From 996487db81e06431e3c380c3c0eb171509b0e57e Mon Sep 17 00:00:00 2001 From: Rahul Kumar Date: Mon, 1 Oct 2018 23:57:04 -0700 Subject: [PATCH 01/73] VERY basic demo of uploading and adding to database. --- telemetry_server/html/index.html | 7 +- telemetry_server/html/upload_form.html | 44 + telemetry_server/package-lock.json | 3517 +++++++++++++++++++++-- telemetry_server/package.json | 13 +- telemetry_server/server/db-interface.js | 15 +- telemetry_server/server/index.js | 13 +- telemetry_server/server/runs.js | 15 +- telemetry_server/server/setup.sql | 41 + telemetry_server/server/upload.js | 63 +- 9 files changed, 3409 insertions(+), 319 deletions(-) create mode 100644 telemetry_server/html/upload_form.html diff --git a/telemetry_server/html/index.html b/telemetry_server/html/index.html index 8930e59c..3564ed55 100644 --- a/telemetry_server/html/index.html +++ b/telemetry_server/html/index.html @@ -3,9 +3,14 @@ CalSTAR Telemetry + + -

bottom text (please delete me later)

+ Runs + Upload Data diff --git a/telemetry_server/html/upload_form.html b/telemetry_server/html/upload_form.html new file mode 100644 index 00000000..98f848fd --- /dev/null +++ b/telemetry_server/html/upload_form.html @@ -0,0 +1,44 @@ + + + + + + CalSTAR Telemetry + + + + + + + +
+
+ +
+
+ +
+
+ + +
+ +
+ +
+

+ Home +
+ + + \ No newline at end of file diff --git a/telemetry_server/package-lock.json b/telemetry_server/package-lock.json index d49d0dd7..23e76c29 100644 --- a/telemetry_server/package-lock.json +++ b/telemetry_server/package-lock.json @@ -5,179 +5,174 @@ "requires": true, "dependencies": { "@webassemblyjs/ast": { - "version": "1.7.6", - "resolved": "https://registry.npmjs.org/@webassemblyjs/ast/-/ast-1.7.6.tgz", - "integrity": "sha512-8nkZS48EVsMUU0v6F1LCIOw4RYWLm2plMtbhFTjNgeXmsTNLuU3xTRtnljt9BFQB+iPbLRobkNrCWftWnNC7wQ==", + "version": "1.7.8", + "resolved": "https://registry.npmjs.org/@webassemblyjs/ast/-/ast-1.7.8.tgz", + "integrity": "sha512-dOrtdtEyB8sInpl75yLPNksY4sRl0j/+t6aHyB/YA+ab9hV3Fo7FmG12FHzP+2MvWVAJtDb+6eXR5EZbZJ+uVg==", "dev": true, "requires": { - "@webassemblyjs/helper-module-context": "1.7.6", - "@webassemblyjs/helper-wasm-bytecode": "1.7.6", - "@webassemblyjs/wast-parser": "1.7.6", - "mamacro": "^0.0.3" + "@webassemblyjs/helper-module-context": "1.7.8", + 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"@webassemblyjs/wasm-edit": "1.7.8", + "@webassemblyjs/wasm-parser": "1.7.8", "acorn": "^5.6.2", "acorn-dynamic-import": "^3.0.0", "ajv": "^6.1.0", @@ -5798,32 +8702,31 @@ "tapable": "^1.1.0", "uglifyjs-webpack-plugin": "^1.2.4", "watchpack": "^1.5.0", - "webpack-sources": "^1.2.0" + "webpack-sources": "^1.3.0" } }, "webpack-cli": { - "version": "3.1.0", - "resolved": "https://registry.npmjs.org/webpack-cli/-/webpack-cli-3.1.0.tgz", - "integrity": "sha512-p5NeKDtYwjZozUWq6kGNs9w+Gtw/CPvyuXjXn2HMdz8Tie+krjEg8oAtonvIyITZdvpF7XG9xDHwscLr2c+ugQ==", + "version": "3.1.1", + "resolved": "https://registry.npmjs.org/webpack-cli/-/webpack-cli-3.1.1.tgz", + "integrity": "sha512-th5EUyVeGcAAVlFOcJg11fapD/xoLRE4j/eSfrmMAo3olPjvB7lgEPUtCbRP0OGmstvnQBl4VZP+zluXWDiBxg==", "dev": true, "requires": { "chalk": "^2.4.1", "cross-spawn": "^6.0.5", - "enhanced-resolve": "^4.0.0", - "global-modules-path": "^2.1.0", - "import-local": "^1.0.0", - "inquirer": "^6.0.0", + "enhanced-resolve": "^4.1.0", + "global-modules-path": "^2.3.0", + "import-local": "^2.0.0", "interpret": "^1.1.0", "loader-utils": "^1.1.0", - "supports-color": "^5.4.0", - "v8-compile-cache": "^2.0.0", - "yargs": "^12.0.1" + "supports-color": "^5.5.0", + "v8-compile-cache": "^2.0.2", + "yargs": "^12.0.2" } }, "webpack-sources": { - "version": "1.2.0", - "resolved": "https://registry.npmjs.org/webpack-sources/-/webpack-sources-1.2.0.tgz", - "integrity": "sha512-9BZwxR85dNsjWz3blyxdOhTgtnQvv3OEs5xofI0wPYTwu5kaWxS08UuD1oI7WLBLpRO+ylf0ofnXLXWmGb2WMw==", + "version": "1.3.0", + "resolved": "https://registry.npmjs.org/webpack-sources/-/webpack-sources-1.3.0.tgz", + "integrity": "sha512-OiVgSrbGu7NEnEvQJJgdSFPl2qWKkWq5lHMhgiToIiN9w34EBnjYzSYs+VbL5KoYiLNtFFa7BZIKxRED3I32pA==", "dev": true, "requires": { "source-list-map": "^2.0.0", @@ -5918,8 +8821,7 @@ "wrappy": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz", - "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=", - "dev": true + "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=" }, "write": { "version": "0.2.1", @@ -5954,8 +8856,7 @@ "xtend": { "version": "4.0.1", "resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.1.tgz", - "integrity": "sha1-pcbVMr5lbiPbgg77lDofBJmNY68=", - "dev": true + "integrity": "sha1-pcbVMr5lbiPbgg77lDofBJmNY68=" }, "y18n": { "version": "4.0.0", diff --git a/telemetry_server/package.json b/telemetry_server/package.json index d398a9e9..9620ec47 100644 --- a/telemetry_server/package.json +++ b/telemetry_server/package.json @@ -13,14 +13,23 @@ "author": "", "license": "ISC", "dependencies": { + "bootstrap": "^4.1.3", + "cors": "^2.8.4", + "csv": "^4.0.0", + "del": "^3.0.0", "express": "^4.16.3", + "express-fileupload": "^1.0.0-alpha.1", "loggy": "^1.0.4", + "lokijs": "^1.5.5", + "mariadb": "^2.0.0-alpha", + "multer": "^1.4.0", + "mysql": "^2.16.0", "mysql2": "^1.6.1", "socket.io": "^2.1.1" }, "devDependencies": { "standard": "^12.0.1", - "webpack": "^4.19.0", - "webpack-cli": "^3.1.0" + "webpack": "^4.20.2", + "webpack-cli": "^3.1.1" } } diff --git a/telemetry_server/server/db-interface.js b/telemetry_server/server/db-interface.js index 1e06a662..bc1b9d6c 100644 --- a/telemetry_server/server/db-interface.js +++ b/telemetry_server/server/db-interface.js @@ -12,7 +12,14 @@ */ const sql = require('mysql2') - +const dataTypeId = { + 'Time': 1, + 'Altitude': 2, + 'Temperature': 3, + 'GyroX': 4, + 'GyroY': 5, + 'GyroZ': 6 +}; // TODO store settings in a json file, or in .env const pool = sql.createPool({ host: 'localhost', @@ -21,6 +28,8 @@ const pool = sql.createPool({ waitForConnections: true, connectionLimit: 10, queueLimit: 0 -}) +}) + -module.exports = pool +module.exports.pool = pool +module.exports.dataTypeId = dataTypeId \ No newline at end of file diff --git a/telemetry_server/server/index.js b/telemetry_server/server/index.js index 1b1a0314..d32f0a4a 100644 --- a/telemetry_server/server/index.js +++ b/telemetry_server/server/index.js @@ -16,7 +16,7 @@ const server = require('http').Server(app) const io = require('socket.io')(server) const logger = require('loggy') const path = require('path') - +const fileUpload = require('express-fileupload'); // API endpoints const getExport = require('./export') const getReadData = require('./read-data') @@ -26,14 +26,23 @@ const postUpload = require('./upload') const PORT = 8000 const BASE_DIR = path.join(__dirname, '..') // parent directory + +app.use(fileUpload()); + // fixes weird path resolution stuff on localhost // https://stackoverflow.com/questions/40574159/ -app.use(express.static(BASE_DIR)) +app.use(express.static(path.join(BASE_DIR, 'html'))) + + app.get('/', function (req, res) { res.sendFile(path.join(BASE_DIR, 'html', 'index.html')) }) +app.get('/upload', function (req, res) { + res.sendFile(path.join(BASE_DIR, 'html', 'upload_form.html')) +}) + app.get('/export', getExport) app.get('/readData', getReadData) diff --git a/telemetry_server/server/runs.js b/telemetry_server/server/runs.js index 00eee730..54f522fa 100644 --- a/telemetry_server/server/runs.js +++ b/telemetry_server/server/runs.js @@ -11,10 +11,21 @@ const fs = require('fs') const path = require('path') - +const db = require('./db-interface') // YOUR CODE HERE var getRuns = function (req, res) { - + db.pool.query( + 'SELECT * FROM Runs', + function (err, results, fields) { + if (err) { + res.end(); + console.log(err); + } + res.send(results); + console.log(results); // results contains rows returned by server + console.log(fields); // fields contains extra meta data about results, if available + } + ) } module.exports = getRuns // rename however you want diff --git a/telemetry_server/server/setup.sql b/telemetry_server/server/setup.sql index bde14ef8..b4288071 100644 --- a/telemetry_server/server/setup.sql +++ b/telemetry_server/server/setup.sql @@ -7,6 +7,8 @@ CREATE USER IF NOT EXISTS 'telemetry'@'localhost'; -- add password later when in prod +DROP DATABASE IF EXISTS telemetry; + CREATE DATABASE IF NOT EXISTS telemetry; USE telemetry; @@ -14,4 +16,43 @@ USE telemetry; GRANT ALL PRIVILEGES ON telemetry.* TO 'telemetry'@'localhost'; -- reduce privileges once schema is set -- TODO initialize tables +CREATE TABLE Runs ( + runId SERIAL, + PRIMARY KEY (runId) +); + +CREATE TABLE DataType ( + dataTypeId SERIAL, + type VARCHAR(255), + name VARCHAR(255), + units VARCHAR(255), + PRIMARY KEY (dataTypeId) +); + +CREATE TABLE DataPoint ( + dataIndex int, + runId BIGINT UNSIGNED NOT NULL, + value double, + PRIMARY KEY (dataIndex), + FOREIGN KEY (runId) REFERENCES Runs(runId) +); + +INSERT INTO DataType ( type, name, units ) +VALUES ( 'Time', 'Time', 'seconds' ); + +INSERT INTO DataType ( type, name, units ) +VALUES ( 'Altitude', 'Altitude', 'feet' ); + +INSERT INTO DataType ( type, name, units ) +VALUES ( 'Temperature', 'Temperature', 'F' ); + +INSERT INTO DataType ( type, name, units ) +VALUES ( 'GyroX', 'GyroX', 'deg/sec' ); + +INSERT INTO DataType ( type, name, units ) +VALUES ( 'GyroY', 'GyroY', 'deg/sec' ); + +INSERT INTO DataType ( type, name, units ) +VALUES ( 'GyroZ', 'GyroZ', 'deg/sec' ); +INSERT INTO Runs (runId) VALUES (DEFAULT); \ No newline at end of file diff --git a/telemetry_server/server/upload.js b/telemetry_server/server/upload.js index ecfe0c8f..e4abff2f 100644 --- a/telemetry_server/server/upload.js +++ b/telemetry_server/server/upload.js @@ -13,10 +13,71 @@ * For further details, refer to the design doc (linked in the README). */ -const db = require('./db-interface.js') +const db = require('./db-interface') +const parse = require('csv-parse/lib/sync') // YOUR CODE HERE var postUpload = function (req, res) { + const rundata = parse(req.files.runfile.data, { + columns: true, + skip_empty_lines: true + }) + res.send(rundata); + + // TODO: Read from a form to see if new run should be created + newRun = true; + runId = 1; + dataTypeId = 0; + + if (newRun) { + // Create a new run + db.pool.execute( + 'INSERT INTO Runs (runId) VALUES (DEFAULT)', [], + function (err, results, fields) { + if (err) { + console.log(err); + } + + console.log(results); + console.log(fields); + + runId = results.insertId; + + // yucky code duplication + rundata.forEach(data => { + // insert data points into database + db.pool.execute( + 'INSERT INTO DataPoint ( dataIndex, runId, value ) VALUES ( 0, ?, ?)', + [runId, data["Time"]], // Time is hardcoded for now - need to check if CSVs will have headers + function (err, results, fields) { + if (err) { + console.log(err); + } + + console.log(results); + console.log(fields); + } + ); + }); + } + ) + } else { + rundata.forEach(data => { + // insert data point into database + db.pool.execute( + 'INSERT INTO DataPoint ( dataIndex, runId, value ) VALUES ( 0, ?, ?)', + [runId, data["Time"]], + function (err, results, fields) { + if (err) { + console.log(err); + } + + console.log(results); + console.log(fields); + } + ); + }); + } } From 69653fe772d1ab4eee7e5b06cce1563d2055dc20 Mon Sep 17 00:00:00 2001 From: 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From 05ab0c756c3982bf5eef7d48ad0caffffdeeeccc Mon Sep 17 00:00:00 2001 From: Jaren Mendelsohn Date: Thu, 1 Nov 2018 16:24:01 -0700 Subject: [PATCH 08/73] Fix capacitor values, only use one LED --- flight_computers/fc.dch | Bin 201842 -> 185750 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/flight_computers/fc.dch b/flight_computers/fc.dch index 7151fc055bb8eecee770c5c17002c4a4a7c3b676..52aa2beec470b915439937cf6c6aeeb84188f3ac 100644 GIT binary patch delta 5566 zcmds5iCb0G7QgFofvzM+Q$P>}XCD?J_LX{6;2@f!3<83JGK4s$kONAHf{LP{z_pfB z>a)qR3_aKZCqzqAQS2#(1BvNZ&sW*-GAkS2@9YD~)Atv=?>p?X_8NX`?X}n1`&@q5 z`RFUVT-=<8$Hs&{8#Y!}rz)F!9+ZbA$syB9-BPL49{r;Gp5jM5XudtuDO|hmp?cdK zE&VM47GI0WTJ%(qBL&&320h-a(|@pFWCb-d?6-mnDMHH({?m~rYMCRxlPE|_9W~bl zulm?3!+71q7G3AWLK>^BO{}y+Ix^M>k&|yq9(I3wZ++uU$xX7~{@IuPuS-eV#x3wV zQR}ho3WBl!`Q|;0_udMFVaU!LM@rHTz86FYQ_Lo5*%f(`ZL-p~ZG|#7q};xwqMPQU z$4Rzi#e2sXC1KeHyYI(6wCz>j5~XM*2XY)JRdcDvD@`jrn(bf>lGW!lI_@q}y4LAq zFNvmT15V{hl%egdT`JL3Z9tv3MANjWPcWOVeR3YN8QSf7yk=@H4c?M%*5EsyzbV^s0ZHX{n)c$Aw)|Gs?b9*}bfX;1Q>OdY6&5+j~}C1|A8PC9xLoOS`bTc?pXJDT}hvWjSZ{r)TsH z-Kd!C-_CW^B&{ThX76YkNl|)wH1(9INH2<^8fTPwcp`~gZKd;seyI6L>cn@p!Da&Y*^U$?>NVSGwnS_7 zfY&J6$Y=Ed$&)v~P60@2?dvp(;@JHSD#bpWIVgGP)o)O;qdld<-L_77=FUK6#nk}& zl~PX{V82ruNxD6(tcZd|V@`UwF>NKvli#K*Mc@2pl(GHd^$4o8e_yp&+uk^roMbgv zR!8%@?^1|9Wfv6@?|%=wlECG=X$Hl;@*Z{MC*P+!m&s(YSY&m)tcI|yoVqVrAgd+9 zdYu?2h%ru#v0^k-WwlsVhl^2_)iHv

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a/flight_computers/fc.dch b/flight_computers/fc.dch index 52aa2beec470b915439937cf6c6aeeb84188f3ac..306b70088f5a6d6d98ed3da5af4e8f1f9e82437f 100644 GIT binary patch delta 1146 zcmdUu{clrc6vz9$quUzLI|JJwfdJU~3f$P5UmqJU4WBq{tC;KAC#U_3`j%==1S8cq4RfWF5|= z17F{T`C1*GpM=${sK>l#4(i4c-Kf-!pl-O$ef3z0yuA|Y#&)6sv&<{U(4|dT?!3UpM%z5!CdGP?|hHEhGfAmdZ Nyg{>@?(eis`hOzrpw<8Y delta 1022 zcmdVX*-KPW90&0E-WC<1J4I??MGw{G2pW|wJ1jn7jPi>o3EQ03g39~rzA8s!|yNxwW9B_^XVmWBl8Z&ucD>=;%u za01JOavYmXqWe0c7vd0KRAL>@i@%lFjgVs1YEi96xW5*w#R&)66<9@-6Dz`aBY>r> zuSW)oI9-of6mzNpDUywi8mD#ob^bIWOU}}ov{{wTm?Tu*k!nz_Ni?~!mYHtE$h|T* zawVf~Z9TeK3!iG%s$QKrop_J7S?AGKrakbXoHZ@7S|ER-XLhD{$W!d}cF2I8zx8Hy RmN07usUfl3Dom=C{{XrQY`6db From a2ea94cf80d78eeaf8ae815d37733e4147885241 Mon Sep 17 00:00:00 2001 From: Jaren Mendelsohn Date: Fri, 2 Nov 2018 19:30:57 -0700 Subject: [PATCH 10/73] Added RS422, reset, programmer --- flight_computers/fc.dch | Bin 186718 -> 252415 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git 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Date: Sat, 3 Nov 2018 16:08:03 -0700 Subject: [PATCH 15/73] Updated flight computer schematic --- flight_computers/fc.dch | Bin 263071 -> 318768 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/flight_computers/fc.dch b/flight_computers/fc.dch index bb0babdab16f061b81947653bc7879d3461e098c..abbd1ab45429fd1d3fd3a8f4c36bd5b915d8c59c 100644 GIT binary patch delta 21701 zcmeHv34ByV^8a+dnH(fx5^|9cNJ6;6nS(P=O=fZskR#lnAOr~a5fJ52NI*cu1Mmq2 z2}pwXiVBYKz>A3JPZ0!mbzKz^m1S|cJrNIn->x^442Qe>`}|iwpZ)w7CjF}GRaIA4 zcUM>Ud;K=v9lqto$mqblfdg_2^LsnpQL_4TPMZK1ZVw$8Rrwha8G+0v0_;+h7mX3IrB(@2{(L@YJJgBJ<6A)@o` zE~k5#r?f>UVXS=0(dXf38|qcV+v=4)Pw4AA6*}E+p;v|%sXwPX#})}8#kNvgE88Ia z?+<}46p)E)Z(AQ*FI>CZ2G~;dioG_ya{lK=c|x?2eXpLZ@)b?`+XN_Z#}e)*Sdi<8 zjAyd-pUebV#;=n#G*-rTFw(XLi#(%vaCSqzV*4Du;h8@QQa&Q+ljO z(YxyvZ)~(k4m8p$cI#IDt%EjIA7N`_3$P7DohI0(+osxzh0|TASDX*mEABW-qy8lG zjB{l-8dYyK_57S4)hfAvlRNdta$uTecj_A&7ug)PJX;T2U!?gqi8RA#Hs@xs*huTO z#Bj{bB|S_8d-~12UZg#`^_;%prX0QU;uiJibh}`ORbADeQX~k>eQoVfZ`EopTb_~r 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deletions(-) diff --git a/flight_computers/fc.dch b/flight_computers/fc.dch index 843864bbf05733c2d069ed791daf7ef3f21c30cf..9f460aa64c24ed1708dc2aca2b1e446c0bbc5ddb 100644 GIT binary patch delta 501 zcmdmeRpjzj5m9!RkYHyIS6_aoH0#-1yZ9Yy_#JB+MYoDFvZM?1FgP*fFeEZ0Gh{Oa zFyu3oGo)-+NM|fzXJnjg$R;vGNxVXjE>s_ z&oQ-dbAqh^S=N5zd~=FnY4%C8@~ U4{orCZcpH4jh3DML6g}40OVc2ZvX%Q delta 690 zcmcb7Rb=;75m9!RkYHyIS6_aoH0#+#a{P8I{0=)BMYoDFvZS-KF$6H=Gn8-FNoOo! zpKQP;I(=&%qXSI1og<%dJ4Zg#B6F5fekZ5x>y|O?QfGA9o_UU`g_{#>5Xi{(Z#S8M zn0foRn=GPw0#;uW>aF7$Jz(_YgB?=S6}T9AMv2idfTx4W6Ij`%A2`P%x;=rHwODrg I0ZnEJ00_v5*#H0l From 5efd791aa852eb5ef535d3ea49ddb84abe80fee4 Mon Sep 17 00:00:00 2001 From: noloerino Date: Sat, 3 Nov 2018 17:51:19 -0700 Subject: [PATCH 18/73] named more ports --- flight_computers/fc.dch | Bin 338643 -> 342221 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/flight_computers/fc.dch b/flight_computers/fc.dch index 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tBv479l0YSaN&=MxDhX5)s3cHHpprl(fl30E1S$zs5~w6lNnmvn_ Date: Sat, 3 Nov 2018 22:58:05 -0700 Subject: [PATCH 21/73] moved stuff on layout, beginning routing --- flight_computers/fc.dch | Bin 337322 -> 337291 bytes flight_computers/fc_layout.dip | Bin 226997 -> 258269 bytes 2 files changed, 0 insertions(+), 0 deletions(-) diff --git a/flight_computers/fc.dch b/flight_computers/fc.dch index b07fe8bd2393bc8cab7d43468ca81c9012710f94..157da0703a993a528ba5b565909ca2efa9284e2c 100644 GIT binary patch delta 10707 zcmeHNcUV`63E>X?a|WJ)qKF}~E%WSrk#hYQz;@B7~WFW+^awbx$jx5{3-oJ00r z3(UC|SlheTfYj)?n7$5uoVGFaGe_i5hd%F6?ITi*b6%CbMVjkd-@$g*glgT~oPpq^ zdWj_0cSHYbb+)MetDCG|AEa~Plo&C<)jo8q)%k5BHMVdH#NKcEz)c=*;TG#}imhu? zAvPzxLTpIqaxuD`AiBB2T8^TGbHilkjb@s2#C9*&igmYbVz_g{hKFLTGjw~581LG*ajxB-u8kbC z-#K|hJ!kZ`&%`hu8jGR%cGnlXs|k@xqNc6(;XNIN$Z&Sr`w%AE?^`T!uImSVgh+ONS{QFn(Khw?gR`M=+Vy48SRqEa5)S(apJZ)g`UgC6 zw@~wrcIZ7FdWx&S^^6pwT^EkB_Vr`&BE?nD0B?*d@rA;8=)At) z-?jJ@%#CwSKcn24c5kst$Nh7^p>wYozD?-*Q}j;d8x`~uOrDhw?zc 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powder to a monolothic IC. --- .../Component_footprint_libraries/FC.eli | Bin 10502 -> 13380 bytes .../Component_footprint_libraries/FC.lib | Bin 1171833 -> 1717 bytes flight_computers/fc.dch | Bin 499611 -> 526122 bytes 3 files changed, 0 insertions(+), 0 deletions(-) diff --git a/flight_computers/Component_footprint_libraries/FC.eli b/flight_computers/Component_footprint_libraries/FC.eli index ddded53dc197e81c6aa25e8caeae81bcf2a501f5..ecd951dd91baa5c1a9ce24f3e5ba00e38f306396 100644 GIT binary patch delta 2024 zcma)7Pe_zO6o0Fv7V1|DWw_cVVT+Nv{%N&|)NggwwUxCpx>T4J3E3{C8BwfVqEn~? zWwT~wm!cp#6c%)&z+)D%XEE_@pJAFdDVdnX(#B*`Cg!&@@!l_|V-Umi1KAKCflJIxM-#gw zLbpjN6|1qdaPxC&=xoEDBRoOgsZc)#@n1YBzEV zv2A!X$9q3Gs#nL6Owp_;A~|0{QImoqY{ddf!ZunoN84p^)TZG02ZfhKF6OI%rXiq} zE0e(g|6|&!SyW8xSLR4X(WWU>Nb8a)!aC1VUTwSL&@puy`1n)H+3QTa&EqzQJpnYcjfqd! zG)PJbnww1oA?co9(EY_bCSF!D@vafT1qsTExohBE*#-QG%^&v3$B2ik8Wj1!wPEU% zgbfWt9?OOX8zm`*hX%XFvZ0}QRe?gKLe)a;ieWJdY)9PQA?w&5|29?Hv@QL^#%gVQ 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z_N>byF8*K<%PT@;jU}Sy&6=hsc{;Z=a|n$-iDe)lNo5mC;P6TAp`G3k-YP~2ZdhZYpm`UxnmTKj(0YrutBaiR&f>XvexKS=PqWw zVLJPBSMaxULSI>H4IJ#e&K#&v)d1%r2bzS?%vwFrxs35enwd)OLCzK&)0s*A201%2 z)0#2Jc~WJIscN&cl{NQC=Oa%xaN*B03HU!o8A~z$?~2J8KO~hZoGz!;vB(+H$lqb( zjIQ3mM{FOE!xp6;by}%MUAOL7mn-~M1=<_^hGAFqg0kWA2O06yTb&BiU!DAtFiqYcgN#e)C)_-_pUQ+be+@U%Y#_jfh5($D$z?BMrE;>ZjwrT@PG Dy{EmG From 7a35ff8955a94765474c7fa710d9dc96ffaccf99 Mon Sep 17 00:00:00 2001 From: Jacob Posner Date: Tue, 6 Nov 2018 01:41:32 -0800 Subject: [PATCH 33/73] Removed temp black powder stuff and added pull-downs on ignition lines. --- flight_computers/black_powder.dch | Bin 81418 -> 0 bytes flight_computers/fc.dch | Bin 526122 -> 527958 bytes flight_computers/temp_black_powder.lib | Bin 952 -> 0 bytes 3 files changed, 0 insertions(+), 0 deletions(-) delete mode 100644 flight_computers/black_powder.dch delete mode 100644 flight_computers/temp_black_powder.lib diff --git a/flight_computers/black_powder.dch b/flight_computers/black_powder.dch 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numbers --- .../Component_footprint_libraries/FC.eli | Bin .../Component_footprint_libraries/FC.lib | Bin .../Component_footprint_libraries/STAR.eli | Bin flight_computers/{ => hardware}/fc.dch | Bin 439630 -> 439586 bytes flight_computers/{ => hardware}/fc_layout.dip | Bin .../{ => hardware}/fc_layout.dipb1 | Bin .../{ => hardware}/fc_layout.dipb2 | Bin .../{ => hardware}/fc_layout.dipb3 | Bin .../{ => hardware}/fc_layout.dipb4 | Bin .../2018_11_14_fc_gerbers.zip | Bin .../2018_11_14_fc_gerbers/BoardOutline.gbr | 0 .../2018_11_14_fc_gerbers/Bottom.gbr | 0 .../2018_11_14_fc_gerbers/BottomAssy.gbr | 0 .../2018_11_14_fc_gerbers/BottomDimension.gbr | 0 .../2018_11_14_fc_gerbers/BottomMask.gbr | 0 .../2018_11_14_fc_gerbers/BottomPaste.gbr | 0 .../2018_11_14_fc_gerbers/BottomSilk.gbr | 0 .../Drill_NonPlated_Through.gbr | 0 .../Drill_Plated_Through.gbr | 0 .../2018_11_14_fc_gerbers/Top.gbr | 0 .../2018_11_14_fc_gerbers/TopAssy.gbr | 0 .../2018_11_14_fc_gerbers/TopDimension.gbr | 0 .../2018_11_14_fc_gerbers/TopMask.gbr | 0 .../2018_11_14_fc_gerbers/TopPaste.gbr | 0 .../2018_11_14_fc_gerbers/TopSilk.gbr | 0 25 files changed, 0 insertions(+), 0 deletions(-) rename flight_computers/{ => hardware}/Component_footprint_libraries/FC.eli (100%) rename flight_computers/{ => hardware}/Component_footprint_libraries/FC.lib (100%) rename flight_computers/{ => hardware}/Component_footprint_libraries/STAR.eli (100%) rename flight_computers/{ => hardware}/fc.dch (94%) rename flight_computers/{ => hardware}/fc_layout.dip (100%) rename flight_computers/{ => hardware}/fc_layout.dipb1 (100%) rename flight_computers/{ => hardware}/fc_layout.dipb2 (100%) rename flight_computers/{ => hardware}/fc_layout.dipb3 (100%) rename flight_computers/{ => hardware}/fc_layout.dipb4 (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/2018_11_14_fc_gerbers.zip (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/BoardOutline.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/Bottom.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/BottomAssy.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/BottomDimension.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/BottomMask.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/BottomPaste.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/BottomSilk.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/Drill_NonPlated_Through.