kopia lustrzana https://github.com/DanInvents/Rockit
198 wiersze
7.5 KiB
C++
198 wiersze
7.5 KiB
C++
// Firmware version 1.2. Release date: 04.04.2022 //This version of the firmware features a real-coded rotary switch
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// In no respect shall DanInvents be accountable for any liabilities, claims, demands, damages or suits resulting from the use of
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// the flight controller and/or this software. By using this software, you assume all risks associated with this product and
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// its associated features. While the circuitry and software have been tested, they should be considered experimental and handled
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// with caution.
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// Before uploading this code make sure that you have downloaded the latest ADXL343 (Adafruit) and MS5637 (Sparkfun) libraries.
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// You will also need the Circular Buffer library by Roberto Lo Giacco.
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// Thanks to Adafruit, Sparkfun and Roberto for the open source libraries and also to Homemade Multibody Dynamics for a guide into how to log data fast.
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// Thanks to MartinMcC for showing how to use a rotary encoder with a microcontroller.
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// Special thanks to Barun Basnet for the exceptional work on Kalman filters.
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// Special thanks to Earle Philhower for providing the support that allows using the Arduino libraries and IDE with the RP2040.
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//Changes log
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//04.04.2021 Changed the sign of the longitudinal acceleration as well as the launch detection threshold.
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#include <Wire.h>
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#include "SparkFun_MS5637_Arduino_Library.h"
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#include <Adafruit_Sensor.h>
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#include <Adafruit_ADXL343.h>
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#include <SPI.h>
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#include <SD.h>
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#include <Servo.h>
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#include <EEPROM.h>
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#include <CircularBuffer.h>
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#include "pico/stdlib.h"
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CircularBuffer <float,100> FilteredAltitudes;
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CircularBuffer <float,100> altitudes;
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CircularBuffer <float,100> accelerations;
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CircularBuffer <long,100> times;
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//Initialization of Kalman Variables
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float R = 0.3; //R = measurement noise covariance. Larger R means large measurement uncertainty
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float Q = 0.3*1e-4; //Q = process noise covariance. Larger Q means larger estimation uncertainty. Thus increasing Q corrects more
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double Xpe0; // Xpe0 = prior estimation of signal X at time t=0 (current state)
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double Xe1; //Xe1 = estimation of X at time t=1 (previous state)
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double Ppe0; //Ppe0 = prior estimation of "error covariance" at t=0
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double P1,P0; //P1 = error covariance at t=1, P0 = error covariance at t=0
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double K, Xe0, Z; //K = Kalman gain, Xe0 = estimation of signal at t=0, Z = measured signal at t=0
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//Physical magnitudes
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float altold; //Baseline pressure
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float temp;
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float currentPressure;
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float altitudeDelta;
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float filteredAltitudeDelta;
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float rocketAccel; //z axis offset +0.03g
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float startingPressure = 0.0;
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//Definition of time and auxiliary integers
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int tconfig, n, p = 0, r = 0;
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int deltat; //Time step of every loop iteration
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long int t1; //Time variables
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long int t4, tout = 300000; //Here tout is the timeout variable tout = 300000 equals 5 min of data logging time
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/* Assign a unique ID to this sensor at the same time */
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Adafruit_ADXL343 accel = Adafruit_ADXL343(12345, &Wire1);
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//Config. rotary switch. This configuration is for the real-coded rotary switch
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byte switchPins[4] = {15, 13, 14, 16}; //Digital pins assigned to the rotary switch
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byte rotValue = B0000; // Variable for printing value over serial debug
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byte switchPos; // Variable for storing the current switch possition
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byte previousValue; //Variable for storing the previous switch possition
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//Boolean variables defining the state of the program
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bool initVar = true;
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bool deploy = false;
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bool automatic = false;
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bool timer = false;
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bool overtime = false;
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//LEDs
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int batLED = 2; //Battery indicator LED
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int statusLED = 26; //Status LED
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//Piezo
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int piezo = 12;
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MS5637 barometricSensor; //Creates a barometricSensor object
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File dataFile; //Creates a dataFile object
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Servo servo1; //Creates a servo1 object
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Servo servo2; //Creates a servo2 object
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void setup() {
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// Serial.begin(9600); //For debugging purposes only
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EEPROM.begin(512); //Emulates EEPROM by allocating 512 kB from the flash memory
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//Declaration of the I2C pins
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Wire1.setSDA(10);
