kopia lustrzana https://github.com/DanInvents/Rockit
242 wiersze
9.4 KiB
C++
242 wiersze
9.4 KiB
C++
// Firmware version 2. Release date: 01.07.2022 //This version of the firmware features a complementary-coded rotary switch.
|
|
|
|
// In no respect shall DanInvents be accountable for any liabilities, claims, demands, damages or suits resulting from the use of
|
|
// the flight controller and/or this software. By using this software, you assume all risks associated with this product and
|
|
// its associated features. While the circuitry and software have been tested, they should be considered experimental and handled
|
|
// with caution.
|
|
|
|
// Before uploading this code make sure that you have downloaded the latest ADXL343 (Adafruit) and MS5637 (Sparkfun) libraries.
|
|
// You will also need the Circular Buffer library by Roberto Lo Giacco.
|
|
// 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.
|
|
// Thanks to MartinMcC for showing how to use a rotary encoder with a microcontroller.
|
|
// Special thanks to Barun Basnet for the exceptional work on Kalman filters.
|
|
// Special thanks to Earle Philhower for providing the support that allows using the Arduino libraries and IDE with the RP2040.
|
|
|
|
// Firmware improvements over the previous version:
|
|
|
|
// Changed the sign of the longitudinal acceleration. Now positive acceleration is pointing downwards and negative upwards.
|
|
// Changed the way that launch is detected. Now the altitude must be greater than 10 m and the acceleration higher than 2 gs for over 100 ms.
|
|
// Modified the Kalman filter parameters. Now the filtered data closely follows the measured values but featuring lower noise. This guarantees accurate apogee detection.
|
|
// Modified the frequency at which the flight computer beeps, now it beeps less frequently before launch.
|
|
// Now the flight computer goes silent once launch is detected. After 5 minutes, the flight computer beeps and flashes the altitude.
|
|
// For example, 5 beeps/flashes followed by 7 beeps/flashes means 57 meters.
|
|
// Now the flight computer can rotate a servo 180 degrees (not yet tested).
|
|
// When set to a possition between
|
|
|
|
#include <Wire.h>
|
|
#include "SparkFun_MS5637_Arduino_Library.h"
|
|
#include <Adafruit_Sensor.h>
|
|
#include <Adafruit_ADXL343.h>
|
|
#include <SPI.h>
|
|
#include <SD.h>
|
|
#include <Servo.h>
|
|
#include <EEPROM.h>
|
|
#include <CircularBuffer.h>
|
|
#include "pico/stdlib.h"
|
|
|
|
CircularBuffer <float,100> FilteredAltitudes;
|
|
CircularBuffer <float,100> altitudes;
|
|
CircularBuffer <float,100> accelerations;
|
|
CircularBuffer <long,100> times;
|
|
|
|
//Initialization of Kalman Variables
|
|
float R = 0.3; //R = measurement noise covariance. Larger R means large measurement uncertainty
|
|
float Q = 0.3*1e-2; //Q = process noise covariance. Larger Q means larger estimation uncertainty. Thus increasing Q corrects more
|
|
double Xpe0; // Xpe0 = prior estimation of signal X at time t=0 (current state)
|
|
double Xe1; //Xe1 = estimation of X at time t=1 (previous state)
|
|
double Ppe0; //Ppe0 = prior estimation of "error covariance" at t=0
|
|
double P1,P0; //P1 = error covariance at t=1, P0 = error covariance at t=0
|
|
double K, Xe0, Z; //K = Kalman gain, Xe0 = estimation of signal at t=0, Z = measured signal at t=0
|
|
|
|
//Physical magnitudes
|
|
float altold; //Baseline pressure
|
|
int altMax; //Rounded maximum altitude
|
|
int altMaxDig[4] = {}; //Max altitude digits
|
|
int rmnd; //Dummy variable remainder
|
|
int dvsr; //Dummy variable for beeping/flasing the altitude
|
|
float temp;
|
|
float currentPressure;
|
|
float altitudeDelta;
|
|
float altThreshold = 10.0; //Altitude threshold for launchd detection in meters
|
|
float accelThreshold = 2.0; //Acceleration threshold for launch detection in gs.