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/Drill_Plated_Through.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/Top.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/TopAssy.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/TopDimension.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/TopMask.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/TopPaste.gbr (100%) rename flight_computers/{ => hardware}/production_files/2018_11_14_fc_gerbers/TopSilk.gbr (100%) diff --git a/flight_computers/Component_footprint_libraries/FC.eli b/flight_computers/hardware/Component_footprint_libraries/FC.eli similarity index 100% rename from flight_computers/Component_footprint_libraries/FC.eli rename to flight_computers/hardware/Component_footprint_libraries/FC.eli diff --git a/flight_computers/Component_footprint_libraries/FC.lib b/flight_computers/hardware/Component_footprint_libraries/FC.lib similarity index 100% rename from flight_computers/Component_footprint_libraries/FC.lib rename to flight_computers/hardware/Component_footprint_libraries/FC.lib diff --git a/flight_computers/Component_footprint_libraries/STAR.eli b/flight_computers/hardware/Component_footprint_libraries/STAR.eli similarity index 100% rename from flight_computers/Component_footprint_libraries/STAR.eli rename to flight_computers/hardware/Component_footprint_libraries/STAR.eli diff --git a/flight_computers/fc.dch b/flight_computers/hardware/fc.dch similarity index 94% rename from flight_computers/fc.dch rename to flight_computers/hardware/fc.dch index a5838623ee2a176852fc94f1ad5e9b096f0e44d7..aaaf7f36e1a92495c9f9d543f2907b7ee811547c 100644 GIT binary patch delta 1410 zcmeH`-%nIm5XYH2mt83<_xfXZWg}z_7hA**U2|WH(y7^s??zAblW8fMcIaMK ziawwx<5Kkc;)T_%?FZfbRwk6}at3=Ru;}?2^lvj1(u6pC)jHfekCvQ)kJW%??rFWd ziSe4lkORDIKP*#{@l_pus@(xo=$8bnq2XTG0lQoEFyoPa8Te;2OmgCa4f@Y5aM|y) zG6vZX*>Rd$4SDqVI;^5D2KC2t!NI*7!3(_eCb)BO<6w+;{|*b4B<0_Seg}%9TS$ounLjiR+Dz_`qoVT*2l&-6Y87hjcurs9QAC@4*=mB)=DD^RK<=b*YwS+O)F(>mf${1sD{j*uV|K 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zxUCUV6qCG7(3xh<@kg-p`Uk!|QaSVqMTfkj4=z-cvPIP12i?5fh8GkyTQtX`Lva&M zNMKXmtY!HPw=_fli_X8OvuN+i?gVNGM>ix;uK_rXPaS|Gf>mLXK}$wrA>>liNbxn7 z`rC1p*oy4v5nH1jhlfa6XA69?hCu4HW9+D0&2R;1M!bwL|KoPeh%?bwnIz=(AUSh! zC~a_H0TlAL4t&>F6{AU~)@dUAF&a;db+N4%8d<8pRGyMJ$9_;^>9G1P)J+r#)S89i zbiV*C)DnX$Fz=L&$4tjF&=q?T+Z7`x!!>G_kjAew>_E_|Do*sG^Y3wZTajbs*9_bZ zA~My5KLf!{QOP)ts*=U^Imze%7nLVt1Q&tv>L?cz(_>YiPs$D@UP`N%0#}#0x=@!$ zuTn9lpY)>o-s>JOF1_DpisrNC;mjaWZ+iyTDPZu)OYloSse~f)&_SL>XyJ47gzu)h z8~OMP#P3wQ4!Q7Wev-Y%ABo-mEPW8%wGs0~W#2|I z Date: Sat, 24 Nov 2018 20:46:17 -0800 Subject: [PATCH 61/73] fix rst header pin directions, flipped silk on engine rs422 --- flight_computers/hardware/fc.dch | Bin 439586 -> 439630 bytes flight_computers/hardware/fc_layout.dip | Bin 571937 -> 571096 bytes 2 files changed, 0 insertions(+), 0 deletions(-) diff --git a/flight_computers/hardware/fc.dch b/flight_computers/hardware/fc.dch index aaaf7f36e1a92495c9f9d543f2907b7ee811547c..dad88a1c6b335c2f4d897a6d2c1ad941ef144831 100644 GIT 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z$X;E}tYeRnN6X*>y}qg;cqMtZn!UZek!&wTT57GXOg^83!LmAN%ic1vuf>qt)z#DXdA|XhLKs*_NWy%2caFx|^)72PFtG zo$znv-G=s*)uz3LOs)XuH)`5zd(erBHknio{h@P;SWEU7_ANwiE-huHzhH3hQAP&CmyrCSn%+q2y(twy_`iBT$ z&`A^k6M=m&FtJD$aENUG7s1iVHoYO9!*=`qM2^WE(@&KEBRUqCf)e66^rxRo0IFUP z3G|$P7Kbj_l-&iuw8&HlGzv% Date: Sun, 2 Dec 2018 17:02:51 -0800 Subject: [PATCH 62/73] Added project base, update gitignore for mbed dev --- .gitignore | 4 ++ .../software/flight_computer/.mbed | 3 ++ .../software/flight_computer/main.cpp | 5 +++ .../software/flight_computer/mbed-os.lib | 1 + .../software/flight_computer/mbed_settings.py | 45 +++++++++++++++++++ 5 files changed, 58 insertions(+) create mode 100644 flight_computers/software/flight_computer/.mbed create mode 100644 flight_computers/software/flight_computer/main.cpp create mode 100644 flight_computers/software/flight_computer/mbed-os.lib create mode 100644 flight_computers/software/flight_computer/mbed_settings.py diff --git a/.gitignore b/.gitignore index ce24aca2..5092613a 100644 --- a/.gitignore +++ b/.gitignore @@ -5,6 +5,10 @@ obj/ *.swp +mbed-os/ +BUILD/ +mbed_settings.pyc + # Compiiled output *.d *.hex diff --git a/flight_computers/software/flight_computer/.mbed b/flight_computers/software/flight_computer/.mbed new file mode 100644 index 00000000..4056992c --- /dev/null +++ b/flight_computers/software/flight_computer/.mbed @@ -0,0 +1,3 @@ +ROOT=. +TARGET=NUCLEO_F401RE +TOOLCHAIN=GCC_ARM diff --git a/flight_computers/software/flight_computer/main.cpp b/flight_computers/software/flight_computer/main.cpp new file mode 100644 index 00000000..fae44451 --- /dev/null +++ b/flight_computers/software/flight_computer/main.cpp @@ -0,0 +1,5 @@ +#include + +int main() { + return 0; +} diff --git a/flight_computers/software/flight_computer/mbed-os.lib b/flight_computers/software/flight_computer/mbed-os.lib new file mode 100644 index 00000000..4d41858e --- /dev/null +++ b/flight_computers/software/flight_computer/mbed-os.lib @@ -0,0 +1 @@ +https://github.com/ARMmbed/mbed-os/#2fd0c5cfbd83fce62da6308f9d64c0ab64e1f0d6 diff --git a/flight_computers/software/flight_computer/mbed_settings.py b/flight_computers/software/flight_computer/mbed_settings.py new file mode 100644 index 00000000..494f60d0 --- /dev/null +++ b/flight_computers/software/flight_computer/mbed_settings.py @@ -0,0 +1,45 @@ +""" +mbed SDK +Copyright (c) 2016 ARM Limited + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + +http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +""" + +from os.path import join, abspath, dirname + +#ROOT = abspath(join(dirname(__file__), ".")) + +############################################################################## +# Build System Settings +############################################################################## +#BUILD_DIR = abspath(join(ROOT, "build")) + +# ARM +#ARM_PATH = "C:/Program Files/ARM" + +# GCC ARM +#GCC_ARM_PATH = "" + +# IAR +#IAR_PATH = "C:/Program Files (x86)/IAR Systems/Embedded Workbench 7.0/arm" + +# Goanna static analyser. Please overload it in private_settings.py +#GOANNA_PATH = "c:/Program Files (x86)/RedLizards/Goanna Central 3.2.3/bin" + +#BUILD_OPTIONS = [] + +# mbed.org username +#MBED_ORG_USER = "" + +# Print compiler warnings and errors as link format +#PRINT_COMPILER_OUTPUT_AS_LINK = False From a67bedf88dc82fbf4d583ff57d336566f2c1d32f Mon Sep 17 00:00:00 2001 From: noloerino Date: Tue, 4 Dec 2018 15:14:54 -0800 Subject: [PATCH 63/73] added pin definitions --- .../software/flight_computer/main.cpp | 28 +++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/flight_computers/software/flight_computer/main.cpp b/flight_computers/software/flight_computer/main.cpp index fae44451..b09cfa9b 100644 --- a/flight_computers/software/flight_computer/main.cpp +++ b/flight_computers/software/flight_computer/main.cpp @@ -1,5 +1,33 @@ #include +// Pin definitions +#define I2C_SDA PB_7 +#define I2C_SCL PB_6 +#define TPC_RX PA_10 +#define TPC_TX PA_9 +#define EC_RX PC_7 +#define EC_TX PC_6 +#define DEBUG_RX PA_3 +#define DEBUG_TX PA_2 +#define STATE_LED_RED PA_8 +#define STATE_LED_GREEN PC_9 +#define STATE_LED_BLUE PC_8 + +// TODO define bp stuff + +I2C i2c(I2C_SDA, I2C_SCL); +const int ALTIMETER_I2C_ADDR = 0xC0; +const int IMU_I2C_ADDR = 0xD0; + +// TODO baud rate? +Serial tpc_talk(TPC_TX, TPC_RX); +Serial ec_talk(EC_TX, EC_RX); +Serial debug_talk(DEBUG_TX, DEBUG_RX); + +DigitalOut led_red(STATE_LED_RED); +DigitalOut led_green(STATE_LED_GREEN); +DigitalOut led_blue(STATE_LED_BLUE); + int main() { return 0; } From b6b076680d0d18f5baccfa3f7cb427903d25a903 Mon Sep 17 00:00:00 2001 From: noloerino Date: Wed, 5 Dec 2018 15:32:19 -0800 Subject: [PATCH 64/73] added value labels on inductors; rename software to firmware --- .../flight_computer/.mbed | 0 .../flight_computer/main.cpp | 0 .../flight_computer/mbed-os.lib | 0 .../flight_computer/mbed_settings.py | 0 flight_computers/hardware/fc.dch | Bin 439630 -> 439685 bytes 5 files changed, 0 insertions(+), 0 deletions(-) rename flight_computers/{software => firmware}/flight_computer/.mbed (100%) rename flight_computers/{software => firmware}/flight_computer/main.cpp (100%) rename flight_computers/{software => firmware}/flight_computer/mbed-os.lib (100%) rename flight_computers/{software => firmware}/flight_computer/mbed_settings.py (100%) diff --git a/flight_computers/software/flight_computer/.mbed b/flight_computers/firmware/flight_computer/.mbed similarity index 100% rename from flight_computers/software/flight_computer/.mbed rename to flight_computers/firmware/flight_computer/.mbed diff --git a/flight_computers/software/flight_computer/main.cpp b/flight_computers/firmware/flight_computer/main.cpp similarity index 100% rename from flight_computers/software/flight_computer/main.cpp rename to flight_computers/firmware/flight_computer/main.cpp diff --git a/flight_computers/software/flight_computer/mbed-os.lib b/flight_computers/firmware/flight_computer/mbed-os.lib similarity index 100% rename from flight_computers/software/flight_computer/mbed-os.lib rename to flight_computers/firmware/flight_computer/mbed-os.lib diff --git a/flight_computers/software/flight_computer/mbed_settings.py b/flight_computers/firmware/flight_computer/mbed_settings.py similarity index 100% rename from flight_computers/software/flight_computer/mbed_settings.py rename to flight_computers/firmware/flight_computer/mbed_settings.py diff --git a/flight_computers/hardware/fc.dch b/flight_computers/hardware/fc.dch index dad88a1c6b335c2f4d897a6d2c1ad941ef144831..849ed97fd596346e969a45eb8147a76da2b1bc58 100644 GIT binary patch delta 750 zcmX^2N~-m>lqkDPNU*bqt1rJ(y7g??1N;u5{7(LjqFY57Z?jIGY+}7#n~l+kjgfKk z!XA<7MLdj_Ai?%$Jd8lhwEY#Hl8nyNpBXTJV|3hp*O2)GCrc&2ljHV_*32K786Bq|wr36i z%7{2HuL5$n?{{YY&C2L9eYYpG_Hlz-=&nC);#w0L%hsA^-pY From 5fe26dd741f569640051b9f6cb572bd6147a7d0e Mon Sep 17 00:00:00 2001 From: noloerino Date: Sun, 9 Dec 2018 21:29:11 -0800 Subject: [PATCH 65/73] pulled external dependencies --- .../flight_computer/lib/MPL3115A2.lib | 1 + .../lib/MPL3115A2/.hg/00changelog.i | Bin 0 -> 57 bytes .../flight_computer/lib/MPL3115A2/.hg/branch | 1 + .../lib/MPL3115A2/.hg/cache/branch2-served | 2 + .../lib/MPL3115A2/.hg/cache/rbc-names-v1 | 1 + .../lib/MPL3115A2/.hg/cache/rbc-revs-v1 | Bin 0 -> 32 bytes .../lib/MPL3115A2/.hg/dirstate | Bin 0 -> 272 bytes .../lib/MPL3115A2/.hg/hgignore | 28 + .../flight_computer/lib/MPL3115A2/.hg/hgrc | 16 + .../lib/MPL3115A2/.hg/requires | 5 + .../lib/MPL3115A2/.hg/store/00changelog.i | Bin 0 -> 702 bytes .../lib/MPL3115A2/.hg/store/00manifest.i | Bin 0 -> 902 bytes .../MPL3115A2/.hg/store/data/_altitude.cpp.i | Bin 0 -> 442 bytes .../MPL3115A2/.hg/store/data/_altitude.h.i | Bin 0 -> 1503 bytes .../.hg/store/data/_m_p_l3115_a2.cpp.i | Bin 0 -> 1996 bytes .../.hg/store/data/_m_p_l3115_a2.h.i | Bin 0 -> 5685 bytes .../MPL3115A2/.hg/store/data/_pressure.cpp.i | Bin 0 -> 603 bytes .../MPL3115A2/.hg/store/data/_pressure.h.i | Bin 0 -> 1011 bytes .../.hg/store/data/_temperature.cpp.i | Bin 0 -> 475 bytes .../MPL3115A2/.hg/store/data/_temperature.h.i | Bin 0 -> 1020 bytes .../lib/MPL3115A2/.hg/store/fncache | 8 + .../lib/MPL3115A2/.hg/store/phaseroots | 0 .../lib/MPL3115A2/.hg/store/undo | Bin 0 -> 207 bytes .../lib/MPL3115A2/.hg/store/undo.backupfiles | Bin 0 -> 29 bytes .../lib/MPL3115A2/.hg/store/undo.phaseroots | 0 .../lib/MPL3115A2/.hg/undo.bookmarks | 0 .../lib/MPL3115A2/.hg/undo.branch | 1 + .../lib/MPL3115A2/.hg/undo.desc | 3 + .../lib/MPL3115A2/.hg/undo.dirstate | 0 .../lib/MPL3115A2/Altitude.cpp | 64 ++ .../flight_computer/lib/MPL3115A2/Altitude.h | 66 ++ .../lib/MPL3115A2/MPL3115A2.cpp | 219 +++++ .../flight_computer/lib/MPL3115A2/MPL3115A2.h | 211 +++++ .../lib/MPL3115A2/Pressure.cpp | 73 ++ .../flight_computer/lib/MPL3115A2/Pressure.h | 56 ++ .../lib/MPL3115A2/Temperature.cpp | 66 ++ .../lib/MPL3115A2/Temperature.h | 56 ++ .../lib/MPU9250AHRS/.hg/00changelog.i | Bin 0 -> 57 bytes .../lib/MPU9250AHRS/.hg/branch | 1 + .../lib/MPU9250AHRS/.hg/cache/branch2-served | 2 + .../lib/MPU9250AHRS/.hg/cache/rbc-names-v1 | 1 + .../lib/MPU9250AHRS/.hg/cache/rbc-revs-v1 | Bin 0 -> 24 bytes .../lib/MPU9250AHRS/.hg/cache/tags2-visible | 1 + .../lib/MPU9250AHRS/.hg/dirstate | Bin 0 -> 175 bytes .../lib/MPU9250AHRS/.hg/hgignore | 29 + .../flight_computer/lib/MPU9250AHRS/.hg/hgrc | 16 + .../lib/MPU9250AHRS/.hg/requires | 5 + .../lib/MPU9250AHRS/.hg/store/00changelog.i | Bin 0 -> 500 bytes .../lib/MPU9250AHRS/.hg/store/00manifest.i | Bin 0 -> 553 bytes .../MPU9250AHRS/.hg/store/data/_m_p_u9250.h.i | Bin 0 -> 11577 bytes .../MPU9250AHRS/.hg/store/data/_n5110.lib.i | Bin 0 -> 240 bytes .../.hg/store/data/_s_t__401__84_m_h_z.lib.i | Bin 0 -> 128 bytes .../lib/MPU9250AHRS/.hg/store/data/main.cpp.i | Bin 0 -> 4243 bytes .../lib/MPU9250AHRS/.hg/store/data/mbed.bld.i | Bin 0 -> 130 bytes .../lib/MPU9250AHRS/.hg/store/fncache | 5 + .../lib/MPU9250AHRS/.hg/store/phaseroots | 0 .../lib/MPU9250AHRS/.hg/store/undo | Bin 0 -> 131 bytes .../MPU9250AHRS/.hg/store/undo.backupfiles | Bin 0 -> 29 bytes .../lib/MPU9250AHRS/.hg/store/undo.phaseroots | 0 .../lib/MPU9250AHRS/.hg/undo.bookmarks | 0 .../lib/MPU9250AHRS/.hg/undo.branch | 1 + .../lib/MPU9250AHRS/.hg/undo.desc | 3 + .../lib/MPU9250AHRS/.hg/undo.dirstate | 0 .../flight_computer/lib/MPU9250AHRS/MPU9250.h | 874 ++++++++++++++++++ .../flight_computer/lib/MPU9250AHRS/N5110.lib | 1 + .../lib/MPU9250AHRS/ST_401_84MHZ.lib | 1 + .../ST_401_84MHZ/.hg/00changelog.i | Bin 0 -> 57 bytes .../lib/MPU9250AHRS/ST_401_84MHZ/.hg/branch | 1 + .../ST_401_84MHZ/.hg/cache/branch2-served | 2 + .../ST_401_84MHZ/.hg/cache/rbc-names-v1 | 1 + .../ST_401_84MHZ/.hg/cache/rbc-revs-v1 | Bin 0 -> 56 bytes .../ST_401_84MHZ/.hg/cache/tags2-visible | 1 + .../lib/MPU9250AHRS/ST_401_84MHZ/.hg/dirstate | Bin 0 -> 106 bytes .../lib/MPU9250AHRS/ST_401_84MHZ/.hg/hgignore | 28 + .../lib/MPU9250AHRS/ST_401_84MHZ/.hg/hgrc | 16 + .../lib/MPU9250AHRS/ST_401_84MHZ/.hg/requires | 5 + .../ST_401_84MHZ/.hg/store/00changelog.i | Bin 0 -> 1300 bytes .../ST_401_84MHZ/.hg/store/00manifest.i | Bin 0 -> 1128 bytes .../store/data/_s_t___f401__84_m_h_z.cpp.i | Bin 0 -> 1842 bytes .../.hg/store/data/_s_t___f401__84_m_h_z.h.i | Bin 0 -> 1264 bytes .../ST_401_84MHZ/.hg/store/fncache | 2 + .../ST_401_84MHZ/.hg/store/phaseroots | 0 .../MPU9250AHRS/ST_401_84MHZ/.hg/store/undo | Bin 0 -> 83 bytes .../ST_401_84MHZ/.hg/store/undo.backupfiles | Bin 0 -> 29 bytes .../ST_401_84MHZ/.hg/store/undo.phaseroots | 0 .../ST_401_84MHZ/.hg/undo.bookmarks | 0 .../MPU9250AHRS/ST_401_84MHZ/.hg/undo.branch | 1 + .../MPU9250AHRS/ST_401_84MHZ/.hg/undo.desc | 3 + .../ST_401_84MHZ/.hg/undo.dirstate | 0 .../ST_401_84MHZ/ST_F401_84MHZ.cpp | 71 ++ .../MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.h | 44 + .../firmware/flight_computer/main.cpp | 8 +- 92 files changed, 1997 insertions(+), 3 deletions(-) create mode 100644 flight_computers/firmware/flight_computer/lib/MPL3115A2.lib create mode 100644 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00000000..331d858c --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.branch @@ -0,0 +1 @@ +default \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.desc b/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.desc new file mode 100644 index 00000000..0f1e41dd --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.desc @@ -0,0 +1,3 @@ +0 +pull +https://os.mbed.com/users/sophtware/code/MPL3115A2 diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.dirstate b/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.dirstate new file mode 100644 index 00000000..e69de29b diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.cpp b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.cpp new file mode 100644 index 00000000..0ed83028 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.cpp @@ -0,0 +1,64 @@ +#include "Altitude.h" +#include "mbed.h" + +Altitude::Altitude() +{ + _altitude = 0.0; + + _compressed[0] = 0; + _compressed[1] = 0; + _compressed[2] = 0; +} + +Altitude::Altitude(float a, unitsType units) +{ + setAltitude(a, units); +} + +Altitude::Altitude(const char* compressed) +{ + setAltitude(compressed); +} + +Altitude::Altitude(const char msb, const char csb, const char lsb) +{ + setAltitude(msb, csb, lsb); +} + +void Altitude::setAltitude() +{ + setAltitude(_compressed[0], _compressed[1], _compressed[2]); +} + +void Altitude::setAltitude(float a, unitsType units) +{ + // TODO: +} + +void Altitude::setAltitude(const char* compressed) +{ + setAltitude(compressed[0], compressed[1], compressed[2]); +} + +void Altitude::setAltitude(const char msb, const char csb, const char lsb) +{ + float tempcsb = (lsb>>4) / 16.0; + _altitude = (float)((msb << 8) | csb) + tempcsb; +} + +float Altitude::altitude(unitsType units) +{ + switch (units) + { + case FEET: + return MetersToFeet(_altitude); + } + + return _altitude; +} + +const char* Altitude::print(unitsType units) +{ + sprintf(_printBuffer, "%.0f", altitude(units)); + return _printBuffer; +} diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.h b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.h new file mode 100644 index 00000000..19689887 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.h @@ -0,0 +1,66 @@ +/* + MPL3115A2 Barometric Pressure and Tempurature Sensor Library + By: Michael Lange + Date: March 31, 2014 + License: This code is public domain. + + This class encapsulates an altitude reading from the sensor. + + */ + + +#ifndef ALTITUDE_H +#define ALTITUDE_H + +#include "mbed.h" + +//! Casting a float to a char truncates, therefore negative numbers become positive. +//! This will properly cast a float in the range -128 to 127 to a char. +#define float_to_char(x) (((x)<0)?(-(char)(x)):((char)(x))) + +//! Altitude provides a wrapper around altitude data coming from the sensor. The class handles +//! working with compressed data from the sensor and provides convenient functions for retreiving +//! the data in various units (with room to add more if needed). +class Altitude +{ +public: + + //! The size of the compressed data buffer from the sensor. Used in an I2C read. + static const int size = 3; + + //! The units we support converting the sensor data to. + enum unitsType { METERS, FEET }; + + Altitude(); + Altitude(float a, unitsType units = FEET); + Altitude(const char* compressed); + Altitude(const char msb, const char csb, const char lsb); + + //! Allows using the object directly in an I2C read operation. + operator char*(void) { return _compressed; } + //! Same as calling altitude with METERS as the parameter. + operator float(void) { return _altitude; } + + //! Returns the altitude in the units you specifiy, defaulting to FEET if none specified. + float altitude(unitsType units = FEET); + //! Call to decompress the sensor data after an I2C read. + void setAltitude(); + void setAltitude(const char* compressed); + void setAltitude(const char msb, const char csb, const char lsb); + void setAltitude(float a, unitsType units = FEET); + + //! Returns the altitude as a string in the units specified, defaulting to FEET if none specified. + const char* print(unitsType units = FEET); + + //! Converts meters to feet. + static float MetersToFeet(float meters) { return meters * 3.28084; } + //! Converts feet to meters. + static float FeetToMeters(float feet) { return feet / 3.28084; } + +private: + float _altitude; + char _compressed[3]; + char _printBuffer[9]; +}; + +#endif // ALTITUDE_H \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp b/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp new file mode 100644 index 00000000..675aed7d --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp @@ -0,0 +1,219 @@ +#include "MPL3115A2.h" +#include "mbed.h" + +#include "stdarg.h" // For debugOut use of the ... parameter and va_list + +MPL3115A2::MPL3115A2(I2C *i2c, Serial *pc) : _i2c(i2c), _debug(pc) +{ +} + +// By default I set the sensor to altimeter mode. I inserted a 1ms pause +// between each call to allow logic capture if needed. This give a small +// gap between captures on the bus to make working with the data easier. +void MPL3115A2::init() +{ + setModeStandby(); + wait_ms(1); + setModeAltimeter(); + wait_ms(1); + setOversampleRate(7); + wait_ms(1); + enableEventFlags(); + wait_ms(1); + setModeActive(); + wait_ms(1); +} + +// This method wait for a specified amount of time for one of the data +// ready flags to be set. You need to pass in the correct data ready +// mask for this to work. See page 22 of the datasheet. +int MPL3115A2::dataReady(const char mask) +{ + int attempts = 0; + + while ((i2cRead(STATUS) & mask) == 0) + { + attempts++; + + if(attempts > MAX_DATA_READY_ATTEMPTS) + return 0; // Failed + + wait_ms(1); + } + + return 1; // Success +} + +Altitude* MPL3115A2::readAltitude(Altitude* a) +{ + // Force the sensor to take a new reading. + toggleOneShot(); + + // Wait for the data to be ready. + if (!pressureDataReady()) + { + debugOut("MPL3115A2::readAltitude: Sensor failed to generate an altitude reading in a reasonable time.