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/unused/sensorAltimeter.cpp | 115 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 115 insertions(+) create mode 100644 src/unused/sensorAltimeter.cpp (limited to 'src/unused/sensorAltimeter.cpp') diff --git a/src/unused/sensorAltimeter.cpp b/src/unused/sensorAltimeter.cpp new file mode 100644 index 0000000..8ec065d --- /dev/null +++ b/src/unused/sensorAltimeter.cpp @@ -0,0 +1,115 @@ +#include "sensorAltimeter.hpp" + +AltimeterSensor::AltimeterSensor(std::string I2C_FILE_in) { + I2C_FILE = I2C_FILE_in; + deviceAddress = 0x60; +} + +//Startup routine copied from Adafruit library, as is most of the data getting methods +//Adaptation is largely editing for readability and porting from Adafruit_I2C to BBB I2C (sensorI2C.hpp implementation) +bool AltimeterSensor::init() { + + // Vehicle *vehicle = (Vehicle *) data; + // // Do Stuff + // data = (void*) vehicle; + + //Pass file string from parent to setup function, actual I2C bus gets stored internally. + setupI2C(I2C_FILE); + + // Check a register with a hard-coded value to see if comms are working + uint8_t whoami = readSingleRegister(MPL3115A2_WHOAMI); + if (whoami != 0xC4) { + fprintf(stderr, "MPL INITIALIZATION DID NOT PASS WHOAMI DEVICE CHECK!, got: %X, expected: 0xC4\n", whoami); + return false; + } + + //Send device dedicated reset byte to CTRL1 Register + writeRegister(MPL3115A2_CTRL_REG1, MPL3115A2_CTRL_REG1_RST); + //Wait for reset to wipe its way through device and reset appropriate bit of CTRL1 Register + while (readSingleRegister(MPL3115A2_CTRL_REG1) & MPL3115A2_CTRL_REG1_RST); + + //Set oversampling (?) and altitude mode by default + currentMode = MPL3115A2_ALTIMETER; + ctrl_reg1.reg = MPL3115A2_CTRL_REG1_OS128 | MPL3115A2_CTRL_REG1_ALT; + writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg); + + //Configure data return types, I don't really understand this chunk but Adafruit does it this way so we will too I guess + writeRegister(MPL3115A2_PT_DATA_CFG, MPL3115A2_PT_DATA_CFG_TDEFE | + MPL3115A2_PT_DATA_CFG_PDEFE | + MPL3115A2_PT_DATA_CFG_DREM); + + return true; +} + +//EXPECTED THAT USER WILL NEVER SET MODE TO PRESSURE AFTER INITIAL CONFIGURATION +void AltimeterSensor::setMode(mpl3115a2_mode_t mode) { + ctrl_reg1.reg = readSingleRegister(MPL3115A2_CTRL_REG1); + ctrl_reg1.bit.ALT = mode; + writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg); + currentMode = mode; +} + +double AltimeterSensor::getAltitude() { + //Request new data reading + requestOneShotReading(); + //If new data is available, read it and store it to internal fields + if (isNewDataAvailable()) { + //Logger flag here for new data? + updateCurrentDataBuffer(); + } + //Return internal field, whether updated or not + return internalAltitude; +} + +double AltimeterSensor::getTemperature() { + //Request new data reading + requestOneShotReading(); + //If new data is available, read it and store it to internal fields + if (isNewDataAvailable()) { + //Logger flag here for new data? + updateCurrentDataBuffer(); + } + //Return internal field, whether updated or not + return internalTemperature; +} + +void AltimeterSensor::requestOneShotReading() { + //Request current status of oneshot reading + ctrl_reg1.reg = readSingleRegister(MPL3115A2_CTRL_REG1); + //If oneshot is complete, proc a new one; if it isn't, do nothing. + //THIS PRODUCES DUPLICATE DATA IF READING REQUESTS FROM BB DON'T LINE UP WITH READING COMPLETION ON SENSOR. + if (!ctrl_reg1.bit.OST) { + // initiate one-shot measurement + ctrl_reg1.bit.OST = 1; + writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg); + } +} + +bool AltimeterSensor::isNewDataAvailable() { + //Returns PTDR bit of status register, 1 if new data for Temp OR Alt/Pres is available + //There *are* registers available for exclusively temperature *or* pressure/altitude, but + //for simplicity's sake we'll use the combined one for now. + return ((readSingleRegister(MPL3115A2_REGISTER_STATUS) & MPL3115A2_REGISTER_STATUS_PTDR) != 0); +} + +//Adafruit returns specific field based on input parameter, this method updates all internal fields at once instead +void AltimeterSensor::updateCurrentDataBuffer() { + uint8_t buffer[5] = {MPL3115A2_REGISTER_PRESSURE_MSB, 0, 0, 0, 0}; + readMultipleRegisters(MPL3115A2_REGISTER_PRESSURE_MSB, 5); + + //Pressure is no longer used, assumed rocket is only logging altitude + // uint32_t pressure; + // pressure = uint32_t(buffer[0]) << 16 | uint32_t(buffer[1]) << 8 | + // uint32_t(buffer[2]); + // return double(pressure) / 6400.0; + + //Altitude Conversion + int32_t alt; + alt = uint32_t(buffer[0]) << 24 | uint32_t(buffer[1]) << 16 | + uint32_t(buffer[2]) << 8; + internalAltitude = double(alt) / 65536.0; + + int16_t t; + t = uint16_t(buffer[3]) << 8 | uint16_t(buffer[4]); + internalTemperature = double(t) / 256.0; +} -- cgit v1.2.3