Merge pull request #17 from TeamSunride/karman-mini

Karman mini

.gitmodules

@@ -10,3 +10,12 @@
 [submodule "lib/Protocol"]
 	path = lib/Protocol
 	url = https://github.com/TeamSunride/Protocol
+[submodule "lib/Arduino-LSM6DSO32"]
+	path = lib/Arduino-LSM6DSO32
+	url = https://github.com/TeamSunride/Arduino-LSM6DSO32
+[submodule "lib/Fifo"]
+	path = lib/Fifo
+	url = https://github.com/TeamSunride/Fifo
+[submodule "lib/Arduino-LIS3MDL"]
+	path = lib/Arduino-LIS3MDL
+	url = https://github.com/TeamSunride/Arduino-LIS3MDL

README.md

@@ -3,7 +3,7 @@
 
 <p align="center">
   <img src="assets\images\MRAS_banner\MRAS_Banner.jpg" />
-</p>
+</p> 
 
 During the academic year 2021-2022 the Sunride rocket team worked on 
 two rocketry projects, Karman Alpha and SpaceDart. These rockets had 

extra_script.py

@@ -5,7 +5,7 @@
 def after_upload(source, target, env):
     print("Delay while uploading...")
     import time
-    time.sleep(1)
+    time.sleep(3)
     print("Done!")
 
 env.AddPostAction("upload", after_upload)

launch_data/20_11_2022/plots.py

@@ -0,0 +1,35 @@
+import pandas
+import matplotlib
+import matplotlib.pyplot as plt
+matplotlib.use('TkAgg')
+plt.style.use("ggplot")
+
+df = pandas.read_csv("launch_1.csv", usecols=range(1, 20))
+df["time_seconds"] = df["timestamp"].subtract(df["timestamp"][0]).div(1000)
+print(df)
+
+
+df.plot("time_seconds", y=["imuAX", "imuAY", "imuAZ"], xlabel="Time (s)", ylabel="Acceleration (m/s)",
+        title="Acceleration")
+plt.show()
+
+df.plot("time_seconds", y=["imuGX", "imuGY", "imuGZ"], xlabel="Time (s)", ylabel="Gyroscope (unit?)",
+        title="Gyroscope Data")
+plt.show()
+
+df.plot("time_seconds", y=["imuMX", "imuMY", "imuMZ"], xlabel="Time (s)", ylabel="Magnetometer value",
+        title="Magnetometer Data")
+plt.show()
+
+df.plot("time_seconds", y=["pressure"], xlabel="Time (s)", ylabel="Pressure (Pa)",
+        title="Barometer data")
+plt.show()
+
+df.plot("time_seconds", y=["h"], xlabel="Time (s)", ylabel="Altitude (m)",
+        title="Barometric altitude")
+plt.show()
+
+df["h_adjusted"] = df["h"] - df["h"][0]
+df.plot("time_seconds", y=["h_adjusted"], xlabel="Time (s)", ylabel="Altitude (m)",
+        title="Barometric altitude (adjusted)")
+plt.show()

lib/buzzer/buzzer.cpp

@@ -4,6 +4,7 @@
 #include "buzzer.h"
 
 void buzzer_tone(uint32_t frequency, uint32_t duration, bool block) {
+    if (!MRAS_ENABLE_BUZZER) return;
     tone(BUZZER_PIN, frequency, duration);
 
     if (block) {

lib/buzzer/buzzer.h

@@ -7,7 +7,16 @@
 
 #include "Arduino.h"
 
+#ifdef GS_V1_PINS
 #define BUZZER_PIN A5
+#elif DART_PINS
+#define BUZZER_PIN 37
+#elif MRAS_DART_PINS
+#define BUZZER_PIN 2
+#endif
+
+#define MRAS_ENABLE_BUZZER true
+#define MRAS_ENABLE_BEEPING true
 
 void buzzer_tone(uint32_t frequency, uint32_t duration, bool block=false);
 

lib/downlink/Payload.h

@@ -0,0 +1,25 @@
+//
+// Created by Tom Danvers on 16/11/2022.
+//
+
+#ifndef MRAS_PAYLOAD_H
+#define MRAS_PAYLOAD_H
+
+#include <cstdint>
+
+enum PayloadType : uint8_t {
+    UNDEFINED,
+    Test_Payload_t,
+    DARTDebugPayload_t,
+};
+
+class Payload {
+protected:
+    PayloadType type = PayloadType::UNDEFINED;
+public:
+    PayloadType get_type() {
+        return type;
+    }
+};
+
+#endif //MRAS_PAYLOAD_H

