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/pwm.cpp | 35 +++++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) create mode 100644 src/pwm.cpp (limited to 'src/pwm.cpp') diff --git a/src/pwm.cpp b/src/pwm.cpp new file mode 100644 index 0000000..3a78d23 --- /dev/null +++ b/src/pwm.cpp @@ -0,0 +1,35 @@ +#include "pwm.hpp" + +void PWM::init() { + // Tell GPIO 0 they are allocated to the PWM + gpio_set_function(SERVO_PIN, GPIO_FUNC_PWM); + // Find out which PWM slice is connected to GPIO 0 (it's slice 0) + uint slice_num = pwm_gpio_to_slice_num(SERVO_PIN); + + // Configure PWM slice and set it running + pwm_config cfg = pwm_get_default_config(); + // Set the PWM clock divider to 38.15 + pwm_config_set_clkdiv(&cfg, CLOCK_DIV_RATE); + // Set the PWM wrap value to 65535 + pwm_set_wrap(slice_num, WRAP_VALUE); + // Set the PWM duty cycle to 0 and enable the PWM + pwm_init(slice_num, &cfg, true); + + // Enable the PWM again cause idk + pwm_set_enabled(slice_num, true); +} + +void PWM::set_duty_cycle(int duty_cycle_percent) { + // Calculate the raw value + uint32_t raw_value = WRAP_VALUE * (duty_cycle_percent / 100.0); + + // Set the duty cycle + pwm_set_gpio_level(SERVO_PIN, raw_value); +} + +void PWM::set_servo_percent(int percent) { + // Calculate the value by clamping the percent from 0 to 100 + // to the SERVO_MIN and SERVO_MAX + uint32_t value = ((percent * SERVO_RANGE) / 100) + SERVO_MIN; + PWM::set_duty_cycle(value); +} -- cgit v1.2.3