|
|
float filteredAltitudeDelta;
|
|
float rocketAccel;
|
|
float startingPressure = 0.0;
|
|
|
|
//Definition of time and auxiliary integers
|
|
int tconfig, n, q, p = 0, r = 0;
|
|
int deltat; //Time step of every loop iteration
|
|
long int t1; //Time variables
|
|
long int t4, tout = 300000; //Here tout is the timeout variable tout = 300000 equals 5 min of data logging time
|
|
|
|
/* Assign a unique ID to this sensor at the same time */
|
|
Adafruit_ADXL343 accel = Adafruit_ADXL343(12345, &Wire1);
|
|
|
|
//Config. rotary switch. This configuration is for the real-coded rotary switch
|
|
byte switchPins[4] = {15, 13, 14, 16}; //Digital pins assigned to the rotary switch
|
|
byte rotValue = B0000; // Variable for printing value over serial debug
|
|
byte switchPos; // Variable for storing the current switch possition
|
|
byte previousValue; //Variable for storing the previous switch possition
|
|
|
|
//Boolean variables defining the state of the program
|
|
bool initVar = true;
|
|
bool launchCondition1 = false;
|
|
bool launchCondition2 = false;
|
|
bool deploy = false;
|
|
bool automatic = false;
|
|
bool timer = false;
|
|
bool overtime = false;
|
|
bool piezoEnable = true;
|
|
|
|
//LEDs
|
|
int batLED = 2; //Battery indicator LED
|
|
int statusLED = 26; //Status LED
|
|
|
|
//Servos
|
|
int servo1pin = 28;
|
|
int servo2pin = 27;
|
|
|
|
//Piezo
|
|
int piezo = 12;
|
|
|
|
MS5637 barometricSensor; //Creates a barometricSensor object
|
|
File dataFile; //Creates a dataFile object
|
|
Servo servo1; //Creates a servo1 object
|
|
Servo servo2; //Creates a servo2 object
|
|
|
|
void setup() {
|
|
//Serial.begin(9600); //For debugging purposes only
|
|
EEPROM.begin(512); //Emulates EEPROM by allocating 512 kB from the flash memory
|
|
|
|
//Declaration of the I2C pins
|
|
Wire1.setSDA(10);
|
|
Wire1.setSCL(11);
|
|
|
|
//Declaration of the SPI pins
|
|
SPI.setRX(20);
|
|
SPI.setTX(19);
|
|
SPI.setSCK(18);
|
|
SPI.setCS(17);
|
|
|
|
//Declaration of the pins for the battery indicator, and status LED as well as the pin for the buzzer
|
|
pinMode(batLED, OUTPUT); //Low battery LED
|
|
pinMode(statusLED, OUTPUT); //Status LED
|
|
pinMode(piezo, OUTPUT); //Piezo buzzer
|
|
|
|
//Piezo buzzer PWM settings
|
|
analogWriteFreq(4000); //Set the piezo frequency to 4kHz
|
|
analogWriteRange(100); //Set the dynamic range of the piezo
|
|
|
|
for (int i = 0; i < 4; i = i + 1){
|
|
pinMode(switchPins[i], INPUT_PULLUP);
|
|
}
|
|
|
|
barometricSensor.begin(Wire1);
|
|
barometricSensor.setResolution(ms5637_resolution_osr_1024);
|
|
|
|
//Take 16 readings and average them
|
|
startingPressure = 0.0;
|
|
for (int x = 0 ; x < 16 ; x++)
|
|
startingPressure += barometricSensor.getPressure();
|
|
startingPressure /= (float)16;
|
|
|
|
accel.begin();
|
|
accel.setRange(ADXL343_RANGE_16_G);
|
|
accel.setDataRate(ADXL343_DATARATE_400_HZ);
|
|
switchStartup();
|
|
SDstartup(); //Initialize the SD card
|
|