lib/downlink/downlink.cpp

@@ -12,6 +12,9 @@ namespace downlink {
 #ifdef DART_PINS
     SX1262 radio = new Module(CHIP_SELECT_PIN, DIO1_PIN, RESET_PIN,
                               BUSY_PIN, SPI1);
+#elif MRAS_DART_PINS
+    SX1262 radio = new Module(CHIP_SELECT_PIN, DIO1_PIN, RESET_PIN,
+                              BUSY_PIN, SPI1);
 #else
     SX1262 radio = new Module(CHIP_SELECT_PIN, DIO1_PIN, RESET_PIN,
                               BUSY_PIN);
@@ -33,8 +36,11 @@ namespace downlink {
 int downlink::setupRadio(bool explicitHeader) {
 #ifdef DART_PINS
     SPI1.begin();  // DART uses SPI1 for SX1262
+#elif MRAS_DART_PINS
+    SPI1.begin();
 #endif
 
+
     Serial.println("Calling radio.begin()");
     radioState = radio.begin(frequency, bandwidth, spreadingFactor, codeRate, syncWord, power,
                              8, 0, true);

lib/downlink/downlink.h

@@ -19,7 +19,7 @@ namespace downlink {
     const uint8_t spreadingFactor = 5;  // LoRa spreading factor
     const uint8_t codeRate = 5; // LoRa coding rate denominator.
     const uint8_t syncWord = 0x22;  // 2-byte LoRa sync word
-    const int8_t power = 12; // output power in dBm
+    const int8_t power = 22; // output power in dBm
 
     // ===[ RADIO PIN DEFINITIONS ]===
 
@@ -50,7 +50,7 @@ namespace downlink {
     #define RX_ENABLE_PIN       10
     #define TX_ENABLE_PIN       9
 
-#elif GS_V1_RADIO_PINS
+#elif GS_V1_PINS
 
     #define CHIP_SELECT_PIN     0
     #define DIO1_PIN            1
@@ -59,6 +59,15 @@ namespace downlink {
     #define RX_ENABLE_PIN       6
     #define TX_ENABLE_PIN       5
 
+#elif MRAS_DART_PINS
+
+    #define CHIP_SELECT_PIN     31
+    #define DIO1_PIN            33
+    #define RESET_PIN           32
+    #define BUSY_PIN            34
+    #define RX_ENABLE_PIN       36
+    #define TX_ENABLE_PIN       35
+
     # else
 
     // Default pin values for radio (with ARDUINO):

lib/downlink/payloads/DARTDebugPayload.h

@@ -12,14 +12,16 @@
 #include "IMU.h"
 #include "GPS.h"
 #include "Barometer.h"
-#include "Accelerometer.h"
 
-struct DARTDebugPayload {
-    downlink::PayloadType type = downlink::PayloadType::DARTDebugPayload;
+#include "Payload.h"
+#include "Int64String.h"
 
-    // MPU6050 data
-    Vector<float, 3> mpuAccel {0,0,0};
-    Vector<float, 3> mpuGyro {0,0,0};
+class DARTDebugPayload : public Payload {
+public:
+    // IMU data
+    Vector<float, 3> imuAccel {0, 0, 0};
+    Vector<float, 3> imuGyro {0, 0, 0};
+    Vector<float, 3> imuMag {0, 0, 0};
 
     // GPS data
     float latitude = 0;
@@ -32,45 +34,61 @@ struct DARTDebugPayload {
     float pressure = 0;
     float temperature = 0;
 
-    // accelerometer data
-    Vector<float, 3> adxlAccel{};
-
     uint8_t DAQTime = 0;
 
 
     uint64_t timestamp = 0;
 