\r\n"); + + // We leave the altitude object as is if we encounter an error. + return a; + } + + // Get the new data from the sensor. + _i2c->start(); // Start + if (_i2c->write(MPL3115A2_ADDRESS) != 1) // A write to device + debugOut("MPL3115A2::readAltitude: Sensor failed to respond to write request at address 0x%X\r\n", MPL3115A2_ADDRESS); + + if (_i2c->write(OUT_P_MSB) != 1) // Register to read + debugOut("MPL3115A2::readAltitude: Sensor at address 0x%X did not acknowledge register 0x%X\r\n", MPL3115A2_ADDRESS, OUT_P_MSB); + + // Write the data directly into our Altitude object. This object + // takes care of converting the compressed data from the sensor, and + // provides functions to get the data in various units. And it also + // has a print function to output the data as a string. + _i2c->read(MPL3115A2_ADDRESS, (*a), Altitude::size); + a->setAltitude(); + + return a; +} + +// See readAltitude for comments about this function. +Pressure* MPL3115A2::readPressure(Pressure* p) +{ + toggleOneShot(); + + if (!pressureDataReady()) + { + debugOut("MPL3115A2::readPressure: Sensor failed to generate a pressure reading in a reasonable time.\r\n"); + return p; + } + + _i2c->start(); + if (_i2c->write(MPL3115A2_ADDRESS) != 1) + debugOut("MPL3115A2::readPressure: Sensor failed to respond to write request at address 0x%X\r\n", MPL3115A2_ADDRESS); + + if (_i2c->write(OUT_P_MSB) != 1) + debugOut("MPL3115A2::readPressure: Sensor at address 0x%X did not acknowledge register 0x%X\r\n", MPL3115A2_ADDRESS, OUT_P_MSB); + + _i2c->read(MPL3115A2_ADDRESS, (*p), Pressure::size); + p->setPressure(); + + return p; +} + +// See readAltitude for comments about this function. +Temperature* MPL3115A2::readTemperature(Temperature* t) +{ + toggleOneShot(); + + if (!temperatureDataReady()) + { + debugOut("MPL3115A2::readTemperature: Sensor failed to generate a temperature reading in a reasonable time.\r\n"); + return t; + } + + _i2c->start(); + if (_i2c->write(MPL3115A2_ADDRESS) != 1) + debugOut("MPL3115A2::readTemperature: Sensor failed to respond to write request at address 0x%X\r\n", MPL3115A2_ADDRESS); + + if (_i2c->write(OUT_T_MSB) != 1) + debugOut("MPL3115A2::readTemperature: Sensor at address 0x%X did not acknowledge register 0x%X\r\n", MPL3115A2_ADDRESS, OUT_P_MSB); + + _i2c->read(MPL3115A2_ADDRESS, (*t), Temperature::size); + t->setTemperature(); + + return t; +} + +void MPL3115A2::setModeAltimeter() +{ + setRegisterBit(CTRL_REG1, 0x80); // Set ALT bit +} + +void MPL3115A2::setModeBarometer() +{ + clearRegisterBit(CTRL_REG1, 0x80); // Clear ALT bit +} + +void MPL3115A2::setModeStandby() +{ + clearRegisterBit(CTRL_REG1, 0x01); // Clear SBYB bit for Standby mode +} +void MPL3115A2::setModeActive() +{ + setRegisterBit(CTRL_REG1, 0x01); // Set SBYB bit for Active mode +} + +void MPL3115A2::setOversampleRate(char sampleRate) +{ + if(sampleRate > 7) + sampleRate = 7; // OS cannot be larger than 0b.0111 + + sampleRate <<= 3; // Align it for the CTRL_REG1 register + + char temp = i2cRead(CTRL_REG1); // Read current settings + temp &= 0xC7; // Clear out old OS bits + temp |= sampleRate; // Mask in new OS bits + i2cWrite(CTRL_REG1, temp); +} + +void MPL3115A2::enableEventFlags() +{ + i2cWrite(PT_DATA_CFG, 0x07); // Enable all three pressure and temp event flags +} + +void MPL3115A2::toggleOneShot(void) +{ + clearRegisterBit(CTRL_REG1, 0x02); // Clear OST bit + setRegisterBit(CTRL_REG1, 0x02); // Set the OST bit. +} + +void MPL3115A2::clearRegisterBit(const char regAddr, const char bitMask) +{ + char temp = i2cRead(regAddr); // Read the current register value + temp &= ~bitMask; // Clear the bit from the value + i2cWrite(regAddr, temp); // Write register value back +} + +void MPL3115A2::setRegisterBit(const char regAddr, const char bitMask) +{ + char temp = i2cRead(regAddr); // Read the current register value + temp |= bitMask; // Set the bit in the value + i2cWrite(regAddr, temp); // Write register value back +} + +char MPL3115A2::i2cRead(char regAddr) +{ + _i2c->start(); // Start + if (_i2c->write(MPL3115A2_ADDRESS)!=1) // A write to device + debugOut("MPL3115A2::i2cRead: Sensor failed to respond to write request at address 0x%X\r\n", MPL3115A2_ADDRESS); + + if (_i2c->write(regAddr)!=1) // Register to read + debugOut("MPL3115A2::i2cRead: Sensor at address 0x%X did not acknowledge register 0x%X\r\n", MPL3115A2_ADDRESS, regAddr); + + _i2c->start(); + if (_i2c->write(MPL3115A2_ADDRESS|0x01)!=1) // Read from device + debugOut("MPL3115A2::i2cRead: Sensor failed to respond to read request at address 0x%X\r\n", MPL3115A2_ADDRESS); + + char result = _i2c->read(READ_NAK); // Read the data + _i2c->stop(); + + return result; +} + +void MPL3115A2::i2cWrite(char regAddr, char value) +{ + char cmd[2]; + cmd[0] = regAddr; + cmd[1] = value; + if (_i2c->write(MPL3115A2_ADDRESS, cmd, 2) != 0) + debugOut("MPL3115A2::i2cWrite: Failed writing value (%d, 0x%X) to register 0x%X\r\n", value, regAddr); +} + +void MPL3115A2::debugOut(const char * format, ...) +{ + if (_debug == NULL) + return; + + va_list arg; + _debug->printf(format, arg); +} diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.h b/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.h new file mode 100644 index 00000000..81f291a9 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.h @@ -0,0 +1,211 @@ +/* + MPL3115A2 Barometric Pressure and Tempurature Sensor Library + By: Michael Lange + Date: March 31, 2014 + License: This code is public domain. + + This class wraps the functions of the MPL3115A2 sensor into + a usable class that exposes most functions to your project. + Functions that are not exposed can easily be added using the + existing functions in this library. Specifically, I did not + add any funtions to handle FIFO logging or the use of either + of the pin interrupts. This should not be too difficult to + add if you need those features. + + The motivation here was to get a set of support classes + together that supported the chip and could be expanded on. + With this library you can extract all relevant data from the + sensor. + + Be sure to download the DATASHEET and the App Note AN4519. + + This library was created using the mbed NXP LPC11U24. Pins + p27 and p28 were used for the I2C functions. Be sure to install + 1K pull-up resistors on both lines. Also, if you're not using + the SparkFun breakout board, be sure to use the right caps on + the power pin. If you don't, the jitter can cause problems. + + This library was inspired by the similar library available for + the Arduino written by Nathan Seidle at SparkFun. I copied + some of the number crunching routines and tried to follow his + style of coding for the library. That way users of Arduinos + could step into this library a little easier. + + */ + + +#ifndef MPL3115A2_H +#define MPL3115A2_H + +#include "mbed.h" + +#include "Altitude.h" // Our classes to handle compressed data from the sensor. +#include "Temperature.h" +#include "Pressure.h" + +#define MPL3115A2_ADDRESS 0xC0 // Shifted 7-bit I2C address for sensor + +#define READ_ACK 1 // For mbed I2C Read method. +#define READ_NAK 0 + +#define MAX_DATA_READY_ATTEMPTS 512 // How many times we loop waiting for data before giving up. + +// DEFINE |REGISTER |RESET |RESET |TYPE |AUTO-INC |NAME/COMMENT +// | | |STBY2ACT | |ADDRESS | +#define STATUS 0x00 // | 0x00 | Yes | R | 0x01 | Sensor Status Register (Alias for DR_STATUS or F_STATUS) +#define OUT_P_MSB 0x01 // | 0x00 | Yes | R | 0x02 | 0x01 | Pressure Data Out MSB (Bits 12-19 of 20-bit real-time Pressure sample | Root pointer t oPressure and Tempurature FIFO data) +#define OUT_P_CSB 0x02 // | 0x00 | Yes | R | 0x03 | Pressure Data out CSB (Bits 0-3 of 20-bit real-time Pressure sample) +#define OUT_P_LSB 0x03 // | 0x00 | | | 0x | +#define OUT_T_MSB 0x04 // | 0x00 | | | 0x | +#define OUT_T_LSB 0x05 // | 0x00 | | | 0x | +#define DR_STATUS 0x06 // | 0x00 | | | 0x | +#define OUT_P_DELTA_MSB 0x07 // | 0x00 | | | 0x | +#define OUT_P_DELTA_CSB 0x08 // | 0x00 | | | 0x | +#define OUT_P_DELTA_LSB 0x09 // | 0x00 | | | 0x | +#define OUT_T_DELTA_MSB 0x0A // | 0x00 | | | 0x | +#define OUT_T_DELTA_LSB 0x0B // | 0x00 | | | 0x | +#define WHO_AM_I 0x0C // | 0xC4 | | | 0x | +#define F_STATUS 0x0D // | 0x00 | | | 0x | +#define F_DATA 0x0E // | 0x00 | | | 0x | +#define F_SETUP 0x0F // | 0x00 | | | 0x | +#define TIME_DLY 0x10 // | 0x00 | | | 0x | +#define SYSMOD 0x11 // | 0x00 | | | 0x | +#define INT_SOURCE 0x12 // | 0x00 | | | 0x | +#define PT_DATA_CFG 0x13 // | 0x00 | | | 0x | +#define BAR_IN_MSB 0x14 // | 0xC5 | | | 0x | +#define BAR_IN_LSB 0x15 // | 0xE7 | | | 0x | +#define P_TGT_MSB 0x16 // | 0x00 | | | 0x | +#define P_TGT_LSB 0x17 // | 0x00 | | | 0x | +#define T_TGT 0x18 // | 0x00 | | | 0x | +#define P_WND_MSB 0x19 // | 0x00 | | | 0x | +#define P_WND_LSB 0x1A // | 0x00 | | | 0x | +#define T_WND 0x1B // | 0x00 | | | 0x | +#define P_MIN_MSB 0x1C // | 0x00 | | | 0x | +#define P_MIN_CSB 0x1D // | 0x00 | | | 0x | +#define P_MIN_LSB 0x1E // | 0x00 | | | 0x | +#define T_MIN_MSB 0x1F // | 0x00 | | | 0x | +#define T_MIN_LSB 0x20 // | 0x00 | | | 0x | +#define P_MAX_MSB 0x21 // | 0x00 | | | 0x | +#define P_MAX_CSB 0x22 // | 0x00 | | | 0x | +#define P_MAX_LSB 0x23 // | 0x00 | | | 0x | +#define T_MAX_MSB 0x24 // | 0x00 | | | 0x | +#define T_MAX_LSB 0x25 // | 0x00 | | | 0x | +#define CTRL_REG1 0x26 // | 0x00 | | | 0x | +#define CTRL_REG2 0x27 // | 0x00 | | | 0x | +#define CTRL_REG3 0x28 // | 0x00 | | | 0x | +#define CTRL_REG4 0x29 // | 0x00 | | | 0x | +#define CTRL_REG5 0x2A // | 0x00 | | | 0x | +#define OFF_P 0x2B // | 0x00 | | | 0x | +#define OFF_T 0x2C // | 0x00 | | | 0x | +#define OFF_H 0x2D // | 0x00 | | | 0x | + +//! MPL3115A2 I2C Barometric Pressure and Tempurature Sensor Library +//! This class wraps most of the function in the MPL3115A2 sensor leaving out the FIFO and interrupt system. +class MPL3115A2 +{ +public: + //! Constructs an MPL3115A2 object and associates an I2C and optional Serial debug object. + //! @param *i2c The I2C object to use for the sensor. + //! @param *pc An optional serial debug connection object. + MPL3115A2(I2C *i2c, Serial *pc = NULL); + + //! Initializes the sensor, defaulting to Altitude mode. This should be called before using + //! the sensor for the first time. + void init(); + + //! Queries the value from the WHO_AM_I register (usually equal to 0xC4). + //! @return The fixed device ID from the sensor. + char whoAmI() { return i2cRead(WHO_AM_I); } + + //! Reads Altitude data from the sensor and returns it in the Altitude object passed in. If + //! no data could be read, the Altitude object is left as is. + //! @param a A pointer to an Altitude object that will receive the sensor data. + //! @returns The Altitude pointer that was passed in. + Altitude* readAltitude(Altitude* a); + //! Reads Pressure data from the sensor and returns it in the Pressure object passed in. If + //! no data could be read, the Pressure object is left as is. + //! @param a A pointer to a Pressure object that will receive the sensor data. + //! @returns The Pressure pointer that was passed in. + Pressure* readPressure(Pressure* p); + //! Reads Temperature data from the sensor and returns it in the Temperature object passed in. If + //! no data could be read, the Temperature object is left as is. + //! @param a A pointer to an Temperature object that will receive the sensor data. + //! @returns The Temperature pointer that was passed in. + Temperature* readTemperature(Temperature* t); + + // Use these methods to set the sensor's offsets to increase its accuracy. You can generally + // find your current altitude with a smart phone or GPS. Same goes for the temperature. For + // the current pressure where you are, you may need an accurate weather station. Getting the + // pressure from the web for your area is generally not close enough to help with calibration. + // You may need to play with the setting to achieve good accuracy. I found the offset steps + // were not 100% accurate to the datasheet and had to adjust accordingly. + + //! Returns the altitude offset stored in the sensor. + char offsetAltitude() { return i2cRead(OFF_H); } + //! Sets the altitude offset stored in the sensor. The allowed offset range is from -128 to 127 meters. + void setOffsetAltitude(const char offset) { i2cWrite(OFF_H, offset); } + //! Returns the pressure offset stored in the sensor. + char offsetPressure() { return i2cRead(OFF_P); } + //! Sets the pressure offset stored in the sensor. The allowed offset range is from -128 to 127 where each LSB represents 4 Pa. + void setOffsetPressure(const char offset) { i2cWrite(OFF_P, offset); } + //! Returns the temperature offset stored in the sensor. + char offsetTemperature() { return i2cRead(OFF_T); } + //! Sets the temperature offset stored in the sensor. The allowed offset range is from -128 to 127 where each LSB represents 0.0625ºC. + void setOffsetTemperature(const char offset) { i2cWrite(OFF_T, offset); } + + //! Puts the sensor into Standby mode. Required when using methods below. + void setModeStandby(); + //! Activates the sensor to start taking measurements. + void setModeActive(); + + //! Puts the sensor into barometric mode, be sure to put the sensor in standby mode first. + void setModeBarometer(); + //! Puts the sensor into altimeter mode, be sure to put the sensor in standby mode first. + void setModeAltimeter(); + //! Sets the number of samples from 1 to 128, be sure to put the sensor in standby mode first. + void setOversampleRate(char rate); + //! Sets all the event flags, be sure to put the sensor in standby mode first. + void enableEventFlags(); + +private: + //! The I2C object we use to communicate with the sensor. It is not part + //! of the class so that it can be shared with other peripherals on the + //! bus. + I2C *_i2c; + + //! Set this in the constructor if you want the class to output debug messages. + //! If you need to pair down your code, you can remove this and all the + //! references to it in the code. + Serial *_debug; + + //! Debug method that mimics the printf function, but will output nothing if _debug has not + //! been set. This means you can safely us it in your code and nothing will happen if you don't + //! assign the _debug object. + void debugOut(const char * format, ...); + + //! This helper function is used to CLEAR bits. The mask should contain 1s in the position + //! where the bits need to be cleared. One or more bits can be cleared this way. + void clearRegisterBit(const char regAddr, const char bitMask); + //! This helper function is used to SET bits. The mask should contain 1s in the position + //! where the bits need to be set. One or more bits can be set this way. + void setRegisterBit(const char regAddr, const char bitMask); + + //! Helper functions to check if data is ready in a register for either temperature or pressure. + //! The mask passed in determines which register bit to look at. + int dataReady(const char mask); + //! Blocks for about 1/2 a second while checking the data ready bit. Returns 0 on sucees. + //! This function works for both altitude and barometric pressure depending on the mode the sensor is in. + int pressureDataReady() { return dataReady(0x04); } + //! Blocks for about 1/2 a second while checking the data ready bit. Returns 0 on sucees. + int temperatureDataReady() { return dataReady(0x02); } + + //! Called to force the sensor to take another sample + void toggleOneShot(); + + //! Helper functions to read one value from the I2C bus using the sensor's address. + char i2cRead(char regAddr); + //! Helper functions to write one value from the I2C bus using the sensor's address. + void i2cWrite(char regAddr, char value); +}; + +#endif // MPL3115A2_H diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.cpp b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.cpp new file mode 100644 index 00000000..a78ba9d5 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.cpp @@ -0,0 +1,73 @@ +#include "Pressure.h" +#include "mbed.h" + +Pressure::Pressure() +{ + _pressure = 0.0; + + _compressed[0] = 0; + _compressed[1] = 0; + _compressed[2] = 0; +} + +Pressure::Pressure(float a, unitsType units) +{ + setPressure(a, units); +} + +Pressure::Pressure(const char* compressed) +{ + setPressure(compressed); +} + +Pressure::Pressure(const char msb, const char csb, const char lsb) +{ + setPressure(msb, csb, lsb); +} + +void Pressure::setPressure() +{ + setPressure(_compressed[0], _compressed[1], _compressed[2]); +} + +void Pressure::setPressure(float a, unitsType units) +{ + // TODO: +} + +void Pressure::setPressure(const char* compressed) +{ + setPressure(compressed[0], compressed[1], compressed[2]); +} + +void Pressure::setPressure(const char msb, const char csb, const char lsb) +{ + long pressure_whole = (long)msb<<16 | (long)csb<<8 | (long)lsb; + pressure_whole >>= 6; // Pressure is an 18 bit number with 2 bits of decimal. Get rid of decimal portion. + + float pressure_decimal = (float)((lsb&0x30)>>4)/4.0; // Turn it into fraction + + _pressure = (float)pressure_whole + pressure_decimal; +} + +float Pressure::pressure(unitsType units) +{ + // http://www.asknumbers.com/ + switch (units) + { + case PSI: + return _pressure * 0.000145037738; + case INHG: + return _pressure * 0.00029529983071; + case MMHG: + return _pressure * 0.007500615613; + } + + return _pressure; +} + +const char* Pressure::print(unitsType units) +{ + sprintf(_printBuffer, "%.0f", pressure(units)); + return _printBuffer; +} diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.h b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.h new file mode 100644 index 00000000..8aa4b4b4 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.h @@ -0,0 +1,56 @@ +/* + MPL3115A2 Barometric Pressure and Tempurature Sensor Library + By: Michael Lange + Date: March 31, 2014 + License: This code is public domain. + + This class encapsulates a pressure reading from the sensor. + + */ + + +#ifndef PRESSURE_H +#define PRESSURE_H + +#include "mbed.h" + +//! Pressure provides a wrapper around barometric data coming from the sensor. The class handles +//! working with compressed data from the sensor and provides convenient functions for retreiving +//! the data in various units (with room to add more if needed). +class Pressure +{ +public: + + //! The size of the compressed data buffer from the sensor. Used in an I2C read. + static const int size = 3; + + //! The units we support converting the sensor data to. + enum unitsType { PASCALS, PSI, INHG, MMHG }; + + Pressure(); + Pressure(float a, unitsType units = PASCALS); + Pressure(const char* compressed); + Pressure(const char msb, const char csb, const char lsb); + + //! Allows using the object directly in an I2C read operation. + operator char*(void) { return _compressed; } + //! Same as calling pressure with PASCALS as the parameter. + operator float(void) { return _pressure; } + + float pressure(unitsType units = PASCALS); + //! Call to decompress the sensor data after an I2C read. + void setPressure(); + void setPressure(const char* compressed); + void setPressure(const char msb, const char csb, const char lsb); + void setPressure(float a, unitsType units = PASCALS); + + //! Returns the pressure as a string in the units specified, defaulting to PASCAL if none specified. + const char* print(unitsType units = PASCALS); + +private: + float _pressure; + char _compressed[3]; + char _printBuffer[9]; +}; + +#endif // PRESSURE_H \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.cpp b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.cpp new file mode 100644 index 00000000..a14e5232 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.cpp @@ -0,0 +1,66 @@ +#include "Temperature.h" +#include "mbed.h" + +Temperature::Temperature() +{ + _temperature = 0.0; + + _compressed[0] = 0; + _compressed[1] = 0; +} + +Temperature::Temperature(float t, unitsType units) +{ + setTemperature(t, units); +} + +Temperature::Temperature(const char* compressed) +{ + setTemperature(compressed); +} + +Temperature::Temperature(const char msb, const char lsb) +{ + setTemperature(msb, lsb); +} + +void Temperature::setTemperature() +{ + setTemperature(_compressed[0], _compressed[1]); +} + +void Temperature::setTemperature(float t, unitsType units) +{ + // TODO: +} + +void Temperature::setTemperature(const char* compressed) +{ + setTemperature(compressed[0], compressed[1]); +} + +void Temperature::setTemperature(const char msb, const char lsb) +{ + float templsb = (lsb>>4) / 16.0; //temp, fraction of a degree + _temperature = (float)(msb + templsb); +} + +float Temperature::temperature(unitsType units) +{ + switch (units) + { + case FAHRENHEIT: + return (_temperature * 9.0)/ 5.0 + 32.0; + + case KELVIN: + return _temperature + 273.15; + } + + return _temperature; +} + +const char* Temperature::print(unitsType units) +{ + sprintf(_printBuffer, "%.1f", temperature(units)); + return _printBuffer; +} diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.h b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.h new file mode 100644 index 00000000..1ed82542 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.h @@ -0,0 +1,56 @@ +/* + MPL3115A2 Barometric Pressure and Tempurature Sensor Library + By: Michael Lange + Date: March 31, 2014 + License: This code is public domain. + + This class encapsulates a temperature reading from the sensor. + + */ + + +#ifndef TEMPERATURE_H +#define TEMPERATURE_H + +#include "mbed.h" + +//! Temperature provides a wrapper around temperature data coming from the sensor. The class handles +//! working with compressed data from the sensor and provides convenient functions for retreiving +//! the data in various units (with room to add more if needed). +class Temperature +{ +public: + + //! The size of the compressed data buffer from the sensor. Used in an I2C read. + static const int size = 2; + + //! The units we support converting the sensor data to. + enum unitsType { CELSIUS, FAHRENHEIT, KELVIN }; + + Temperature(); + Temperature(float a, unitsType units = FAHRENHEIT); + Temperature(const char* compressed); + Temperature(const char msb, const char lsb); + + //! Allows using the object directly in an I2C read operation. + operator char*(void) { return _compressed; } + //! Same as calling temperature with FAHRENHEIT as the parameter. + operator float(void) { return _temperature; } + + float temperature(unitsType units = FAHRENHEIT); + //! Call to decompress the sensor data after an I2C read. + void setTemperature(); + void setTemperature(const char* compressed); + void setTemperature(const char msb, const char lsb); + void setTemperature(float a, unitsType units = FAHRENHEIT); + + //! Returns the temperature as a string in the units specified, defaulting to FAHRENHEIT if none specified. + const char* print(unitsType units = FAHRENHEIT); + +private: + float _temperature; + char _compressed[2]; + char _printBuffer[9]; +}; + +#endif // TEMPERATURE_H \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/00changelog.i b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/00changelog.i new file mode 100644 index 0000000000000000000000000000000000000000..d3a8311050e54c57c5be7cfe169e60a95768812c GIT binary patch literal 57 zcmWN_K?