preLaunch(); //Here I store the first second of data into the circular buffers
|
|
}
|
|
|
|
void loop() {
|
|
batteryStatus(); //Check the battery level
|
|
|
|
if (overtime == false){
|
|
currentPressure = barometricSensor.getPressure();
|
|
temp = barometricSensor.getTemperature();
|
|
sensors_event_t event;
|
|
accel.getEvent(&event);
|
|
rocketAccel = -((event.acceleration.y/9.81)-(event.acceleration.x/9.81))/sqrt(2);
|
|
altitudeDelta = barometricSensor.altitudeChange(currentPressure, startingPressure);
|
|
filteredAltitudeDelta = kalmanFilter(altitudeDelta);
|
|
|
|
|
|
if (altitudeDelta > altThreshold && launchCondition1 == false){ //Threshold condition set to 10 m
|
|
launchCondition1 = true;
|
|
}
|
|
|
|
if (rocketAccel > accelThreshold && launchCondition2 == false){
|
|
q++;
|
|
if (q > 10){ //launcCondition2 stablishes the requirement that to detect launch there should be at least an acceleration of 2g for 100 ms
|
|
launchCondition2 = true;
|
|
}
|
|
}
|
|
|
|
else if (rocketAccel < accelThreshold && launchCondition2 == false){
|
|
q = 0;
|
|
}
|
|
|
|
if (initVar == true){ //Store data to the circular buffer
|
|
accelerations.push(rocketAccel);
|
|
altitudes.push(altitudeDelta);
|
|
FilteredAltitudes.push(filteredAltitudeDelta);
|
|
times.push(millis()-t4); //Circular buffer for time
|
|
|
|
if (launchCondition1 == true && launchCondition2 == true){
|
|
initVar = false;
|
|
|
|
for (int i = 0; i<=99; i++){ //Saving the buffer allows me to store the data measured before launch.
|
|
dataFile.print(times[i]-times[0]); //Here times[0] sets the time zero for the time variable
|
|
dataFile.print(',');
|
|
dataFile.print(altitudes.shift());
|
|
dataFile.print(',');
|
|
dataFile.print(FilteredAltitudes.shift());
|
|
dataFile.print(',');
|
|
dataFile.print(accelerations.shift());
|
|
dataFile.print(',');
|
|
dataFile.print(event.acceleration.z/9.81);
|
|
dataFile.print(',');
|
|
dataFile.println(temp, 1);
|
|
}
|
|
|
|
dataFile.flush(); //Store data of the 908 ms before launch
|
|
}
|
|
}
|
|
|
|
else if (initVar == false){
|
|
t1 = millis() - t4 - times[0];
|
|
recovery();
|
|
dataFile.print(t1);
|
|
dataFile.print(',');
|
|
dataFile.print(altitudeDelta);
|
|
dataFile.print(',');
|
|
dataFile.print(filteredAltitudeDelta);
|
|
dataFile.print(',');
|
|
dataFile.print(rocketAccel);
|
|
dataFile.print(',');
|
|
dataFile.print(event.acceleration.z/9.81);
|
|
dataFile.print(',');
|
|
dataFile.println(temp, 1);
|
|
|
|
if (altitudeDelta > altold){ //Here is where I store the maximum altitude value
|
|
altMax = round(altitudeDelta);
|
|
altold = altMax;
|
|
}
|
|
|
|
if (r == 200 && overtime == false){ //Here I set the rate at which I send data to the uSD card
|
|
r = 0;
|
|
dataFile.flush();
|
|
}
|
|
r++;
|
|
|
|
|
|
if (t1 >= tout){
|
|
overtime = true;
|
|
dataFile.flush();
|
|
dataFile.close(); //After timeout flush the data to the microSD card and close the file
|
|
}
|
|
}
|
|
}
|
|
beepnblink();
|
|
}
|