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Wire1.setSCL(11);
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//Declaration of the SPI pins
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SPI.setRX(20);
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SPI.setTX(19);
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SPI.setSCK(18);
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SPI.setCS(17);
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//Declaration of the pins for the battery indicator, and status LED as well as the pin for the buzzer
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pinMode(batLED, OUTPUT); //Low battery LED
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pinMode(statusLED, OUTPUT); //Status LED
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pinMode(piezo, OUTPUT); //Piezo buzzer
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//Piezo buzzer PWM settings
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analogWriteFreq(4000); //Set the piezo frequency to 4kHz
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analogWriteRange(100); //Set the dynamic range of the piezo
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for (int i = 0; i < 4; i = i + 1){
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pinMode(switchPins[i], INPUT_PULLUP);
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}
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barometricSensor.begin(Wire1);
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//Set the resolution of the sensor to the highest level of resolution: 0.016 mbar //Change this
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barometricSensor.setResolution(ms5637_resolution_osr_1024);
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//Take 16 readings and average them
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startingPressure = 0.0;
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for (int x = 0 ; x < 16 ; x++)
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startingPressure += barometricSensor.getPressure();
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startingPressure /= (float)16;
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accel.begin();
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accel.setRange(ADXL343_RANGE_16_G);
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accel.setDataRate(ADXL343_DATARATE_400_HZ);
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switchStartup();
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SDstartup(); //Initialize the SD card
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preLaunch(); //Here I store the first second of data into the circular buffers
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}
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void loop() {
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batteryStatus(); //Check the battery level
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if (overtime == false){
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currentPressure = barometricSensor.getPressure();
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temp = barometricSensor.getTemperature();
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sensors_event_t event;
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accel.getEvent(&event);
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rocketAccel = ((event.acceleration.y/9.81)-(event.acceleration.x/9.81))/sqrt(2);
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altitudeDelta = barometricSensor.altitudeChange(currentPressure, startingPressure);
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filteredAltitudeDelta = kalmanFilter(altitudeDelta);
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if (initVar == true){ //Maybe this should have its own tab
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accelerations.push(rocketAccel);
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altitudes.push(altitudeDelta);
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FilteredAltitudes.push(filteredAltitudeDelta);
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times.push(millis()-t4); //Circular buffer for time
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if(-rocketAccel >= 2.0){
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initVar = false;
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for (int i = 0; i<=99; i++){ //Saving the buffer should be done only once.
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dataFile.print(times[i]-times[0]); //Here times[0] sets the time zero for the time variable
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dataFile.print(',');
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dataFile.print(altitudes.shift());
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dataFile.print(',');
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dataFile.print(FilteredAltitudes.shift());
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dataFile.print(',');
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dataFile.print(-accelerations.shift());
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dataFile.print(',');
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dataFile.print(event.acceleration.z/9.81);
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dataFile.print(',');
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dataFile.println(temp, 1);
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}
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dataFile.flush(); //Store data of the full second before launch.
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}
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}
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else if (initVar == false){
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t1 = millis() - t4 - times[0];
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recovery();
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dataFile.print(t1);
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dataFile.print(',');
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dataFile.print(altitudeDelta);
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dataFile.print(',');
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dataFile.print(filteredAltitudeDelta);
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dataFile.print(',');
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dataFile.print(-rocketAccel);
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dataFile.print(',');
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dataFile.print(event.acceleration.z/9.81);
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dataFile.print(',');
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dataFile.println(temp, 1);
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if (r == 200 && overtime == false){ //Here I set the rate at which I send data to the uSD card
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r = 0;
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dataFile.flush();
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}
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r++;
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if (t1 >= tout){
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overtime = true;
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dataFile.flush();
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dataFile.close(); //After timeout flush the data to the microSD card and close the file
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}
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}
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}
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beepnblink();
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}
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