=Yi3 +[ui] +ignore.local = .hg/hgignore diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/requires b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/requires new file mode 100644 index 00000000..64bcea13 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/requires @@ -0,0 +1,5 @@ +dotencode +fncache +generaldelta 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b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/undo.dirstate new file mode 100644 index 00000000..e69de29b diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/MPU9250.h b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/MPU9250.h new file mode 100644 index 00000000..fa100838 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/MPU9250.h @@ -0,0 +1,874 @@ +#ifndef MPU9250_H +#define MPU9250_H + +#include "mbed.h" +#include "math.h" + +// See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in +// above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map +// +//Magnetometer Registers +#define AK8963_ADDRESS 0x0C<<1 +#define WHO_AM_I_AK8963 0x00 // should return 0x48 +#define INFO 0x01 +#define AK8963_ST1 0x02 // data ready status bit 0 +#define AK8963_XOUT_L 0x03 // data +#define AK8963_XOUT_H 0x04 +#define AK8963_YOUT_L 0x05 +#define AK8963_YOUT_H 0x06 +#define AK8963_ZOUT_L 0x07 +#define AK8963_ZOUT_H 0x08 +#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2 +#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0 +#define AK8963_ASTC 0x0C // Self test control +#define AK8963_I2CDIS 0x0F // I2C disable +#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value +#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value +#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value + +#define SELF_TEST_X_GYRO 0x00 +#define SELF_TEST_Y_GYRO 0x01 +#define SELF_TEST_Z_GYRO 0x02 + +/*#define X_FINE_GAIN 0x03 // [7:0] fine gain +#define Y_FINE_GAIN 0x04 +#define Z_FINE_GAIN 0x05 +#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer +#define XA_OFFSET_L_TC 0x07 +#define YA_OFFSET_H 0x08 +#define YA_OFFSET_L_TC 0x09 +#define ZA_OFFSET_H 0x0A +#define ZA_OFFSET_L_TC 0x0B */ + +#define SELF_TEST_X_ACCEL 0x0D +#define SELF_TEST_Y_ACCEL 0x0E +#define SELF_TEST_Z_ACCEL 0x0F + +#define SELF_TEST_A 0x10 + +#define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope +#define XG_OFFSET_L 0x14 +#define YG_OFFSET_H 0x15 +#define YG_OFFSET_L 0x16 +#define ZG_OFFSET_H 0x17 +#define ZG_OFFSET_L 0x18 +#define SMPLRT_DIV 0x19 +#define CONFIG 0x1A +#define GYRO_CONFIG 0x1B +#define ACCEL_CONFIG 0x1C +#define ACCEL_CONFIG2 0x1D +#define LP_ACCEL_ODR 0x1E +#define WOM_THR 0x1F + +#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms +#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] +#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms + +#define FIFO_EN 0x23 +#define I2C_MST_CTRL 0x24 +#define I2C_SLV0_ADDR 0x25 +#define I2C_SLV0_REG 0x26 +#define I2C_SLV0_CTRL 0x27 +#define I2C_SLV1_ADDR 0x28 +#define I2C_SLV1_REG 0x29 +#define I2C_SLV1_CTRL 0x2A +#define I2C_SLV2_ADDR 0x2B +#define I2C_SLV2_REG 0x2C +#define I2C_SLV2_CTRL 0x2D +#define I2C_SLV3_ADDR 0x2E +#define I2C_SLV3_REG 0x2F +#define I2C_SLV3_CTRL 0x30 +#define I2C_SLV4_ADDR 0x31 +#define I2C_SLV4_REG 0x32 +#define I2C_SLV4_DO 0x33 +#define I2C_SLV4_CTRL 0x34 +#define I2C_SLV4_DI 0x35 +#define I2C_MST_STATUS 0x36 +#define INT_PIN_CFG 0x37 +#define INT_ENABLE 0x38 +#define DMP_INT_STATUS 0x39 // Check DMP interrupt +#define INT_STATUS 0x3A +#define ACCEL_XOUT_H 0x3B +#define ACCEL_XOUT_L 0x3C +#define ACCEL_YOUT_H 0x3D +#define ACCEL_YOUT_L 0x3E +#define ACCEL_ZOUT_H 0x3F +#define ACCEL_ZOUT_L 0x40 +#define TEMP_OUT_H 0x41 +#define TEMP_OUT_L 0x42 +#define GYRO_XOUT_H 0x43 +#define GYRO_XOUT_L 0x44 +#define GYRO_YOUT_H 0x45 +#define GYRO_YOUT_L 0x46 +#define GYRO_ZOUT_H 0x47 +#define GYRO_ZOUT_L 0x48 +#define EXT_SENS_DATA_00 0x49 +#define EXT_SENS_DATA_01 0x4A +#define EXT_SENS_DATA_02 0x4B +#define EXT_SENS_DATA_03 0x4C +#define EXT_SENS_DATA_04 0x4D +#define EXT_SENS_DATA_05 0x4E +#define EXT_SENS_DATA_06 0x4F +#define EXT_SENS_DATA_07 0x50 +#define EXT_SENS_DATA_08 0x51 +#define EXT_SENS_DATA_09 0x52 +#define EXT_SENS_DATA_10 0x53 +#define EXT_SENS_DATA_11 0x54 +#define EXT_SENS_DATA_12 0x55 +#define EXT_SENS_DATA_13 0x56 +#define EXT_SENS_DATA_14 0x57 +#define EXT_SENS_DATA_15 0x58 +#define EXT_SENS_DATA_16 0x59 +#define EXT_SENS_DATA_17 0x5A +#define EXT_SENS_DATA_18 0x5B +#define EXT_SENS_DATA_19 0x5C +#define EXT_SENS_DATA_20 0x5D +#define EXT_SENS_DATA_21 0x5E +#define EXT_SENS_DATA_22 0x5F +#define EXT_SENS_DATA_23 0x60 +#define MOT_DETECT_STATUS 0x61 +#define I2C_SLV0_DO 0x63 +#define I2C_SLV1_DO 0x64 +#define I2C_SLV2_DO 0x65 +#define I2C_SLV3_DO 0x66 +#define I2C_MST_DELAY_CTRL 0x67 +#define SIGNAL_PATH_RESET 0x68 +#define MOT_DETECT_CTRL 0x69 +#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP +#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode +#define PWR_MGMT_2 0x6C +#define DMP_BANK 0x6D // Activates a specific bank in the DMP +#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank +#define DMP_REG 0x6F // Register in DMP from which to read or to which to write +#define DMP_REG_1 0x70 +#define DMP_REG_2 0x71 +#define FIFO_COUNTH 0x72 +#define FIFO_COUNTL 0x73 +#define FIFO_R_W 0x74 +#define WHO_AM_I_MPU9250 0x75 // Should return 0x71 +#define XA_OFFSET_H 0x77 +#define XA_OFFSET_L 0x78 +#define YA_OFFSET_H 0x7A +#define YA_OFFSET_L 0x7B +#define ZA_OFFSET_H 0x7D +#define ZA_OFFSET_L 0x7E + +// Using the MSENSR-9250 breakout board, ADO is set to 0 +// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 +//mbed uses the eight-bit device address, so shift seven-bit addresses left by one! +#define ADO 0 +#if ADO +#define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1 +#else +#define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0 +#endif + +// Set initial input parameters +enum Ascale { + AFS_2G = 0, + AFS_4G, + AFS_8G, + AFS_16G +}; + +enum Gscale { + GFS_250DPS = 0, + GFS_500DPS, + GFS_1000DPS, + GFS_2000DPS +}; + +enum Mscale { + MFS_14BITS = 0, // 0.6 mG per LSB + MFS_16BITS // 0.15 mG per LSB +}; + +uint8_t Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G +uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS +uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution +uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR +float aRes, gRes, mRes; // scale resolutions per LSB for the sensors + +//Set up I2C, (SDA,SCL) +I2C i2c(I2C_SDA, I2C_SCL); + +DigitalOut myled(LED1); + +// Pin definitions +int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins + +int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output +int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output +int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output +float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0}; // Factory mag calibration and mag bias +float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer +float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values +int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius +float temperature; +float SelfTest[6]; + +int delt_t = 0; // used to control display output rate +int count = 0; // used to control display output rate + +// parameters for 6 DoF sensor fusion calculations +float PI = 3.14159265358979323846f; +float GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3 +float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta +float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) +float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value +#define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral +#define Ki 0.0f + +float pitch, yaw, roll; +float deltat = 0.0f; // integration interval for both filter schemes +int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval +float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion +float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method + +class MPU9250 { + + protected: + + public: + //=================================================================================================================== +//====== Set of useful function to access acceleratio, gyroscope, and temperature data +//=================================================================================================================== + + void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) +{ + char data_write[2]; + data_write[0] = subAddress; + data_write[1] = data; + i2c.write(address, data_write, 2, 0); +} + + char readByte(uint8_t address, uint8_t subAddress) +{ + char data[1]; // `data` will store the register data + char data_write[1]; + data_write[0] = subAddress; + i2c.write(address, data_write, 1, 1); // no stop + i2c.read(address, data, 1, 0); + return data[0]; +} + + void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) +{ + char data[14]; + char data_write[1]; + data_write[0] = subAddress; + i2c.write(address, data_write, 1, 1); // no stop + i2c.read(address, data, count, 0); + for(int ii = 0; ii < count; ii++) { + dest[ii] = data[ii]; + } +} + + +void getMres() { + switch (Mscale) + { + // Possible magnetometer scales (and their register bit settings) are: + // 14 bit resolution (0) and 16 bit resolution (1) + case MFS_14BITS: + mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss + break; + case MFS_16BITS: + mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss + break; + } +} + + +void getGres() { + switch (Gscale) + { + // Possible gyro scales (and their register bit settings) are: + // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11). + // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: + case GFS_250DPS: + gRes = 250.0/32768.0; + break; + case GFS_500DPS: + gRes = 500.0/32768.0; + break; + case GFS_1000DPS: + gRes = 1000.0/32768.0; + break; + case GFS_2000DPS: + gRes = 2000.0/32768.0; + break; + } +} + + +void getAres() { + switch (Ascale) + { + // Possible accelerometer scales (and their register bit settings) are: + // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11). + // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: + case AFS_2G: + aRes = 2.0/32768.0; + break; + case AFS_4G: + aRes = 4.0/32768.0; + break; + case AFS_8G: + aRes = 8.0/32768.0; + break; + case AFS_16G: + aRes = 16.0/32768.0; + break; + } +} + + +void readAccelData(int16_t * destination) +{ + uint8_t rawData[6]; // x/y/z accel register data stored here + readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array + destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value + destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; + destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; +} + +void readGyroData(int16_t * destination) +{ + uint8_t rawData[6]; // x/y/z gyro register data stored here + readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array + destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value + destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; + destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; +} + +void readMagData(int16_t * destination) +{ + uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition + if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set + readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array + uint8_t c = rawData[6]; // End data read by reading ST2 register + if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data + destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value + destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian + destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ; + } + } +} + +int16_t readTempData() +{ + uint8_t rawData[2]; // x/y/z gyro register data stored here + readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array + return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value +} + + +void resetMPU9250() { + // reset device + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device + wait(0.1); + } + + void initAK8963(float * destination) +{ + // First extract the factory calibration for each magnetometer axis + uint8_t rawData[3]; // x/y/z gyro calibration data stored here + writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer + wait(0.01); + writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode + wait(0.01); + readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values + destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc. + destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f; + destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f; + writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer + wait(0.01); + // Configure the magnetometer for continuous read and highest resolution + // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register, + // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates + writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR + wait(0.01); +} + + +void initMPU9250() +{ + // Initialize MPU9250 device + // wake up device + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors + wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt + + // get stable time source + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 + + // Configure Gyro and Accelerometer + // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively; + // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both + // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate + writeByte(MPU9250_ADDRESS, CONFIG, 0x03); + + // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV) + writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above + + // Set gyroscope full scale range + // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3 + uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); + writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] + writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3] + writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro + + // Set accelerometer configuration + c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG); + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3] + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer + + // Set accelerometer sample rate configuration + // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for + // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz + c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2); + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0]) + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz + + // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates, + // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting + + // Configure Interrupts and Bypass Enable + // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips + // can join the I2C bus and all can be controlled by the Arduino as master + writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22); + writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt +} + +// Function which accumulates gyro and accelerometer data after device initialization. It calculates the average +// of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers. +void calibrateMPU9250(float * dest1, float * dest2) +{ + uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data + uint16_t ii, packet_count, fifo_count; + int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0}; + +// reset device, reset all registers, clear gyro and accelerometer bias registers + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device + wait(0.1); + +// get stable time source +// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); + writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00); + wait(0.2); + +// Configure device for bias calculation + writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts + writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source + writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master + writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes + writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP + wait(0.015); + +// Configure MPU9250 gyro and accelerometer for bias calculation + writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz + writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz + writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity + + uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec + uint16_t accelsensitivity = 16384; // = 16384 LSB/g + +// Configure FIFO to capture accelerometer and gyro data for bias calculation + writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO + writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250) + wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes + +// At end of sample accumulation, turn off FIFO sensor read + writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO + readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count + fifo_count = ((uint16_t)data[0] << 8) | data[1]; + packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging + + for (ii = 0; ii < packet_count; ii++) { + int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0}; + readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging + accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO + accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ; + accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ; + gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ; + gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ; + gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ; + + accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases + accel_bias[1] += (int32_t) accel_temp[1]; + accel_bias[2] += (int32_t) accel_temp[2]; + gyro_bias[0] += (int32_t) gyro_temp[0]; + gyro_bias[1] += (int32_t) gyro_temp[1]; + gyro_bias[2] += (int32_t) gyro_temp[2]; + +} + accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases + accel_bias[1] /= (int32_t) packet_count; + accel_bias[2] /= (int32_t) packet_count; + gyro_bias[0] /= (int32_t) packet_count; + gyro_bias[1] /= (int32_t) packet_count; + gyro_bias[2] /= (int32_t) packet_count; + + if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation + else {accel_bias[2] += (int32_t) accelsensitivity;} + +// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup + data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format + data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases + data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF; + data[3] = (-gyro_bias[1]/4) & 0xFF; + data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF; + data[5] = (-gyro_bias[2]/4) & 0xFF; + +/// Push gyro biases to hardware registers +/* writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]); + writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]); + writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]); + writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]); + writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]); + writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]); +*/ + dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction + dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity; + dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity; + +// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain +// factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold +// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature +// compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that +// the accelerometer biases calculated above must be divided by 8. + + int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases + readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values + accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1]; + readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]); + accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1]; + readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]); + accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1]; + + uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers + uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis + + for(ii = 0; ii < 3; ii++) { + if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit + } + + // Construct total accelerometer bias, including calculated average accelerometer bias from above + accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale) + accel_bias_reg[1] -= (accel_bias[1]/8); + accel_bias_reg[2] -= (accel_bias[2]/8); + + data[0] = (accel_bias_reg[0] >> 8) & 0xFF; + data[1] = (accel_bias_reg[0]) & 0xFF; + data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers + data[2] = (accel_bias_reg[1] >> 8) & 0xFF; + data[3] = (accel_bias_reg[1]) & 0xFF; + data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers + data[4] = (accel_bias_reg[2] >> 8) & 0xFF; + data[5] = (accel_bias_reg[2]) & 0xFF; + data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers + +// Apparently this is not working for the acceleration biases in the MPU-9250 +// Are we handling the temperature correction bit properly? +// Push accelerometer biases to hardware registers +/* writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]); + writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]); + writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]); + writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]); + writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]); + writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]); +*/ +// Output scaled accelerometer biases for manual subtraction in the main program + dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; + dest2[1] = (float)accel_bias[1]/(float)accelsensitivity; + dest2[2] = (float)accel_bias[2]/(float)accelsensitivity; +} + + +// Accelerometer and gyroscope self test; check calibration wrt factory settings +void MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass +{ + uint8_t rawData[6] = {0, 0, 0, 0, 0, 0}; + uint8_t selfTest[6]; + int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3]; + float factoryTrim[6]; + uint8_t FS = 0; + + writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz + writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz + writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1< 0.0f) + { + eInt[0] += ex; // accumulate integral error + eInt[1] += ey; + eInt[2] += ez; + } + else + { + eInt[0] = 0.0f; // prevent integral wind up + eInt[1] = 0.0f; + eInt[2] = 0.0f; + } + + // Apply feedback terms + gx = gx + Kp * ex + Ki * eInt[0]; + gy = gy + Kp * ey + Ki * eInt[1]; + gz = gz + Kp * ez + Ki * eInt[2]; + + // Integrate rate of change of quaternion + pa = q2; + pb = q3; + pc = q4; + q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat); + q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat); + q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat); + q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat); + + // Normalise quaternion + norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); + norm = 1.0f / norm; + q[0] = q1 * norm; + q[1] = q2 * norm; + q[2] = q3 * norm; + q[3] = q4 * norm; + + } + }; +#endif \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/N5110.lib b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/N5110.lib new file mode 100644 index 00000000..fc0544d9 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/N5110.lib @@ -0,0 +1 @@ +http://mbed.org/users/onehorse/code/Adfs/#28c629d0b0d0 diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ.lib b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ.lib new file mode 100644 index 00000000..90bd02e9 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ.lib @@ -0,0 +1 @@ +http://mbed.org/users/dreschpe/code/ST_401_84MHZ/#b9343c8b85ec diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/00changelog.i b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/00changelog.i new file mode 100644 index 0000000000000000000000000000000000000000..d3a8311050e54c57c5be7cfe169e60a95768812c GIT binary patch literal 57 zcmWN_K?=Yi328YDEnHU(xTbTHI UMCm0L6hKw5&V;JqM^%vl0BFY?Q2+n{ literal 0 HcmV?d00001 diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/hgignore b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/hgignore new file mode 100644 index 00000000..504a10b6 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/hgignore @@ -0,0 +1,28 @@ +syntax: glob +.hg +.git +.svn +.CVS +.cvs +*.orig +BUILD +.build +.export +.msub +.meta +.ctags* +*.uvproj +*.uvopt +*.project +*.cproject +*.launch +*.ewp +*.eww +/Makefile +Debug +*.htm +.mbed +*.settings +mbed_settings.py +*.py[cod] 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b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.branch @@ -0,0 +1 @@ +default \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.desc b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.desc new file mode 100644 index 00000000..b556ea32 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.desc @@ -0,0 +1,3 @@ +0 +pull +https://mbed.org/users/dreschpe/code/ST_401_84MHZ diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.dirstate b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.dirstate new file mode 100644 index 00000000..e69de29b diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.cpp b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.cpp new file mode 100644 index 00000000..2b7da5e5 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.cpp @@ -0,0 +1,71 @@ +// use the STM32CubeMX Tool to calculate the register settings +// www.st.com/stm32cube‎ +// + +#include "stm32f4xx_hal.h" +#include "ST_F401_84MHZ.h" + +F401_init84::F401_init84(unsigned int external){ + if(external == 1){ + SystemClock_Config_84MHz_external(); + } + else { + SystemClock_Config_84MHz_internal(); + } + } + +void F401_init84::SystemClock_Config_84MHz_internal(void) +{ + HAL_RCC_DeInit(); // we have to reset the clock settings ! + RCC_ClkInitTypeDef RCC_ClkInitStruct; + RCC_OscInitTypeDef RCC_OscInitStruct; + + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; // internal 16MHz RC + RCC_OscInitStruct.HSIState = RCC_HSI_ON; + RCC_OscInitStruct.HSICalibrationValue = 6; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; // PLL on + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; + RCC_OscInitStruct.PLL.PLLM = 16; // setup PLL divider + RCC_OscInitStruct.PLL.PLLN = 336; + RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4; + RCC_OscInitStruct.PLL.PLLQ = 4; + HAL_RCC_OscConfig(&RCC_OscInitStruct); + + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; + HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2); + SystemCoreClockUpdate(); // update SystemCoreClock var +} + + +// use a external 8 MHz crystal to generate the CPU clock +// You have to add X3 8MHz +// C33,C34 18pF 0603 +// R35,R37 0R 0603 or use wire + + +void F401_init84::SystemClock_Config_84MHz_external(void) +{ + HAL_RCC_DeInit(); // we have to reset the clock settings ! + RCC_ClkInitTypeDef RCC_ClkInitStruct; + RCC_OscInitTypeDef RCC_OscInitStruct; + + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.HSEState = RCC_HSE_ON; + RCC_OscInitStruct.LSIState = RCC_LSI_ON; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; + RCC_OscInitStruct.PLL.PLLM = 8; + RCC_OscInitStruct.PLL.PLLN = 336; + RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4; + RCC_OscInitStruct.PLL.PLLQ = 4; + HAL_RCC_OscConfig(&RCC_OscInitStruct); + + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; + HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2); + SystemCoreClockUpdate(); // update SystemCoreClock var + +} diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.h b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.h new file mode 100644 index 00000000..40409e77 --- /dev/null +++ b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.h @@ -0,0 +1,44 @@ +/* mbed library for the ST NUCLEO board F401RE + * to change the CPU clock to 84 MHz + * + * Copyright (c) 2014 Peter Drescher - DC2PD + * Released under the MIT License: http://mbed.org/license/mit + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ +#ifndef MBED_ST_F401_84MHZ_H +#define MBED_ST_F401_84MHZ_H + +/** Setup speed to 84 MHz + * + * @code + * #include "mbed.h" + * #include "ST_F401_84MHZ.h" + * + * // place the init before other code to ensure right timing of other objects ! + * F401_init84 myinit(0); // use the internal oscillator + * + */ + +class F401_init84 +{ +public: + /** Create a F401_init84 object to change the clock + * @param external = 0 use internal oscillator + * @param external = 1 use external 8 MHz crystal - you have to add some comonents to the pcb ! +*/ +F401_init84(unsigned int external); + +protected: +// do the magic ;-) +void SystemClock_Config_84MHz_internal(void); +void SystemClock_Config_84MHz_external(void); +}; + +#endif \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/main.cpp b/flight_computers/firmware/flight_computer/main.cpp index b09cfa9b..6816d5ec 100644 --- a/flight_computers/firmware/flight_computer/main.cpp +++ b/flight_computers/firmware/flight_computer/main.cpp @@ -1,8 +1,10 @@ #include +#include "lib/MPU9250AHRS/MPU9250.h" +#include "lib/MPL3115A2/MPL3115A2.h" // Pin definitions -#define I2C_SDA PB_7 -#define I2C_SCL PB_6 +#define I2C_SENSOR_SDA PB_7 +#define I2C_SENSOR_SCL PB_6 #define TPC_RX PA_10 #define TPC_TX PA_9 #define EC_RX PC_7 @@ -15,7 +17,7 @@ // TODO define bp stuff -I2C i2c(I2C_SDA, I2C_SCL); +I2C i2c_sensors(I2C_SENSOR_SDA, I2C_SENSOR_SCL); const int ALTIMETER_I2C_ADDR = 0xC0; const int IMU_I2C_ADDR = 0xD0; From 2b45d75e9a757cc564661b2f26b7e2e70ab7e91e Mon Sep 17 00:00:00 2001 From: Neelay Junnarkar Date: Fri, 25 Jan 2019 17:37:42 -0800 Subject: [PATCH 66/73] test to ignite a black powder off and on repeatedly --- .../firmware/flight_computer/main.cpp | 36 ++++++++++++++++++- 1 file changed, 35 insertions(+), 1 deletion(-) diff --git a/flight_computers/firmware/flight_computer/main.cpp b/flight_computers/firmware/flight_computer/main.cpp index 6816d5ec..4a62bc40 100644 --- a/flight_computers/firmware/flight_computer/main.cpp +++ b/flight_computers/firmware/flight_computer/main.cpp @@ -5,17 +5,40 @@ // Pin definitions #define I2C_SENSOR_SDA PB_7 #define I2C_SENSOR_SCL PB_6 + #define TPC_RX PA_10 #define TPC_TX PA_9 + #define EC_RX PC_7 #define EC_TX PC_6 + #define DEBUG_RX PA_3 #define DEBUG_TX PA_2 + #define STATE_LED_RED PA_8 #define STATE_LED_GREEN PC_9 #define STATE_LED_BLUE PC_8 -// TODO define bp stuff +#define BP1_IGNITE PB_15 +#define BP1_CONT PB_14 + +#define BP2_IGNITE PB_13 +#define BP2_CONT PB_12 + +#define BP3_IGNITE PB_10 +#define BP3_CONT PB_2 + +#define BP4_IGNITE PB_0 +#define BP4_CONT PB_1 + +#define BP5_IGNITE PC_5 +#define BP5_CONT PC_4 + +#define BP6_IGNITE PA_7 +#define BP6_CONT PA_6 + +#define BP7_IGNITE PA_5 +#define BP7_CONT PA_4 I2C i2c_sensors(I2C_SENSOR_SDA, I2C_SENSOR_SCL); const int ALTIMETER_I2C_ADDR = 0xC0; @@ -31,5 +54,16 @@ DigitalOut led_green(STATE_LED_GREEN); DigitalOut led_blue(STATE_LED_BLUE); int main() { + + DigitalOut bp7_ig(BP7_IGNITE); + bp7_ig = 0; + + while (true) { + bp7_ig = 1; + wait(0.5); + bp7_ig = 0; + wait(0.5); + } + return 0; } From 8f2473d76ba9fb7b34b8fafd65f97be2bcc21770 Mon Sep 17 00:00:00 2001 From: Jaren Mendelsohn Date: Sat, 26 Jan 2019 15:43:39 -0800 Subject: [PATCH 67/73] Rainbow LED test program --- .../firmware/flight_computer/main.cpp | 28 ++++++++++++++++++- 1 file changed, 27 insertions(+), 1 deletion(-) diff --git a/flight_computers/firmware/flight_computer/main.cpp b/flight_computers/firmware/flight_computer/main.cpp index 4a62bc40..8395f1b7 100644 --- a/flight_computers/firmware/flight_computer/main.cpp +++ b/flight_computers/firmware/flight_computer/main.cpp @@ -53,7 +53,9 @@ DigitalOut led_red(STATE_LED_RED); DigitalOut led_green(STATE_LED_GREEN); DigitalOut led_blue(STATE_LED_BLUE); -int main() { +MPL3115A2 altimeter(&i2c_sensors); + +int bp_test() { DigitalOut bp7_ig(BP7_IGNITE); bp7_ig = 0; @@ -67,3 +69,27 @@ int main() { return 0; } + +int rainbow_test() { + while (true) { + for (int r = 0; r < 2; r++) { + for (int g = 0; g < 2; g++) { + for (int b = 0; b < 2; b++) { + led_red.write(r); + led_green.write(g); + led_blue.write(b); + wait(1); + } + } + } + } +} + +int altimeter_test() { + altimeter.init(); + +} + +int main() { + rainbow_test(); +} \ No newline at end of file From 4d346313cd84184d5454b5836b50003613dc6cc8 Mon Sep 17 00:00:00 2001 From: Jaren Mendelsohn Date: Sat, 26 Jan 2019 17:32:57 -0800 Subject: [PATCH 68/73] Altimeter and IMU tests (untested) --- .../firmware/flight_computer/main.cpp | 62 ++++++++++++++++--- 1 file changed, 53 insertions(+), 9 deletions(-) diff --git a/flight_computers/firmware/flight_computer/main.cpp b/flight_computers/firmware/flight_computer/main.cpp index 8395f1b7..02ba7a0a 100644 --- a/flight_computers/firmware/flight_computer/main.cpp +++ b/flight_computers/firmware/flight_computer/main.cpp @@ -15,10 +15,17 @@ #define DEBUG_RX PA_3 #define DEBUG_TX PA_2 +#define BAUDRATE 9600 + #define STATE_LED_RED PA_8 #define STATE_LED_GREEN PC_9 #define STATE_LED_BLUE PC_8 +// For black box --> testing +//#define STATE_LED_RED PC_8 +//#define STATE_LED_GREEN PA_8 +//#define STATE_LED_BLUE PC_9 + #define BP1_IGNITE PB_15 #define BP1_CONT PB_14 @@ -53,9 +60,19 @@ DigitalOut led_red(STATE_LED_RED); DigitalOut led_green(STATE_LED_GREEN); DigitalOut led_blue(STATE_LED_BLUE); +Altitude altitude; MPL3115A2 altimeter(&i2c_sensors); -int bp_test() { +MPU9250 imu; + +void led_color(bool r, bool g, bool b) { + // Flip because common anode + led_red.write(!r); + led_green.write(!g); + led_blue.write(!b); +} + +void bp_test() { DigitalOut bp7_ig(BP7_IGNITE); bp7_ig = 0; @@ -66,18 +83,14 @@ int bp_test() { bp7_ig = 0; wait(0.5); } - - return 0; } -int rainbow_test() { +void rainbow_test() { while (true) { for (int r = 0; r < 2; r++) { for (int g = 0; g < 2; g++) { for (int b = 0; b < 2; b++) { - led_red.write(r); - led_green.write(g); - led_blue.write(b); + led_color(r, g, b); wait(1); } } @@ -85,11 +98,42 @@ int rainbow_test() { } } -int altimeter_test() { +void altimeter_test() { + led_color(1, 0, 0); + wait(10); + led_color(0, 0, 1); altimeter.init(); + debug_talk.baud(BAUDRATE); + debug_talk.printf("Begin program\n\n"); + uint8_t whoami = altimeter.whoAmI(); + if (whoami == 0xC4) { + debug_talk.printf("Successfully connected\n"); + while (true) { + altimeter.readAltitude(&altitude); + debug_talk.printf("Altitude: %f\n", altitude.altitude()); + wait(0.5); + } + } else { + debug_talk.printf("Failed to connect to altimeter\n"); + } +} +void imu_test() { + // Could just use: + // https://os.mbed.com/users/onehorse/code/MPU9250AHRS/file/4e59a37182df/main.cpp/ + led_color(0, 1, 0); + wait(10); + led_color(0, 0, 1); + debug_talk.baud(BAUDRATE); + debug_talk.printf("Begin program\n\n"); + uint8_t whoami = imu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); + if (whoami == 0x71) { + debug_talk.printf("Successfully connected\n"); + } else { + debug_talk.printf("Failed to connect to IMU\n"); + } } int main() { - rainbow_test(); + altimeter_test(); } \ No newline at end of file From 74390141a5fc43e4dbe0e25db5a41282ba60f61d Mon Sep 17 00:00:00 2001 From: Jaren Mendelsohn Date: Tue, 29 Jan 2019 22:16:42 -0800 Subject: [PATCH 69/73] Debug printing altimeter read (MODIFIES LIBARRY, SHOULD REVERT EVENTUALLY), blackbox testing easier --- .../lib/MPL3115A2/MPL3115A2.cpp | 3 +- .../firmware/flight_computer/main.cpp | 73 +++++++++++-------- 2 files changed, 45 insertions(+), 31 deletions(-) diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp b/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp index 675aed7d..8d85927b 100644 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp +++ b/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp @@ -70,7 +70,8 @@ Altitude* MPL3115A2::readAltitude(Altitude* a) // takes care of converting the compressed data from the sensor, and // provides functions to get the data in various units. And it also // has a print function to output the data as a string. - _i2c->read(MPL3115A2_ADDRESS, (*a), Altitude::size); + int result = _i2c->read(MPL3115A2_ADDRESS, (*a), Altitude::size); + _debug->printf("Result: %d\n", result); a->setAltitude(); return a; diff --git a/flight_computers/firmware/flight_computer/main.cpp b/flight_computers/firmware/flight_computer/main.cpp index 02ba7a0a..06404867 100644 --- a/flight_computers/firmware/flight_computer/main.cpp +++ b/flight_computers/firmware/flight_computer/main.cpp @@ -2,51 +2,46 @@ #include "lib/MPU9250AHRS/MPU9250.h" #include "lib/MPL3115A2/MPL3115A2.h" -// Pin definitions +#define BLACKBOX + +// Pin definitions - Flight computers #define I2C_SENSOR_SDA PB_7 #define I2C_SENSOR_SCL PB_6 - #define TPC_RX PA_10 #define TPC_TX PA_9 - #define EC_RX PC_7 #define EC_TX PC_6 - #define DEBUG_RX PA_3 #define DEBUG_TX PA_2 - -#define BAUDRATE 9600 - #define STATE_LED_RED PA_8 #define STATE_LED_GREEN PC_9 #define STATE_LED_BLUE PC_8 - -// For black box --> testing -//#define STATE_LED_RED PC_8 -//#define STATE_LED_GREEN PA_8 -//#define STATE_LED_BLUE PC_9 - #define BP1_IGNITE PB_15 #define BP1_CONT PB_14 - #define BP2_IGNITE PB_13 #define BP2_CONT PB_12 - #define BP3_IGNITE PB_10 #define BP3_CONT PB_2 - #define BP4_IGNITE PB_0 #define BP4_CONT PB_1 - #define BP5_IGNITE PC_5 #define BP5_CONT PC_4 - #define BP6_IGNITE PA_7 #define BP6_CONT PA_6 - #define BP7_IGNITE PA_5 #define BP7_CONT PA_4 +#ifdef BLACKBOX +// Pin definitions - Blackbox (for testing) +#define I2C_SENSOR_SDA PB_7 +#define I2C_SENSOR_SCL PB_6 +#define STATE_LED_RED PC_8 +#define STATE_LED_GREEN PA_8 +#define STATE_LED_BLUE PC_9 +#endif + +#define BAUDRATE 9600 + I2C i2c_sensors(I2C_SENSOR_SDA, I2C_SENSOR_SCL); const int ALTIMETER_I2C_ADDR = 0xC0; const int IMU_I2C_ADDR = 0xD0; @@ -61,7 +56,7 @@ DigitalOut led_green(STATE_LED_GREEN); DigitalOut led_blue(STATE_LED_BLUE); Altitude altitude; -MPL3115A2 altimeter(&i2c_sensors); +MPL3115A2 altimeter(&i2c_sensors, &debug_talk); MPU9250 imu; @@ -99,19 +94,37 @@ void rainbow_test() { } void altimeter_test() { - led_color(1, 0, 0); - wait(10); led_color(0, 0, 1); altimeter.init(); debug_talk.baud(BAUDRATE); - debug_talk.printf("Begin program\n\n"); + debug_talk.printf("\nBegin altimeter test\n"); uint8_t whoami = altimeter.whoAmI(); + debug_talk.printf("Whoami: 0x%x\n", whoami); if (whoami == 0xC4) { debug_talk.printf("Successfully connected\n"); + Altitude a; + Temperature t; + Pressure p; + altimeter.setOffsetAltitude(83); + altimeter.setOffsetTemperature(20); + altimeter.setOffsetPressure(-32); while (true) { - altimeter.readAltitude(&altitude); - debug_talk.printf("Altitude: %f\n", altitude.altitude()); - wait(0.5); + + + altimeter.readAltitude(&a); + altimeter.readTemperature(&t); + + altimeter.setModeStandby(); + altimeter.setModeBarometer(); + altimeter.setModeActive(); + altimeter.readPressure(&p); + + debug_talk.printf("Altitude: %sft, Temp: %sºF, Pressure: %sPa\r\n", a.print(), t.print(), p.print()); + debug_talk.printf("OFF_H: 0x%X, OFF_T: 0x%X, OFF_P: 0x%X\r\n", altimeter.offsetAltitude(), altimeter.offsetTemperature(), altimeter.offsetPressure()); + + altimeter.setModeStandby(); + altimeter.setModeAltimeter(); + altimeter.setModeActive(); } } else { debug_talk.printf("Failed to connect to altimeter\n"); @@ -122,11 +135,10 @@ void imu_test() { // Could just use: // https://os.mbed.com/users/onehorse/code/MPU9250AHRS/file/4e59a37182df/main.cpp/ led_color(0, 1, 0); - wait(10); - led_color(0, 0, 1); debug_talk.baud(BAUDRATE); - debug_talk.printf("Begin program\n\n"); + debug_talk.printf("\nBegin imu test\n"); uint8_t whoami = imu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); + debug_talk.printf("Whoami: 0x%x\n", whoami); if (whoami == 0x71) { debug_talk.printf("Successfully connected\n"); } else { @@ -135,5 +147,6 @@ void imu_test() { } int main() { - altimeter_test(); + //altimeter_test(); + imu_test(); } \ No newline at end of file From 72b80d8090d44fd9523b4ee94e03dfad196e7710 Mon Sep 17 00:00:00 2001 From: Jaren Mendelsohn Date: Tue, 12 Feb 2019 17:36:14 -0800 Subject: [PATCH 70/73] Added 100k resistor to ground on boot0 schematic --- flight_computers/hardware/fc.dch | Bin 439685 -> 442124 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/flight_computers/hardware/fc.dch b/flight_computers/hardware/fc.dch index 849ed97fd596346e969a45eb8147a76da2b1bc58..0984ee2a5e1e839e8e8eb5881220940ec4b423dd 100644 GIT binary patch delta 1218 zcmYjQZ%iCT6rb6*yLcSl-nHHxT%myqwiW*z6+L9cyW2e~G(h3N25lo}!WFS3r9vwy zls{=ynwI98tG-H!LDGa6u|h0P^@Bm9erTg%E>lQM2Kj>l`u!iUi=?>jQI2X7p+E(E)~7g!=m`HDmENv& zq}2ELGRvK)VeKtrY;1Fiy|Zd4m-Y-)(4CV<*C?uE#Xg|*>KryiXaRi^_c2=Mwq^`7 zVwhnu2>Uo1!4uhZzhkFe;B?fDLn+GAS2hM*?>)_g&EEd?3%RC;KH8WbWcQ?>h&=4l zhS_L*iH#obkt-H#qKJvGs`023u4g!pQ$mShCJob?46OygTRw22=>tZi*zbc!