644 index 0000000..a5c8849 --- /dev/null +++ b/src/altimeter.cpp @@ -0,0 +1,50 @@ +#include + +#include "hardware/gpio.h" +#include "boards/pico_w.h" +#include "hardware/i2c.h" +#include "pico/stdio.h" +#include "pico/time.h" + +#define ALT_ADDR 0x60 +#define MAX_SCL 400000 +#define DATA_RATE_HZ 15 + +float altitude = 0.0f; +float get_altitude(); + +int main() { + stdio_init_all(); + + i2c_init(i2c_default, MAX_SCL); + gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C); + gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C); + gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN); + gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN); + + uint8_t config[2] = {0}; + + // Select control register(0x26) + // Active mode, OSR = 16, altimeter mode(0xB8) + config[0] = 0x26; + config[1] = 0xB9; + i2c_write_blocking(i2c_default, ALT_ADDR, config, 2, true); + sleep_ms(1500); + + while (1) { + sleep_ms(1000); + altitude = get_altitude(); + printf("Altitude: %4.2f\n", altitude); + } +} + +float get_altitude() { + uint8_t reg = 0x01; + uint8_t data[5]; + i2c_write_blocking(i2c_default, ALT_ADDR, ®, 1, true); + i2c_read_blocking(i2c_default, ALT_ADDR, data, 5, false); + // Exactly how MPL3115A2 datasheet says to retrieve altitude + float altitude = (float) ((int16_t) ((data[0] << 8) | data[1])) + (float) (data[2] >> 4) * 0.0625; + return altitude; +} + -- cgit v1.2.3