1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
|
#include <stdio.h>
#include <inttypes.h>
#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,state,board_temp,deploy_percent,altitude,velocity,lin_ax,lin_ay,lin_az,quat_w,quat_x,quat_y,quat_z\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] >> 4;
uint16_t temperature_data = ((uint16_t)(entry[8] & 0x0F) << 8) | ((uint16_t)entry[9]);
const float conversionFactor = 3.3f / (1 << 12);
float tempC = 27.0f - (((float)(temperature_data) * conversionFactor) - 0.706f) / 0.001721f;
uint8_t deploy_percent = entry[10];
float altitude = (float) ((int16_t) ((entry[11] << 8) | entry[12])) + (float) (entry[13] >> 4) * 0.0625;
uint32_t vel_bits = (entry[14] << 24) | (entry[15] << 16) | (entry[16] << 8) | (entry[17]);
float velocity = *(float *)(&vel_bits);
int16_t ax = ((int16_t)entry[18]) | (((int16_t)entry[19]) << 8);
int16_t ay = ((int16_t)entry[20]) | (((int16_t)entry[21]) << 8);
int16_t az = ((int16_t)entry[22]) | (((int16_t)entry[23]) << 8);
float lax = ((float)ax) / 100.0;
float lay = ((float)ay) / 100.0;
float laz = ((float)az) / 100.0;
int16_t w, x, y, z;
w = x = y = z = 0;
w = ((int16_t)entry[24]) | (((int16_t)entry[25]) << 8);
x = ((int16_t)entry[26]) | (((int16_t)entry[27]) << 8);
y = ((int16_t)entry[28]) | (((int16_t)entry[29]) << 8);
z = ((int16_t)entry[30]) | (((int16_t)entry[31]) << 8);
float qw = ((float)w) / 16384.0;
float qx = ((float)x) / 16384.0;
float qy = ((float)y) / 16384.0;
float qz = ((float)z) / 16384.0;
printf("%"PRIu64",%"PRIu8",%04.2f,%"PRIu8",%04.2f,%04.2f,%04.2f,%04.2f,%04.2f,%04.2f,%04.2f,%04.2f,%04.2f\r\n", \
now_us, state, tempC, deploy_percent, altitude, velocity, lax, lay, laz, qw, qx, qy, qz);
}
}
|
