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/read_flash.c | 71 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 71 insertions(+) create mode 100644 src/read_flash.c (limited to 'src/read_flash.c') diff --git a/src/read_flash.c b/src/read_flash.c new file mode 100644 index 0000000..71d2870 --- /dev/null +++ b/src/read_flash.c @@ -0,0 +1,71 @@ +#include +#include +#include "boards/pico_w.h" +#include "hardware/spi.h" +#include "spi_flash.h" + +int main() { + stdio_init_all(); + getchar(); + // Enable SPI 0 at 1 MHz and connect to GPIOs + spi_init(spi_default, 1000 * 1000 * 60); + gpio_set_function(PICO_DEFAULT_SPI_RX_PIN, GPIO_FUNC_SPI); + gpio_set_function(PICO_DEFAULT_SPI_TX_PIN, GPIO_FUNC_SPI); + gpio_set_function(PICO_DEFAULT_SPI_SCK_PIN, GPIO_FUNC_SPI); + + // Chip select is active-low, so we'll initialise it to a driven-high state + gpio_init(PICO_DEFAULT_SPI_CSN_PIN); + gpio_set_dir(PICO_DEFAULT_SPI_CSN_PIN, GPIO_OUT); + gpio_put(PICO_DEFAULT_SPI_CSN_PIN, 1); + + uint8_t entry[PACKET_SIZE]; + + // flash_erase(spi_default, PICO_DEFAULT_SPI_CSN_PIN); + flash_read(spi_default, PICO_DEFAULT_SPI_CSN_PIN, base_addr, page_buffer, FLASH_PAGE_SIZE); + for (uint16_t i = 0; i < FLASH_PAGE_SIZE; i += PACKET_SIZE) { + if (page_buffer[i] == 0xFF) { + base_addr += i; + break; + } + if ((i + PACKET_SIZE) == FLASH_PAGE_SIZE) { + base_addr += FLASH_PAGE_SIZE; + flash_read(spi_default, PICO_DEFAULT_SPI_CSN_PIN, base_addr, page_buffer, FLASH_PAGE_SIZE); + i = 0; + } + } + + printf("\nRead Data:\n"); + printf("time (us) | state | dep pcnt | alt (m) | vel (m/s) | quat_w | quat_x | quat_y | quat_z | lin_ax | lin_ay | lin_az\n"); + for (uint32_t i = 0; i < base_addr; i += PACKET_SIZE) { + flash_read(spi_default, PICO_DEFAULT_SPI_CSN_PIN, i, entry, PACKET_SIZE); + uint64_t now_us = (((uint64_t)entry[0] << 56) | ((uint64_t)entry[1] << 48) | \ + ((uint64_t)entry[2] << 40) | ((uint64_t)entry[3] << 32) | \ + ((uint64_t)entry[4] << 24) | ((uint64_t)entry[5] << 16) | \ + ((uint64_t)entry[6] << 8) | ((uint64_t)entry[7])); + + uint8_t state = entry[8]; + uint8_t deploy_percent = entry[9]; + + uint32_t alt_bits = (entry[10] << 24) | (entry[11] << 16) | (entry[12] << 8) | (entry[13]); + uint32_t vel_bits = (entry[14] << 24) | (entry[15] << 16) | (entry[16] << 8) | (entry[17]); + float altitude = *(float *)(&alt_bits); + float velocity = *(float *)(&vel_bits); + + int16_t w = ((int16_t)entry[18]) | (((int16_t)entry[19]) << 8); + int16_t x = ((int16_t)entry[20]) | (((int16_t)entry[21]) << 8); + int16_t y = ((int16_t)entry[22]) | (((int16_t)entry[23]) << 8); + int16_t z = ((int16_t)entry[24]) | (((int16_t)entry[25]) << 8); + float qw = ((float)w) / 16384.0; // 2^14 LSB + float qx = ((float)x) / 16384.0; + float qy = ((float)y) / 16384.0; + float qz = ((float)z) / 16384.0; + int16_t ax = ((int16_t)entry[26]) | (((int16_t)entry[27]) << 8); + int16_t ay = ((int16_t)entry[28]) | (((int16_t)entry[29]) << 8); + int16_t az = ((int16_t)entry[30]) | (((int16_t)entry[31]) << 8); + float lax = ((float)x) / 100.0; + float lay = ((float)y) / 100.0; + float laz = ((float)z) / 100.0; + printf("%"PRIu64" | %c | %"PRIu8" | %4.2f | %4.2f | %4.2f | %4.2f| %4.2f | %4.2f | %4.2f | %4.2f |%4.2f\n", \ + now_us, state, deploy_percent, altitude, velocity, qw, qx, qy, qz, lax, lay, laz); + } +} -- cgit v1.2.3