{U&>C zv4idX^1R@}LW$N@h)W_!W0>!Uhvddg-rw3;eh?jGq z%w_w+|Ao0f07aBWdBr;TFqfMAw-79V+9uNQGJ_5GrVMjg7>2nbPUm+RT&1*^U#tK{ 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index ce173ce78c80bbaf25fb5ae91d3c963aad3da94c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 29 hcmXrwVkpQ+EKV)T&o3!vU@+ifNXtu3OwLFJu>pK*2f+XU diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/store/undo.phaseroots b/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/store/undo.phaseroots deleted file mode 100644 index e69de29b..00000000 diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.bookmarks b/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.bookmarks deleted file mode 100644 index e69de29b..00000000 diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.branch b/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.branch deleted file mode 100644 index 331d858c..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.branch +++ /dev/null @@ -1 +0,0 @@ -default \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.desc b/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.desc deleted file mode 100644 index 0f1e41dd..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.desc +++ /dev/null @@ -1,3 +0,0 @@ -0 -pull -https://os.mbed.com/users/sophtware/code/MPL3115A2 diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.dirstate b/flight_computers/firmware/flight_computer/lib/MPL3115A2/.hg/undo.dirstate deleted file mode 100644 index e69de29b..00000000 diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.cpp b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.cpp deleted file mode 100644 index 0ed83028..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.cpp +++ /dev/null @@ -1,64 +0,0 @@ -#include "Altitude.h" -#include "mbed.h" - -Altitude::Altitude() -{ - _altitude = 0.0; - - _compressed[0] = 0; - _compressed[1] = 0; - _compressed[2] = 0; -} - -Altitude::Altitude(float a, unitsType units) -{ - setAltitude(a, units); -} - -Altitude::Altitude(const char* compressed) -{ - setAltitude(compressed); -} - -Altitude::Altitude(const char msb, const char csb, const char lsb) -{ - setAltitude(msb, csb, lsb); -} - -void Altitude::setAltitude() -{ - setAltitude(_compressed[0], _compressed[1], _compressed[2]); -} - -void Altitude::setAltitude(float a, unitsType units) -{ - // TODO: -} - -void Altitude::setAltitude(const char* compressed) -{ - setAltitude(compressed[0], compressed[1], compressed[2]); -} - -void Altitude::setAltitude(const char msb, const char csb, const char lsb) -{ - float tempcsb = (lsb>>4) / 16.0; - _altitude = (float)((msb << 8) | csb) + tempcsb; -} - -float Altitude::altitude(unitsType units) -{ - switch (units) - { - case FEET: - return MetersToFeet(_altitude); - } - - return _altitude; -} - -const char* Altitude::print(unitsType units) -{ - sprintf(_printBuffer, "%.0f", altitude(units)); - return _printBuffer; -} diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.h b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.h deleted file mode 100644 index 19689887..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Altitude.h +++ /dev/null @@ -1,66 +0,0 @@ -/* - MPL3115A2 Barometric Pressure and Tempurature Sensor Library - By: Michael Lange - Date: March 31, 2014 - License: This code is public domain. - - This class encapsulates an altitude reading from the sensor. - - */ - - -#ifndef ALTITUDE_H -#define ALTITUDE_H - -#include "mbed.h" - -//! Casting a float to a char truncates, therefore negative numbers become positive. -//! This will properly cast a float in the range -128 to 127 to a char. -#define float_to_char(x) (((x)<0)?(-(char)(x)):((char)(x))) - -//! Altitude provides a wrapper around altitude data coming from the sensor. The class handles -//! working with compressed data from the sensor and provides convenient functions for retreiving -//! the data in various units (with room to add more if needed). -class Altitude -{ -public: - - //! The size of the compressed data buffer from the sensor. Used in an I2C read. - static const int size = 3; - - //! The units we support converting the sensor data to. - enum unitsType { METERS, FEET }; - - Altitude(); - Altitude(float a, unitsType units = FEET); - Altitude(const char* compressed); - Altitude(const char msb, const char csb, const char lsb); - - //! Allows using the object directly in an I2C read operation. - operator char*(void) { return _compressed; } - //! Same as calling altitude with METERS as the parameter. - operator float(void) { return _altitude; } - - //! Returns the altitude in the units you specifiy, defaulting to FEET if none specified. - float altitude(unitsType units = FEET); - //! Call to decompress the sensor data after an I2C read. - void setAltitude(); - void setAltitude(const char* compressed); - void setAltitude(const char msb, const char csb, const char lsb); - void setAltitude(float a, unitsType units = FEET); - - //! Returns the altitude as a string in the units specified, defaulting to FEET if none specified. - const char* print(unitsType units = FEET); - - //! Converts meters to feet. - static float MetersToFeet(float meters) { return meters * 3.28084; } - //! Converts feet to meters. - static float FeetToMeters(float feet) { return feet / 3.28084; } - -private: - float _altitude; - char _compressed[3]; - char _printBuffer[9]; -}; - -#endif // ALTITUDE_H \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp b/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp deleted file mode 100644 index 8d85927b..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.cpp +++ /dev/null @@ -1,220 +0,0 @@ -#include "MPL3115A2.h" -#include "mbed.h" - -#include "stdarg.h" // For debugOut use of the ... parameter and va_list - -MPL3115A2::MPL3115A2(I2C *i2c, Serial *pc) : _i2c(i2c), _debug(pc) -{ -} - -// By default I set the sensor to altimeter mode. I inserted a 1ms pause -// between each call to allow logic capture if needed. This give a small -// gap between captures on the bus to make working with the data easier. -void MPL3115A2::init() -{ - setModeStandby(); - wait_ms(1); - setModeAltimeter(); - wait_ms(1); - setOversampleRate(7); - wait_ms(1); - enableEventFlags(); - wait_ms(1); - setModeActive(); - wait_ms(1); -} - -// This method wait for a specified amount of time for one of the data -// ready flags to be set. You need to pass in the correct data ready -// mask for this to work. See page 22 of the datasheet. -int MPL3115A2::dataReady(const char mask) -{ - int attempts = 0; - - while ((i2cRead(STATUS) & mask) == 0) - { - attempts++; - - if(attempts > MAX_DATA_READY_ATTEMPTS) - return 0; // Failed - - wait_ms(1); - } - - return 1; // Success -} - -Altitude* MPL3115A2::readAltitude(Altitude* a) -{ - // Force the sensor to take a new reading. - toggleOneShot(); - - // Wait for the data to be ready. - if (!pressureDataReady()) - { - debugOut("MPL3115A2::readAltitude: Sensor failed to generate an altitude reading in a reasonable time.\r\n"); - - // We leave the altitude object as is if we encounter an error. - return a; - } - - // Get the new data from the sensor. - _i2c->start(); // Start - if (_i2c->write(MPL3115A2_ADDRESS) != 1) // A write to device - debugOut("MPL3115A2::readAltitude: Sensor failed to respond to write request at address 0x%X\r\n", MPL3115A2_ADDRESS); - - if (_i2c->write(OUT_P_MSB) != 1) // Register to read - debugOut("MPL3115A2::readAltitude: Sensor at address 0x%X did not acknowledge register 0x%X\r\n", MPL3115A2_ADDRESS, OUT_P_MSB); - - // Write the data directly into our Altitude object. This object - // takes care of converting the compressed data from the sensor, and - // provides functions to get the data in various units. And it also - // has a print function to output the data as a string. - int result = _i2c->read(MPL3115A2_ADDRESS, (*a), Altitude::size); - _debug->printf("Result: %d\n", result); - a->setAltitude(); - - return a; -} - -// See readAltitude for comments about this function. -Pressure* MPL3115A2::readPressure(Pressure* p) -{ - toggleOneShot(); - - if (!pressureDataReady()) - { - debugOut("MPL3115A2::readPressure: Sensor failed to generate a pressure reading in a reasonable time.\r\n"); - return p; - } - - _i2c->start(); - if (_i2c->write(MPL3115A2_ADDRESS) != 1) - debugOut("MPL3115A2::readPressure: Sensor failed to respond to write request at address 0x%X\r\n", MPL3115A2_ADDRESS); - - if (_i2c->write(OUT_P_MSB) != 1) - debugOut("MPL3115A2::readPressure: Sensor at address 0x%X did not acknowledge register 0x%X\r\n", MPL3115A2_ADDRESS, OUT_P_MSB); - - _i2c->read(MPL3115A2_ADDRESS, (*p), Pressure::size); - p->setPressure(); - - return p; -} - -// See readAltitude for comments about this function. -Temperature* MPL3115A2::readTemperature(Temperature* t) -{ - toggleOneShot(); - - if (!temperatureDataReady()) - { - debugOut("MPL3115A2::readTemperature: Sensor failed to generate a temperature reading in a reasonable time.\r\n"); - return t; - } - - _i2c->start(); - if (_i2c->write(MPL3115A2_ADDRESS) != 1) - debugOut("MPL3115A2::readTemperature: Sensor failed to respond to write request at address 0x%X\r\n", MPL3115A2_ADDRESS); - - if (_i2c->write(OUT_T_MSB) != 1) - debugOut("MPL3115A2::readTemperature: Sensor at address 0x%X did not acknowledge register 0x%X\r\n", MPL3115A2_ADDRESS, OUT_P_MSB); - - _i2c->read(MPL3115A2_ADDRESS, (*t), Temperature::size); - t->setTemperature(); - - return t; -} - -void MPL3115A2::setModeAltimeter() -{ - setRegisterBit(CTRL_REG1, 0x80); // Set ALT bit -} - -void MPL3115A2::setModeBarometer() -{ - clearRegisterBit(CTRL_REG1, 0x80); // Clear ALT bit -} - -void MPL3115A2::setModeStandby() -{ - clearRegisterBit(CTRL_REG1, 0x01); // Clear SBYB bit for Standby mode -} -void MPL3115A2::setModeActive() -{ - setRegisterBit(CTRL_REG1, 0x01); // Set SBYB bit for Active mode -} - -void MPL3115A2::setOversampleRate(char sampleRate) -{ - if(sampleRate > 7) - sampleRate = 7; // OS cannot be larger than 0b.0111 - - sampleRate <<= 3; // Align it for the CTRL_REG1 register - - char temp = i2cRead(CTRL_REG1); // Read current settings - temp &= 0xC7; // Clear out old OS bits - temp |= sampleRate; // Mask in new OS bits - i2cWrite(CTRL_REG1, temp); -} - -void MPL3115A2::enableEventFlags() -{ - i2cWrite(PT_DATA_CFG, 0x07); // Enable all three pressure and temp event flags -} - -void MPL3115A2::toggleOneShot(void) -{ - clearRegisterBit(CTRL_REG1, 0x02); // Clear OST bit - setRegisterBit(CTRL_REG1, 0x02); // Set the OST bit. -} - -void MPL3115A2::clearRegisterBit(const char regAddr, const char bitMask) -{ - char temp = i2cRead(regAddr); // Read the current register value - temp &= ~bitMask; // Clear the bit from the value - i2cWrite(regAddr, temp); // Write register value back -} - -void MPL3115A2::setRegisterBit(const char regAddr, const char bitMask) -{ - char temp = i2cRead(regAddr); // Read the current register value - temp |= bitMask; // Set the bit in the value - i2cWrite(regAddr, temp); // Write register value back -} - -char MPL3115A2::i2cRead(char regAddr) -{ - _i2c->start(); // Start - if (_i2c->write(MPL3115A2_ADDRESS)!=1) // A write to device - debugOut("MPL3115A2::i2cRead: Sensor failed to respond to write request at address 0x%X\r\n", MPL3115A2_ADDRESS); - - if (_i2c->write(regAddr)!=1) // Register to read - debugOut("MPL3115A2::i2cRead: Sensor at address 0x%X did not acknowledge register 0x%X\r\n", MPL3115A2_ADDRESS, regAddr); - - _i2c->start(); - if (_i2c->write(MPL3115A2_ADDRESS|0x01)!=1) // Read from device - debugOut("MPL3115A2::i2cRead: Sensor failed to respond to read request at address 0x%X\r\n", MPL3115A2_ADDRESS); - - char result = _i2c->read(READ_NAK); // Read the data - _i2c->stop(); - - return result; -} - -void MPL3115A2::i2cWrite(char regAddr, char value) -{ - char cmd[2]; - cmd[0] = regAddr; - cmd[1] = value; - if (_i2c->write(MPL3115A2_ADDRESS, cmd, 2) != 0) - debugOut("MPL3115A2::i2cWrite: Failed writing value (%d, 0x%X) to register 0x%X\r\n", value, regAddr); -} - -void MPL3115A2::debugOut(const char * format, ...) -{ - if (_debug == NULL) - return; - - va_list arg; - _debug->printf(format, arg); -} diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.h b/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.h deleted file mode 100644 index 81f291a9..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/MPL3115A2.h +++ /dev/null @@ -1,211 +0,0 @@ -/* - MPL3115A2 Barometric Pressure and Tempurature Sensor Library - By: Michael Lange - Date: March 31, 2014 - License: This code is public domain. - - This class wraps the functions of the MPL3115A2 sensor into - a usable class that exposes most functions to your project. - Functions that are not exposed can easily be added using the - existing functions in this library. Specifically, I did not - add any funtions to handle FIFO logging or the use of either - of the pin interrupts. This should not be too difficult to - add if you need those features. - - The motivation here was to get a set of support classes - together that supported the chip and could be expanded on. - With this library you can extract all relevant data from the - sensor. - - Be sure to download the DATASHEET and the App Note AN4519. - - This library was created using the mbed NXP LPC11U24. Pins - p27 and p28 were used for the I2C functions. Be sure to install - 1K pull-up resistors on both lines. Also, if you're not using - the SparkFun breakout board, be sure to use the right caps on - the power pin. If you don't, the jitter can cause problems. - - This library was inspired by the similar library available for - the Arduino written by Nathan Seidle at SparkFun. I copied - some of the number crunching routines and tried to follow his - style of coding for the library. That way users of Arduinos - could step into this library a little easier. - - */ - - -#ifndef MPL3115A2_H -#define MPL3115A2_H - -#include "mbed.h" - -#include "Altitude.h" // Our classes to handle compressed data from the sensor. -#include "Temperature.h" -#include "Pressure.h" - -#define MPL3115A2_ADDRESS 0xC0 // Shifted 7-bit I2C address for sensor - -#define READ_ACK 1 // For mbed I2C Read method. -#define READ_NAK 0 - -#define MAX_DATA_READY_ATTEMPTS 512 // How many times we loop waiting for data before giving up. - -// DEFINE |REGISTER |RESET |RESET |TYPE |AUTO-INC |NAME/COMMENT -// | | |STBY2ACT | |ADDRESS | -#define STATUS 0x00 // | 0x00 | Yes | R | 0x01 | Sensor Status Register (Alias for DR_STATUS or F_STATUS) -#define OUT_P_MSB 0x01 // | 0x00 | Yes | R | 0x02 | 0x01 | Pressure Data Out MSB (Bits 12-19 of 20-bit real-time Pressure sample | Root pointer t oPressure and Tempurature FIFO data) -#define OUT_P_CSB 0x02 // | 0x00 | Yes | R | 0x03 | Pressure Data out CSB (Bits 0-3 of 20-bit real-time Pressure sample) -#define OUT_P_LSB 0x03 // | 0x00 | | | 0x | -#define OUT_T_MSB 0x04 // | 0x00 | | | 0x | -#define OUT_T_LSB 0x05 // | 0x00 | | | 0x | -#define DR_STATUS 0x06 // | 0x00 | | | 0x | -#define OUT_P_DELTA_MSB 0x07 // | 0x00 | | | 0x | -#define OUT_P_DELTA_CSB 0x08 // | 0x00 | | | 0x | -#define OUT_P_DELTA_LSB 0x09 // | 0x00 | | | 0x | -#define OUT_T_DELTA_MSB 0x0A // | 0x00 | | | 0x | -#define OUT_T_DELTA_LSB 0x0B // | 0x00 | | | 0x | -#define WHO_AM_I 0x0C // | 0xC4 | | | 0x | -#define F_STATUS 0x0D // | 0x00 | | | 0x | -#define F_DATA 0x0E // | 0x00 | | | 0x | -#define F_SETUP 0x0F // | 0x00 | | | 0x | -#define TIME_DLY 0x10 // | 0x00 | | | 0x | -#define SYSMOD 0x11 // | 0x00 | | | 0x | -#define INT_SOURCE 0x12 // | 0x00 | | | 0x | -#define PT_DATA_CFG 0x13 // | 0x00 | | | 0x | -#define BAR_IN_MSB 0x14 // | 0xC5 | | | 0x | -#define BAR_IN_LSB 0x15 // | 0xE7 | | | 0x | -#define P_TGT_MSB 0x16 // | 0x00 | | | 0x | -#define P_TGT_LSB 0x17 // | 0x00 | | | 0x | -#define T_TGT 0x18 // | 0x00 | | | 0x | -#define P_WND_MSB 0x19 // | 0x00 | | | 0x | -#define P_WND_LSB 0x1A // | 0x00 | | | 0x | -#define T_WND 0x1B // | 0x00 | | | 0x | -#define P_MIN_MSB 0x1C // | 0x00 | | | 0x | -#define P_MIN_CSB 0x1D // | 0x00 | | | 0x | -#define P_MIN_LSB 0x1E // | 0x00 | | | 0x | -#define T_MIN_MSB 0x1F // | 0x00 | | | 0x | -#define T_MIN_LSB 0x20 // | 0x00 | | | 0x | -#define P_MAX_MSB 0x21 // | 0x00 | | | 0x | -#define P_MAX_CSB 0x22 // | 0x00 | | | 0x | -#define P_MAX_LSB 0x23 // | 0x00 | | | 0x | -#define T_MAX_MSB 0x24 // | 0x00 | | | 0x | -#define T_MAX_LSB 0x25 // | 0x00 | | | 0x | -#define CTRL_REG1 0x26 // | 0x00 | | | 0x | -#define CTRL_REG2 0x27 // | 0x00 | | | 0x | -#define CTRL_REG3 0x28 // | 0x00 | | | 0x | -#define CTRL_REG4 0x29 // | 0x00 | | | 0x | -#define CTRL_REG5 0x2A // | 0x00 | | | 0x | -#define OFF_P 0x2B // | 0x00 | | | 0x | -#define OFF_T 0x2C // | 0x00 | | | 0x | -#define OFF_H 0x2D // | 0x00 | | | 0x | - -//! MPL3115A2 I2C Barometric Pressure and Tempurature Sensor Library -//! This class wraps most of the function in the MPL3115A2 sensor leaving out the FIFO and interrupt system. -class MPL3115A2 -{ -public: - //! Constructs an MPL3115A2 object and associates an I2C and optional Serial debug object. - //! @param *i2c The I2C object to use for the sensor. - //! @param *pc An optional serial debug connection object. - MPL3115A2(I2C *i2c, Serial *pc = NULL); - - //! Initializes the sensor, defaulting to Altitude mode. This should be called before using - //! the sensor for the first time. - void init(); - - //! Queries the value from the WHO_AM_I register (usually equal to 0xC4). - //! @return The fixed device ID from the sensor. - char whoAmI() { return i2cRead(WHO_AM_I); } - - //! Reads Altitude data from the sensor and returns it in the Altitude object passed in. If - //! no data could be read, the Altitude object is left as is. - //! @param a A pointer to an Altitude object that will receive the sensor data. - //! @returns The Altitude pointer that was passed in. - Altitude* readAltitude(Altitude* a); - //! Reads Pressure data from the sensor and returns it in the Pressure object passed in. If - //! no data could be read, the Pressure object is left as is. - //! @param a A pointer to a Pressure object that will receive the sensor data. - //! @returns The Pressure pointer that was passed in. - Pressure* readPressure(Pressure* p); - //! Reads Temperature data from the sensor and returns it in the Temperature object passed in. If - //! no data could be read, the Temperature object is left as is. - //! @param a A pointer to an Temperature object that will receive the sensor data. - //! @returns The Temperature pointer that was passed in. - Temperature* readTemperature(Temperature* t); - - // Use these methods to set the sensor's offsets to increase its accuracy. You can generally - // find your current altitude with a smart phone or GPS. Same goes for the temperature. For - // the current pressure where you are, you may need an accurate weather station. Getting the - // pressure from the web for your area is generally not close enough to help with calibration. - // You may need to play with the setting to achieve good accuracy. I found the offset steps - // were not 100% accurate to the datasheet and had to adjust accordingly. - - //! Returns the altitude offset stored in the sensor. - char offsetAltitude() { return i2cRead(OFF_H); } - //! Sets the altitude offset stored in the sensor. The allowed offset range is from -128 to 127 meters. - void setOffsetAltitude(const char offset) { i2cWrite(OFF_H, offset); } - //! Returns the pressure offset stored in the sensor. - char offsetPressure() { return i2cRead(OFF_P); } - //! Sets the pressure offset stored in the sensor. The allowed offset range is from -128 to 127 where each LSB represents 4 Pa. - void setOffsetPressure(const char offset) { i2cWrite(OFF_P, offset); } - //! Returns the temperature offset stored in the sensor. - char offsetTemperature() { return i2cRead(OFF_T); } - //! Sets the temperature offset stored in the sensor. The allowed offset range is from -128 to 127 where each LSB represents 0.0625ºC. - void setOffsetTemperature(const char offset) { i2cWrite(OFF_T, offset); } - - //! Puts the sensor into Standby mode. Required when using methods below. - void setModeStandby(); - //! Activates the sensor to start taking measurements. - void setModeActive(); - - //! Puts the sensor into barometric mode, be sure to put the sensor in standby mode first. - void setModeBarometer(); - //! Puts the sensor into altimeter mode, be sure to put the sensor in standby mode first. - void setModeAltimeter(); - //! Sets the number of samples from 1 to 128, be sure to put the sensor in standby mode first. - void setOversampleRate(char rate); - //! Sets all the event flags, be sure to put the sensor in standby mode first. - void enableEventFlags(); - -private: - //! The I2C object we use to communicate with the sensor. It is not part - //! of the class so that it can be shared with other peripherals on the - //! bus. - I2C *_i2c; - - //! Set this in the constructor if you want the class to output debug messages. - //! If you need to pair down your code, you can remove this and all the - //! references to it in the code. - Serial *_debug; - - //! Debug method that mimics the printf function, but will output nothing if _debug has not - //! been set. This means you can safely us it in your code and nothing will happen if you don't - //! assign the _debug object. - void debugOut(const char * format, ...); - - //! This helper function is used to CLEAR bits. The mask should contain 1s in the position - //! where the bits need to be cleared. One or more bits can be cleared this way. - void clearRegisterBit(const char regAddr, const char bitMask); - //! This helper function is used to SET bits. The mask should contain 1s in the position - //! where the bits need to be set. One or more bits can be set this way. - void setRegisterBit(const char regAddr, const char bitMask); - - //! Helper functions to check if data is ready in a register for either temperature or pressure. - //! The mask passed in determines which register bit to look at. - int dataReady(const char mask); - //! Blocks for about 1/2 a second while checking the data ready bit. Returns 0 on sucees. - //! This function works for both altitude and barometric pressure depending on the mode the sensor is in. - int pressureDataReady() { return dataReady(0x04); } - //! Blocks for about 1/2 a second while checking the data ready bit. Returns 0 on sucees. - int temperatureDataReady() { return dataReady(0x02); } - - //! Called to force the sensor to take another sample - void toggleOneShot(); - - //! Helper functions to read one value from the I2C bus using the sensor's address. - char i2cRead(char regAddr); - //! Helper functions to write one value from the I2C bus using the sensor's address. - void i2cWrite(char regAddr, char value); -}; - -#endif // MPL3115A2_H diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.cpp b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.cpp deleted file mode 100644 index a78ba9d5..