From 90c4d94b13472114daab71d3e368660224423c90 Mon Sep 17 00:00:00 2001 From: Dawsyn Schraiber <32221234+dawsynth@users.noreply.github.com> Date: Thu, 9 May 2024 01:20:17 -0400 Subject: 02/24/2024 Test Launch Version (BB Black) (#11) * Adding a 90% completed, compilable but untested ADS * Made basic changes to actuator & sensor. Also added motor class * Removed unnecessary .cpp files * Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions * Relocated 'main' to 'active-drag-system.cpp'. Added more info to README * Removed main.cpp * Added more details to README * Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace * Started writing the test cases * Updated the .gitignore file * Removed some files that should be gitignored * Up to date with Jazz's pull request * Test Launch Branch Created; PRU Servo Control with Test Program * Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION] Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly. * Partial implementation of MPL sensor Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES. * *Hypothetically* complete MPL implementation NEEDS HARDWARE TESTING * IMU Header and init() method implementation Needs like, all data handling still lol * Hypothetically functional (Definitely won't compile) * We ball? --------- Co-authored-by: Jazz Jackson Co-authored-by: Cian Capacci <46614295+BeeGuyDude@users.noreply.github.com> --- include/rocketUtils.hpp | 121 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 121 insertions(+) create mode 100644 include/rocketUtils.hpp (limited to 'include/rocketUtils.hpp') diff --git a/include/rocketUtils.hpp b/include/rocketUtils.hpp new file mode 100644 index 0000000..65b9cea --- /dev/null +++ b/include/rocketUtils.hpp @@ -0,0 +1,121 @@ +#pragma once +#include +#include +#include +#include +#include +#include +#include + +// Deployment angle limits +#define MAX_ANGLE 100 +#define MIN_ANGLE 120 + +// Altimeter initialization count limit +#define COUNT_LIMIT 50 + +// Constants +#define G_0 9.8066 + +// Threshold limits +#define BOOST_ACCEL_THRESH 3 +#define BOOST_HEIGHT_THRESH 20 +#define GLIDE_ACCEL_THRESH 0.5 + +#define ALTI_DEPL_THRESHOLD 0.5 +#define RATE_ALTI_DEPL 1/50 +#define FSM_DONE_SURFACE_ALTITUDE 200 +#define APOGEE_FSM_CHANGE 3 + +#define INIT_DEPLOYMENT 0 + +#define TIME_BO 8 +#define TIME_APO 25 +#define TIME_END 120 + +#define PAD_PRESSURE 102250 + +#define DUTY_MAX 14.5 +#define DUTY_MIN 3 + +#define LAUNCH_DATE "4-15-2023" +#define LOG_FILENAME "DataLog_" LAUNCH_DATE ".txt" + +#define LED_GAP_TIME 0.5 +#define LED_ONE_PATH "/sys/class/leds/beaglebone:green:usr1" +#define LED_BRIGHTNESS_FILE "brightness" +#define LED_FILENAME LED_ONE_PATH LED_BRIGHTNESS_FILE + +#define TEST_MODE false + + +enum VehicleState {ON_PAD, BOOST, GLIDE, APOGEE, DONE}; +extern std::string state_for_log[5]; + +struct Vehicle { + + int status; + + std::vector acceleration; + std::vector linear_acceleration; + + double apogee_altitude; + double previous_altitude; + double current_altitude; + double filtered_altitude; + + double filtered_velocity; + + double deployment_angle; + + bool imuInitFail; + bool imuReadFail; + bool altiInitFail; + bool altiReadFail; + + double ON_PAD_altitude; + bool ON_PAD_fail; + + double duty_span; + + double dt; + + int led_brightness; + + time_t start_time; + time_t fail_time; // For failure termination + time_t liftoff_time; + time_t relog_time; + time_t deploy_time; // NOT INITIALIZED YET + time_t loop_time; + time_t led_time; +}; + +/** + * @brief Convert fin deployment percentage to fin rotation angle + * + * @param percentage Fin deployment percentage + * @return double + */ +double deploy_percentage_to_angle(double percentage); + +/** + * @brief Set the decimal precision of the given data, and return it + * as a formatted string with a prefix containing a relevant description of the data. + * + * @param prefix Identifying or clarifying information about the loggef data + * @param data Data to Log + * @param precision The decimal precision value for the data + * + * @return A string with the formatted data. + */ +std::string format_data(std::string prefix, double data, int precision); + +/** + * @brief Blink Beaglebone LED 1 + * + * @param vehicle Holds settings pertinent to the Beaglebone LED + * @return true Successful Blink + * @return false Unsuccessful Blink + */ +bool led_out(Vehicle *vehicle); -- cgit v1.2.3