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.cpp +++ /dev/null @@ -1,73 +0,0 @@ -#include "Pressure.h" -#include "mbed.h" - -Pressure::Pressure() -{ - _pressure = 0.0; - - _compressed[0] = 0; - _compressed[1] = 0; - _compressed[2] = 0; -} - -Pressure::Pressure(float a, unitsType units) -{ - setPressure(a, units); -} - -Pressure::Pressure(const char* compressed) -{ - setPressure(compressed); -} - -Pressure::Pressure(const char msb, const char csb, const char lsb) -{ - setPressure(msb, csb, lsb); -} - -void Pressure::setPressure() -{ - setPressure(_compressed[0], _compressed[1], _compressed[2]); -} - -void Pressure::setPressure(float a, unitsType units) -{ - // TODO: -} - -void Pressure::setPressure(const char* compressed) -{ - setPressure(compressed[0], compressed[1], compressed[2]); -} - -void Pressure::setPressure(const char msb, const char csb, const char lsb) -{ - long pressure_whole = (long)msb<<16 | (long)csb<<8 | (long)lsb; - pressure_whole >>= 6; // Pressure is an 18 bit number with 2 bits of decimal. Get rid of decimal portion. - - float pressure_decimal = (float)((lsb&0x30)>>4)/4.0; // Turn it into fraction - - _pressure = (float)pressure_whole + pressure_decimal; -} - -float Pressure::pressure(unitsType units) -{ - // http://www.asknumbers.com/ - switch (units) - { - case PSI: - return _pressure * 0.000145037738; - case INHG: - return _pressure * 0.00029529983071; - case MMHG: - return _pressure * 0.007500615613; - } - - return _pressure; -} - -const char* Pressure::print(unitsType units) -{ - sprintf(_printBuffer, "%.0f", pressure(units)); - return _printBuffer; -} diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.h b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.h deleted file mode 100644 index 8aa4b4b4..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Pressure.h +++ /dev/null @@ -1,56 +0,0 @@ -/* - MPL3115A2 Barometric Pressure and Tempurature Sensor Library - By: Michael Lange - Date: March 31, 2014 - License: This code is public domain. - - This class encapsulates a pressure reading from the sensor. - - */ - - -#ifndef PRESSURE_H -#define PRESSURE_H - -#include "mbed.h" - -//! Pressure provides a wrapper around barometric data coming from the sensor. The class handles -//! working with compressed data from the sensor and provides convenient functions for retreiving -//! the data in various units (with room to add more if needed). -class Pressure -{ -public: - - //! The size of the compressed data buffer from the sensor. Used in an I2C read. - static const int size = 3; - - //! The units we support converting the sensor data to. - enum unitsType { PASCALS, PSI, INHG, MMHG }; - - Pressure(); - Pressure(float a, unitsType units = PASCALS); - Pressure(const char* compressed); - Pressure(const char msb, const char csb, const char lsb); - - //! Allows using the object directly in an I2C read operation. - operator char*(void) { return _compressed; } - //! Same as calling pressure with PASCALS as the parameter. - operator float(void) { return _pressure; } - - float pressure(unitsType units = PASCALS); - //! Call to decompress the sensor data after an I2C read. - void setPressure(); - void setPressure(const char* compressed); - void setPressure(const char msb, const char csb, const char lsb); - void setPressure(float a, unitsType units = PASCALS); - - //! Returns the pressure as a string in the units specified, defaulting to PASCAL if none specified. - const char* print(unitsType units = PASCALS); - -private: - float _pressure; - char _compressed[3]; - char _printBuffer[9]; -}; - -#endif // PRESSURE_H \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.cpp b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.cpp deleted file mode 100644 index a14e5232..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.cpp +++ /dev/null @@ -1,66 +0,0 @@ -#include "Temperature.h" -#include "mbed.h" - -Temperature::Temperature() -{ - _temperature = 0.0; - - _compressed[0] = 0; - _compressed[1] = 0; -} - -Temperature::Temperature(float t, unitsType units) -{ - setTemperature(t, units); -} - -Temperature::Temperature(const char* compressed) -{ - setTemperature(compressed); -} - -Temperature::Temperature(const char msb, const char lsb) -{ - setTemperature(msb, lsb); -} - -void Temperature::setTemperature() -{ - setTemperature(_compressed[0], _compressed[1]); -} - -void Temperature::setTemperature(float t, unitsType units) -{ - // TODO: -} - -void Temperature::setTemperature(const char* compressed) -{ - setTemperature(compressed[0], compressed[1]); -} - -void Temperature::setTemperature(const char msb, const char lsb) -{ - float templsb = (lsb>>4) / 16.0; //temp, fraction of a degree - _temperature = (float)(msb + templsb); -} - -float Temperature::temperature(unitsType units) -{ - switch (units) - { - case FAHRENHEIT: - return (_temperature * 9.0)/ 5.0 + 32.0; - - case KELVIN: - return _temperature + 273.15; - } - - return _temperature; -} - -const char* Temperature::print(unitsType units) -{ - sprintf(_printBuffer, "%.1f", temperature(units)); - return _printBuffer; -} diff --git a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.h b/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.h deleted file mode 100644 index 1ed82542..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPL3115A2/Temperature.h +++ /dev/null @@ -1,56 +0,0 @@ -/* - MPL3115A2 Barometric Pressure and Tempurature Sensor Library - By: Michael Lange - Date: March 31, 2014 - License: This code is public domain. - - This class encapsulates a temperature reading from the sensor. - - */ - - -#ifndef TEMPERATURE_H -#define TEMPERATURE_H - -#include "mbed.h" - -//! Temperature provides a wrapper around temperature data coming from the sensor. The class handles -//! working with compressed data from the sensor and provides convenient functions for retreiving -//! the data in various units (with room to add more if needed). -class Temperature -{ -public: - - //! The size of the compressed data buffer from the sensor. Used in an I2C read. - static const int size = 2; - - //! The units we support converting the sensor data to. - enum unitsType { CELSIUS, FAHRENHEIT, KELVIN }; - - Temperature(); - Temperature(float a, unitsType units = FAHRENHEIT); - Temperature(const char* compressed); - Temperature(const char msb, const char lsb); - - //! Allows using the object directly in an I2C read operation. - operator char*(void) { return _compressed; } - //! Same as calling temperature with FAHRENHEIT as the parameter. - operator float(void) { return _temperature; } - - float temperature(unitsType units = FAHRENHEIT); - //! Call to decompress the sensor data after an I2C read. - void setTemperature(); - void setTemperature(const char* compressed); - void setTemperature(const char msb, const char lsb); - void setTemperature(float a, unitsType units = FAHRENHEIT); - - //! 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mode 100644 index e69de29b..00000000 diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/undo.branch b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/undo.branch deleted file mode 100644 index 331d858c..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/undo.branch +++ /dev/null @@ -1 +0,0 @@ -default \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/undo.desc b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/undo.desc deleted file mode 100644 index b7dc6d49..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/undo.desc +++ /dev/null @@ -1,3 +0,0 @@ -0 -pull -https://os.mbed.com/users/onehorse/code/MPU9250AHRS diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/undo.dirstate b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/.hg/undo.dirstate deleted file mode 100644 index e69de29b..00000000 diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/MPU9250.h b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/MPU9250.h deleted file mode 100644 index fa100838..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/MPU9250.h +++ /dev/null @@ -1,874 +0,0 @@ -#ifndef MPU9250_H -#define MPU9250_H - -#include "mbed.h" -#include "math.h" - -// See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in -// above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map -// -//Magnetometer Registers -#define AK8963_ADDRESS 0x0C<<1 -#define WHO_AM_I_AK8963 0x00 // should return 0x48 -#define INFO 0x01 -#define AK8963_ST1 0x02 // data ready status bit 0 -#define AK8963_XOUT_L 0x03 // data -#define AK8963_XOUT_H 0x04 -#define AK8963_YOUT_L 0x05 -#define AK8963_YOUT_H 0x06 -#define AK8963_ZOUT_L 0x07 -#define AK8963_ZOUT_H 0x08 -#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2 -#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0 -#define AK8963_ASTC 0x0C // Self test control -#define AK8963_I2CDIS 0x0F // I2C disable -#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value -#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value -#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value - -#define SELF_TEST_X_GYRO 0x00 -#define SELF_TEST_Y_GYRO 0x01 -#define SELF_TEST_Z_GYRO 0x02 - -/*#define X_FINE_GAIN 0x03 // [7:0] fine gain -#define Y_FINE_GAIN 0x04 -#define Z_FINE_GAIN 0x05 -#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer -#define XA_OFFSET_L_TC 0x07 -#define YA_OFFSET_H 0x08 -#define YA_OFFSET_L_TC 0x09 -#define ZA_OFFSET_H 0x0A -#define ZA_OFFSET_L_TC 0x0B */ - -#define SELF_TEST_X_ACCEL 0x0D -#define SELF_TEST_Y_ACCEL 0x0E -#define SELF_TEST_Z_ACCEL 0x0F - -#define SELF_TEST_A 0x10 - -#define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope -#define XG_OFFSET_L 0x14 -#define YG_OFFSET_H 0x15 -#define YG_OFFSET_L 0x16 -#define ZG_OFFSET_H 0x17 -#define ZG_OFFSET_L 0x18 -#define SMPLRT_DIV 0x19 -#define CONFIG 0x1A -#define GYRO_CONFIG 0x1B -#define ACCEL_CONFIG 0x1C -#define ACCEL_CONFIG2 0x1D -#define LP_ACCEL_ODR 0x1E -#define WOM_THR 0x1F - -#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms -#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] -#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms - -#define FIFO_EN 0x23 -#define I2C_MST_CTRL 0x24 -#define I2C_SLV0_ADDR 0x25 -#define I2C_SLV0_REG 0x26 -#define I2C_SLV0_CTRL 0x27 -#define I2C_SLV1_ADDR 0x28 -#define I2C_SLV1_REG 0x29 -#define I2C_SLV1_CTRL 0x2A -#define I2C_SLV2_ADDR 0x2B -#define I2C_SLV2_REG 0x2C -#define I2C_SLV2_CTRL 0x2D -#define I2C_SLV3_ADDR 0x2E -#define I2C_SLV3_REG 0x2F -#define I2C_SLV3_CTRL 0x30 -#define I2C_SLV4_ADDR 0x31 -#define I2C_SLV4_REG 0x32 -#define I2C_SLV4_DO 0x33 -#define I2C_SLV4_CTRL 0x34 -#define I2C_SLV4_DI 0x35 -#define I2C_MST_STATUS 0x36 -#define INT_PIN_CFG 0x37 -#define INT_ENABLE 0x38 -#define DMP_INT_STATUS 0x39 // Check DMP interrupt -#define INT_STATUS 0x3A -#define ACCEL_XOUT_H 0x3B -#define ACCEL_XOUT_L 0x3C -#define ACCEL_YOUT_H 0x3D -#define ACCEL_YOUT_L 0x3E -#define ACCEL_ZOUT_H 0x3F -#define ACCEL_ZOUT_L 0x40 -#define TEMP_OUT_H 0x41 -#define TEMP_OUT_L 0x42 -#define GYRO_XOUT_H 0x43 -#define GYRO_XOUT_L 0x44 -#define GYRO_YOUT_H 0x45 -#define GYRO_YOUT_L 0x46 -#define GYRO_ZOUT_H 0x47 -#define GYRO_ZOUT_L 0x48 -#define EXT_SENS_DATA_00 0x49 -#define EXT_SENS_DATA_01 0x4A -#define EXT_SENS_DATA_02 0x4B -#define EXT_SENS_DATA_03 0x4C -#define EXT_SENS_DATA_04 0x4D -#define EXT_SENS_DATA_05 0x4E -#define EXT_SENS_DATA_06 0x4F -#define EXT_SENS_DATA_07 0x50 -#define EXT_SENS_DATA_08 0x51 -#define EXT_SENS_DATA_09 0x52 -#define EXT_SENS_DATA_10 0x53 -#define EXT_SENS_DATA_11 0x54 -#define EXT_SENS_DATA_12 0x55 -#define EXT_SENS_DATA_13 0x56 -#define EXT_SENS_DATA_14 0x57 -#define EXT_SENS_DATA_15 0x58 -#define EXT_SENS_DATA_16 0x59 -#define EXT_SENS_DATA_17 0x5A -#define EXT_SENS_DATA_18 0x5B -#define EXT_SENS_DATA_19 0x5C -#define EXT_SENS_DATA_20 0x5D -#define EXT_SENS_DATA_21 0x5E -#define EXT_SENS_DATA_22 0x5F -#define EXT_SENS_DATA_23 0x60 -#define MOT_DETECT_STATUS 0x61 -#define I2C_SLV0_DO 0x63 -#define I2C_SLV1_DO 0x64 -#define I2C_SLV2_DO 0x65 -#define I2C_SLV3_DO 0x66 -#define I2C_MST_DELAY_CTRL 0x67 -#define SIGNAL_PATH_RESET 0x68 -#define MOT_DETECT_CTRL 0x69 -#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP -#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode -#define PWR_MGMT_2 0x6C -#define DMP_BANK 0x6D // Activates a specific bank in the DMP -#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank -#define DMP_REG 0x6F // Register in DMP from which to read or to which to write -#define DMP_REG_1 0x70 -#define DMP_REG_2 0x71 -#define FIFO_COUNTH 0x72 -#define FIFO_COUNTL 0x73 -#define FIFO_R_W 0x74 -#define WHO_AM_I_MPU9250 0x75 // Should return 0x71 -#define XA_OFFSET_H 0x77 -#define XA_OFFSET_L 0x78 -#define YA_OFFSET_H 0x7A -#define YA_OFFSET_L 0x7B -#define ZA_OFFSET_H 0x7D -#define ZA_OFFSET_L 0x7E - -// Using the MSENSR-9250 breakout board, ADO is set to 0 -// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 -//mbed uses the eight-bit device address, so shift seven-bit addresses left by one! -#define ADO 0 -#if ADO -#define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1 -#else -#define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0 -#endif - -// Set initial input parameters -enum Ascale { - AFS_2G = 0, - AFS_4G, - AFS_8G, - AFS_16G -}; - -enum Gscale { - GFS_250DPS = 0, - GFS_500DPS, - GFS_1000DPS, - GFS_2000DPS -}; - -enum Mscale { - MFS_14BITS = 0, // 0.6 mG per LSB - MFS_16BITS // 0.15 mG per LSB -}; - -uint8_t Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G -uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS -uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution -uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR -float aRes, gRes, mRes; // scale resolutions per LSB for the sensors - -//Set up I2C, (SDA,SCL) -I2C i2c(I2C_SDA, I2C_SCL); - -DigitalOut myled(LED1); - -// Pin definitions -int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins - -int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output -int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output -int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output -float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0}; // Factory mag calibration and mag bias -float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer -float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values -int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius -float temperature; -float SelfTest[6]; - -int delt_t = 0; // used to control display output rate -int count = 0; // used to control display output rate - -// parameters for 6 DoF sensor fusion calculations -float PI = 3.14159265358979323846f; -float GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3 -float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta -float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) -float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value -#define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral -#define Ki 0.0f - -float pitch, yaw, roll; -float deltat = 0.0f; // integration interval for both filter schemes -int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval -float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion -float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method - -class MPU9250 { - - protected: - - public: - //=================================================================================================================== -//====== Set of useful function to access acceleratio, gyroscope, and temperature data -//=================================================================================================================== - - void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) -{ - char data_write[2]; - data_write[0] = subAddress; - data_write[1] = data; - i2c.write(address, data_write, 2, 0); -} - - char readByte(uint8_t address, uint8_t subAddress) -{ - char data[1]; // `data` will store the register data - char data_write[1]; - data_write[0] = subAddress; - i2c.write(address, data_write, 1, 1); // no stop - i2c.read(address, data, 1, 0); - return data[0]; -} - - void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) -{ - char data[14]; - char data_write[1]; - data_write[0] = subAddress; - i2c.write(address, data_write, 1, 1); // no stop - i2c.read(address, data, count, 0); - for(int ii = 0; ii < count; ii++) { - dest[ii] = data[ii]; - } -} - - -void getMres() { - switch (Mscale) - { - // Possible magnetometer scales (and their register bit settings) are: - // 14 bit resolution (0) and 16 bit resolution (1) - case MFS_14BITS: - mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss - break; - case MFS_16BITS: - mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss - break; - } -} - - -void getGres() { - switch (Gscale) - { - // Possible gyro scales (and their register bit settings) are: - // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11). - // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: - case GFS_250DPS: - gRes = 250.0/32768.0; - break; - case GFS_500DPS: - gRes = 500.0/32768.0; - break; - case GFS_1000DPS: - gRes = 1000.0/32768.0; - break; - case GFS_2000DPS: - gRes = 2000.0/32768.0; - break; - } -} - - -void getAres() { - switch (Ascale) - { - // Possible accelerometer scales (and their register bit settings) are: - // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11). - // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: - case AFS_2G: - aRes = 2.0/32768.0; - break; - case AFS_4G: - aRes = 4.0/32768.0; - break; - case AFS_8G: - aRes = 8.0/32768.0; - break; - case AFS_16G: - aRes = 16.0/32768.0; - break; - } -} - - -void readAccelData(int16_t * destination) -{ - uint8_t rawData[6]; // x/y/z accel register data stored here - readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array - destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value - destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; - destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; -} - -void readGyroData(int16_t * destination) -{ - uint8_t rawData[6]; // x/y/z gyro register data stored here - readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array - destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value - destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; - destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; -} - -void readMagData(int16_t * destination) -{ - uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition - if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set - readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array - uint8_t c = rawData[6]; // End data read by reading ST2 register - if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data - destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value - destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian - destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ; - } - } -} - -int16_t readTempData() -{ - uint8_t rawData[2]; // x/y/z gyro register data stored here - readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array - return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value -} - - -void resetMPU9250() { - // reset device - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device - wait(0.1); - } - - void initAK8963(float * destination) -{ - // First extract the factory calibration for each magnetometer axis - uint8_t rawData[3]; // x/y/z gyro calibration data stored here - writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer - wait(0.01); - writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode - wait(0.01); - readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values - destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc. - destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f; - destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f; - writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer - wait(0.01); - // Configure the magnetometer for continuous read and highest resolution - // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register, - // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates - writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR - wait(0.01); -} - - -void initMPU9250() -{ - // Initialize MPU9250 device - // wake up device - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors - wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt - - // get stable time source - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 - - // Configure Gyro and Accelerometer - // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively; - // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both - // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate - writeByte(MPU9250_ADDRESS, CONFIG, 0x03); - - // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV) - writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above - - // Set gyroscope full scale range - // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3 - uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3] - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro - - // Set accelerometer configuration - c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG); - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3] - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer - - // Set accelerometer sample rate configuration - // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for - // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz - c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2); - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0]) - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz - - // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates, - // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting - - // Configure Interrupts and Bypass Enable - // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips - // can join the I2C bus and all can be controlled by the Arduino as master - writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22); - writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt -} - -// Function which accumulates gyro and accelerometer data after device initialization. It calculates the average -// of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers. -void calibrateMPU9250(float * dest1, float * dest2) -{ - uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data - uint16_t ii, packet_count, fifo_count; - int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0}; - -// reset device, reset all registers, clear gyro and accelerometer bias registers - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device - wait(0.1); - -// get stable time source -// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); - writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00); - wait(0.2); - -// Configure device for bias calculation - writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts - writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source - writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master - writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes - writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP - wait(0.015); - -// Configure MPU9250 gyro and accelerometer for bias calculation - writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz - writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity - - uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec - uint16_t accelsensitivity = 16384; // = 16384 LSB/g - -// Configure FIFO to capture accelerometer and gyro data for bias calculation - writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO - writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250) - wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes - -// At end of sample accumulation, turn off FIFO sensor read - writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO - readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count - fifo_count = ((uint16_t)data[0] << 8) | data[1]; - packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging - - for (ii = 0; ii < packet_count; ii++) { - int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0}; - readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging - accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO - accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ; - accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ; - gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ; - gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ; - gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ; - - accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases - accel_bias[1] += (int32_t) accel_temp[1]; - accel_bias[2] += (int32_t) accel_temp[2]; - gyro_bias[0] += (int32_t) gyro_temp[0]; - gyro_bias[1] += (int32_t) gyro_temp[1]; - gyro_bias[2] += (int32_t) gyro_temp[2]; - -} - accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases - accel_bias[1] /= (int32_t) packet_count; - accel_bias[2] /= (int32_t) packet_count; - gyro_bias[0] /= (int32_t) packet_count; - gyro_bias[1] /= (int32_t) packet_count; - gyro_bias[2] /= (int32_t) packet_count; - - if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation - else {accel_bias[2] += (int32_t) accelsensitivity;} - -// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup - data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format - data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases - data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF; - data[3] = (-gyro_bias[1]/4) & 0xFF; - data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF; - data[5] = (-gyro_bias[2]/4) & 0xFF; - -/// Push gyro biases to hardware registers -/* writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]); - writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]); - writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]); - writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]); - writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]); - writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]); -*/ - dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction - dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity; - dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity; - -// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain -// factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold -// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature -// compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that -// the accelerometer biases calculated above must be divided by 8. - - int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases - readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values - accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1]; - readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]); - accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1]; - readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]); - accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1]; - - uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers - uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis - - for(ii = 0; ii < 3; ii++) { - if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit - } - - // Construct total accelerometer bias, including calculated average accelerometer bias from above - accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale) - accel_bias_reg[1] -= (accel_bias[1]/8); - accel_bias_reg[2] -= (accel_bias[2]/8); - - data[0] = (accel_bias_reg[0] >> 8) & 0xFF; - data[1] = (accel_bias_reg[0]) & 0xFF; - data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers - data[2] = (accel_bias_reg[1] >> 8) & 0xFF; - data[3] = (accel_bias_reg[1]) & 0xFF; - data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers - data[4] = (accel_bias_reg[2] >> 8) & 0xFF; - data[5] = (accel_bias_reg[2]) & 0xFF; - data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers - -// Apparently this is not working for the acceleration biases in the MPU-9250 -// Are we handling the temperature correction bit properly? -// Push accelerometer biases to hardware registers -/* writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]); - writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]); - writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]); - writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]); - writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]); - writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]); -*/ -// Output scaled accelerometer biases for manual subtraction in the main program - dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; - dest2[1] = (float)accel_bias[1]/(float)accelsensitivity; - dest2[2] = (float)accel_bias[2]/(float)accelsensitivity; -} - - -// Accelerometer and gyroscope self test; check calibration wrt factory settings -void MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass -{ - uint8_t rawData[6] = {0, 0, 0, 0, 0, 0}; - uint8_t selfTest[6]; - int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3]; - float factoryTrim[6]; - uint8_t FS = 0; - - writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz - writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1< 0.0f) - { - eInt[0] += ex; // accumulate integral error - eInt[1] += ey; - eInt[2] += ez; - } - else - { - eInt[0] = 0.0f; // prevent integral wind up - eInt[1] = 0.0f; - eInt[2] = 0.0f; - } - - // Apply feedback terms - gx = gx + Kp * ex + Ki * eInt[0]; - gy = gy + Kp * ey + Ki * eInt[1]; - gz = gz + Kp * ez + Ki * eInt[2]; - - // Integrate rate of change of quaternion - pa = q2; - pb = q3; - pc = q4; - q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat); - q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat); - q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat); - q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat); - - // Normalise quaternion - norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); - norm = 1.0f / norm; - q[0] = q1 * norm; - q[1] = q2 * norm; - q[2] = q3 * norm; - q[3] = q4 * norm; - - } - }; -#endif \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/N5110.lib b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/N5110.lib deleted file mode 100644 index fc0544d9..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/N5110.lib +++ /dev/null @@ -1 +0,0 @@ -http://mbed.org/users/onehorse/code/Adfs/#28c629d0b0d0 diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ.lib b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ.lib deleted file mode 100644 index 90bd02e9..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ.lib +++ /dev/null @@ -1 +0,0 @@ -http://mbed.org/users/dreschpe/code/ST_401_84MHZ/#b9343c8b85ec diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/00changelog.i b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/00changelog.i deleted file mode 100644 index d3a8311050e54c57c5be7cfe169e60a95768812c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 57 zcmWN_K?=Yi328YDEnHU(xTbTHI UMCm0L6hKw5&V;JqM^%vl0BFY?Q2+n{ diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/hgignore b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/hgignore deleted file mode 100644 index 504a10b6..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/hgignore +++ /dev/null @@ -1,28 +0,0 @@ -syntax: glob -.hg -.git -.svn -.CVS -.cvs -*.orig -BUILD -.build -.export -.msub -.meta -.ctags* -*.uvproj -*.uvopt -*.project -*.cproject -*.launch -*.ewp -*.eww 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b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.branch deleted file mode 100644 index 331d858c..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.branch +++ /dev/null @@ -1 +0,0 @@ -default \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.desc b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.desc deleted file mode 100644 index b556ea32..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.desc +++ /dev/null @@ -1,3 +0,0 @@ -0 -pull -https://mbed.org/users/dreschpe/code/ST_401_84MHZ diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.dirstate b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/.hg/undo.dirstate deleted file mode 100644 index e69de29b..00000000 diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.cpp b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.cpp deleted file mode 100644 index 2b7da5e5..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.cpp +++ /dev/null @@ -1,71 +0,0 @@ -// use the STM32CubeMX Tool to calculate the register settings -// www.st.com/stm32cube‎ -// - -#include "stm32f4xx_hal.h" -#include "ST_F401_84MHZ.h" - -F401_init84::F401_init84(unsigned int external){ - if(external == 1){ - SystemClock_Config_84MHz_external(); - } - else { - SystemClock_Config_84MHz_internal(); - } - } - -void F401_init84::SystemClock_Config_84MHz_internal(void) -{ - HAL_RCC_DeInit(); // we have to reset the clock settings ! - RCC_ClkInitTypeDef RCC_ClkInitStruct; - RCC_OscInitTypeDef RCC_OscInitStruct; - - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; // internal 16MHz RC - RCC_OscInitStruct.HSIState = RCC_HSI_ON; - RCC_OscInitStruct.HSICalibrationValue = 6; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; // PLL on - RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; - RCC_OscInitStruct.PLL.PLLM = 16; // setup PLL divider - RCC_OscInitStruct.PLL.PLLN = 336; - RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4; - RCC_OscInitStruct.PLL.PLLQ = 4; - HAL_RCC_OscConfig(&RCC_OscInitStruct); - - RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1; - RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; - RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; - HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2); - SystemCoreClockUpdate(); // update SystemCoreClock var -} - - -// use a external 8 MHz crystal to generate the CPU clock -// You have to add X3 8MHz -// C33,C34 18pF 0603 -// R35,R37 0R 0603 or use wire - - -void F401_init84::SystemClock_Config_84MHz_external(void) -{ - HAL_RCC_DeInit(); // we have to reset the clock settings ! - RCC_ClkInitTypeDef RCC_ClkInitStruct; - RCC_OscInitTypeDef RCC_OscInitStruct; - - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE; - RCC_OscInitStruct.HSEState = RCC_HSE_ON; - RCC_OscInitStruct.LSIState = RCC_LSI_ON; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; - RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; - RCC_OscInitStruct.PLL.PLLM = 8; - RCC_OscInitStruct.PLL.PLLN = 336; - RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4; - RCC_OscInitStruct.PLL.PLLQ = 4; - HAL_RCC_OscConfig(&RCC_OscInitStruct); - - RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1; - RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; - RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; - HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2); - SystemCoreClockUpdate(); // update SystemCoreClock var - -} diff --git a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.h b/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.h deleted file mode 100644 index 40409e77..00000000 --- a/flight_computers/firmware/flight_computer/lib/MPU9250AHRS/ST_401_84MHZ/ST_F401_84MHZ.h +++ /dev/null @@ -1,44 +0,0 @@ -/* mbed library for the ST NUCLEO board F401RE - * to change the CPU clock to 84 MHz - * - * Copyright (c) 2014 Peter Drescher - DC2PD - * Released under the MIT License: http://mbed.org/license/mit - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ -#ifndef MBED_ST_F401_84MHZ_H -#define MBED_ST_F401_84MHZ_H - -/** Setup speed to 84 MHz - * - * @code - * #include "mbed.h" - * #include "ST_F401_84MHZ.h" - * - * // place the init before other code to ensure right timing of other objects ! - * F401_init84 myinit(0); // use the internal oscillator - * - */ - -class F401_init84 -{ -public: - /** Create a F401_init84 object to change the clock - * @param external = 0 use internal oscillator - * @param external = 1 use external 8 MHz crystal - you have to add some comonents to the pcb ! -*/ -F401_init84(unsigned int external); - -protected: -// do the magic ;-) -void SystemClock_Config_84MHz_internal(void); -void SystemClock_Config_84MHz_external(void); -}; - -#endif \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/main.cpp b/flight_computers/firmware/flight_computer/main.cpp deleted file mode 100644 index 06404867..00000000 --- a/flight_computers/firmware/flight_computer/main.cpp +++ /dev/null @@ -1,152 +0,0 @@ -#include -#include "lib/MPU9250AHRS/MPU9250.h" -#include "lib/MPL3115A2/MPL3115A2.h" - -#define BLACKBOX - -// Pin definitions - Flight computers -#define I2C_SENSOR_SDA PB_7 -#define I2C_SENSOR_SCL PB_6 -#define TPC_RX PA_10 -#define TPC_TX PA_9 -#define EC_RX PC_7 -#define EC_TX PC_6 -#define DEBUG_RX PA_3 -#define DEBUG_TX PA_2 -#define STATE_LED_RED PA_8 -#define STATE_LED_GREEN PC_9 -#define STATE_LED_BLUE PC_8 -#define BP1_IGNITE PB_15 -#define BP1_CONT PB_14 -#define BP2_IGNITE PB_13 -#define BP2_CONT PB_12 -#define BP3_IGNITE PB_10 -#define BP3_CONT PB_2 -#define BP4_IGNITE PB_0 -#define BP4_CONT PB_1 -#define BP5_IGNITE PC_5 -#define BP5_CONT PC_4 -#define BP6_IGNITE PA_7 -#define BP6_CONT PA_6 -#define BP7_IGNITE PA_5 -#define BP7_CONT PA_4 - -#ifdef BLACKBOX -// Pin definitions - Blackbox (for testing) -#define I2C_SENSOR_SDA PB_7 -#define I2C_SENSOR_SCL PB_6 -#define STATE_LED_RED PC_8 -#define STATE_LED_GREEN PA_8 -#define STATE_LED_BLUE PC_9 -#endif - -#define BAUDRATE 9600 - -I2C i2c_sensors(I2C_SENSOR_SDA, I2C_SENSOR_SCL); -const int ALTIMETER_I2C_ADDR = 0xC0; -const int IMU_I2C_ADDR = 0xD0; - -// TODO baud rate? -Serial tpc_talk(TPC_TX, TPC_RX); -Serial ec_talk(EC_TX, EC_RX); -Serial debug_talk(DEBUG_TX, DEBUG_RX); - -DigitalOut led_red(STATE_LED_RED); -DigitalOut led_green(STATE_LED_GREEN); -DigitalOut led_blue(STATE_LED_BLUE); - -Altitude altitude; -MPL3115A2 altimeter(&i2c_sensors, &debug_talk); - -MPU9250 imu; - -void led_color(bool r, bool g, bool b) { - // Flip because common anode - led_red.write(!r); - led_green.write(!g); - led_blue.write(!b); -} - -void bp_test() { - - DigitalOut bp7_ig(BP7_IGNITE); - bp7_ig = 0; - - while (true) { - bp7_ig = 1; - wait(0.5); - bp7_ig = 0; - wait(0.5); - } -} - -void rainbow_test() { - while (true) { - for (int r = 0; r < 2; r++) { - for (int g = 0; g < 2; g++) { - for (int b = 0; b < 2; b++) { - led_color(r, g, b); - wait(1); - } - } - } - } -} - -void altimeter_test() { - led_color(0, 0, 1); - altimeter.init(); - debug_talk.baud(BAUDRATE); - debug_talk.printf("\nBegin altimeter test\n"); - uint8_t whoami = altimeter.whoAmI(); - debug_talk.printf("Whoami: 0x%x\n", whoami); - if (whoami == 0xC4) { - debug_talk.printf("Successfully connected\n"); - Altitude a; - Temperature t; - Pressure p; - altimeter.setOffsetAltitude(83); - altimeter.setOffsetTemperature(20); - altimeter.setOffsetPressure(-32); - while (true) { - - - altimeter.readAltitude(&a); - altimeter.readTemperature(&t); - - altimeter.setModeStandby(); - altimeter.setModeBarometer(); - altimeter.setModeActive(); - altimeter.readPressure(&p); - - debug_talk.printf("Altitude: %sft, Temp: %sºF, Pressure: %sPa\r\n", a.print(), t.print(), p.print()); - debug_talk.printf("OFF_H: 0x%X, OFF_T: 0x%X, OFF_P: 0x%X\r\n", altimeter.offsetAltitude(), altimeter.offsetTemperature(), altimeter.offsetPressure()); - - altimeter.setModeStandby(); - altimeter.setModeAltimeter(); - altimeter.setModeActive(); - } - } else { - debug_talk.printf("Failed to connect to altimeter\n"); - } -} - -void imu_test() { - // Could just use: - // https://os.mbed.com/users/onehorse/code/MPU9250AHRS/file/4e59a37182df/main.cpp/ - led_color(0, 1, 0); - debug_talk.baud(BAUDRATE); - debug_talk.printf("\nBegin imu test\n"); - uint8_t whoami = imu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); - debug_talk.printf("Whoami: 0x%x\n", whoami); - if (whoami == 0x71) { - debug_talk.printf("Successfully connected\n"); - } else { - debug_talk.printf("Failed to connect to IMU\n"); - } -} - -int main() { - //altimeter_test(); - imu_test(); -} \ No newline at end of file diff --git a/flight_computers/firmware/flight_computer/mbed-os.lib b/flight_computers/firmware/flight_computer/mbed-os.lib deleted file mode 100644 index 4d41858e..00000000 --- a/flight_computers/firmware/flight_computer/mbed-os.lib +++ /dev/null @@ -1 +0,0 @@ -https://github.com/ARMmbed/mbed-os/#2fd0c5cfbd83fce62da6308f9d64c0ab64e1f0d6 diff --git a/flight_computers/firmware/flight_computer/mbed_settings.py b/flight_computers/firmware/flight_computer/mbed_settings.py deleted file mode 100644 index 494f60d0..00000000 --- a/flight_computers/firmware/flight_computer/mbed_settings.py +++ /dev/null @@ -1,45 +0,0 @@ -""" -mbed SDK -Copyright (c) 2016 ARM Limited - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -""" - -from os.path import join, abspath, dirname - -#ROOT = abspath(join(dirname(__file__), ".")) - -############################################################################## -# Build System Settings -############################################################################## -#BUILD_DIR = abspath(join(ROOT, "build")) - -# ARM -#ARM_PATH = "C:/Program Files/ARM" - -# GCC ARM -#GCC_ARM_PATH = "" - -# IAR -#IAR_PATH = "C:/Program Files (x86)/IAR Systems/Embedded Workbench 7.0/arm" - -# Goanna static analyser. Please overload it in private_settings.py -#GOANNA_PATH = "c:/Program Files (x86)/RedLizards/Goanna Central 3.2.3/bin" - -#BUILD_OPTIONS = [] - -# mbed.org username -#MBED_ORG_USER = "" - -# Print compiler warnings and errors as link format -#PRINT_COMPILER_OUTPUT_AS_LINK = False