     void toLineProtocol(char* output) const {
+        char timestamp_str[20];
+        int64String(timestamp).toCharArray(timestamp_str, sizeof timestamp_str);
         sprintf(output, "DARTDebugPayload "
-                       "mpuAX=%f,"
-                       "mpuAY=%f,"
-                       "mpuAZ=%f,"
-                       "mpuGX=%f,"
-                       "mpuGY=%f,"
-                       "mpuGZ=%f,"
+                       "imuAX=%f,"
+                       "imuAY=%f,"
+                       "imuAZ=%f,"
+                       "imuGX=%f,"
+                       "imuGY=%f,"
+                       "imuGZ=%f,"
+                       "imuMX=%f,"
+                       "imuMY=%f,"
+                       "imuMZ=%f,"
                        "lat=%f,"
                        "long=%f,"
                        "altGPS=%f,"
-                       "SIV=%du,"
-                       "fixType=%du,"
+                       "SIV=%d,"
+                       "fixType=%d,"
                        "pressure=%f,"
                        "temp=%f,"
-                       "DAQTime=%du,"
-                       "adxlX=%f,"
-                       "adxlY=%f,"
-                       "adxlZ=%f",
-                       mpuAccel[0], mpuAccel[1], mpuAccel[2],
-                       mpuGyro[0], mpuGyro[1], mpuGyro[2],
-                       latitude, longitude, altitude, satellitesInView, fixType,
-                       pressure, temperature,
-                       DAQTime,
-                       adxlAccel[0], adxlAccel[1], adxlAccel[2]);
+                       "DAQTime=%d,"
+                       "h=%f"
+                       " %s",
+                imuAccel[0], imuAccel[1], imuAccel[2],
+                imuGyro[0], imuGyro[1], imuGyro[2],
+                imuMag[0], imuMag[1], imuMag[2],
+                latitude, longitude, altitude, satellitesInView, fixType,
+                pressure, temperature,
+                DAQTime, getAltitude(), timestamp_str);
+    }
+
+    void toCSVformat(char* output) const {
+        char timestamp_str[20];
+        int64String(timestamp).toCharArray(timestamp_str, sizeof timestamp_str);
+        sprintf(output, "DARTDebugPayload,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%d,%d,%f,%f,%d,%f,%s",
+                imuAccel[0], imuAccel[1], imuAccel[2],
+                imuGyro[0], imuGyro[1], imuGyro[2],
+                imuMag[0], imuMag[1], imuMag[2],
+                latitude, longitude, altitude, satellitesInView, fixType,
+                pressure, temperature,
+                DAQTime, getAltitude(), timestamp_str);
     }
 
-    DARTDebugPayload(IMU *imu, GPS *gps, Barometer *barometer, Accelerometer *accelerometer) {
+    DARTDebugPayload(IMU *imu, GPS *gps, Barometer *barometer) {
+        type = PayloadType::DARTDebugPayload_t;
+
         // 6dof IMU data
-        mpuAccel = imu->getAcceleration();
-        mpuGyro = imu->getGyroVector();
+        imuAccel = imu->getAcceleration();
+        imuGyro = imu->getGyroVector();
+        imuMag = imu->getMagnetometerVector();
 
         // GPS data
         latitude = gps->getLatitude();
@@ -82,8 +100,12 @@ struct DARTDebugPayload {
         // barometer data
         pressure = barometer->getPressure();
         temperature = barometer->getTemperature();
+    }
 
-        adxlAccel = accelerometer->getAcceleration();
+    float getAltitude() const {
+        if (pressure == 0) return -1;
+        double p = 1013.25/(pressure/100);
+        return (float) (153.84615*(pow(p,0.19) - 1)*(temperature+273.15));
     }
 
     DARTDebugPayload() = default;

lib/downlink/payloads/Test_Payload.h

@@ -8,9 +8,10 @@
 
 #include "downlink.h"
 #include "LineProtocolBuilder.h"
+#include "Payload.h"
 
-struct Test_Payload {
-    downlink::PayloadType type = downlink::PayloadType::Test_Payload_Type;
+class Test_Payload : public Payload {
+public:
     uint8_t x = 0;
     uint8_t y = 0;
     uint8_t z = 0;
@@ -27,6 +28,7 @@ struct Test_Payload {
     }
 
     Test_Payload(int16_t _x, int16_t _y, int16_t _z) {
+        type = PayloadType::Test_Payload_t;
         x = _x;
         y = _y;
         z = _z;

lib/sensor_hardware/Accelerometer_ADXL375.cpp

@@ -6,13 +6,23 @@
 #include "Accelerometer_ADXL375.h"
 
 int8_t Accelerometer_ADXL375::begin() {
+    Serial.println("Starting up ADXL375");
     device->protocol_begin();
+    Serial.println("ADXL375 protocol_begin() called");
+
+    delay(10);
 
     uint8_t deviceID = device->read_reg(0x00);
+    Serial.printf("ADXL375 device ID: %x\n", deviceID);
 
     // device ID should equal 0xE5
     if (deviceID != 0xE5) return 1;
 
+    // BW_RATE should equal 00001010
+    uint8_t bw_rate = device->read_reg(0x2C);
+    Serial.printf("ADXL375 BW_RATE: %x\n", bw_rate);
+    if (bw_rate != 0b00001010) return 6;
+
     // put device in standby mode
     if (device->write_reg(0x2D, 0b0000) != 0) return 5;
 
@@ -41,9 +51,9 @@ int8_t Accelerometer_ADXL375::readData() {
 
 
     Vector<int16_t, 3> rawAccel = {
-            (int16_t) (buffer[1] << 8 | buffer[0]),
-            (int16_t) (buffer[3] << 8 | buffer[2]),
-            (int16_t) (buffer[5] << 8 | buffer[4])
+            (int16_t) ((uint16_t)buffer[1] << 8 | ((uint16_t)buffer[0])),
+            (int16_t) ((uint16_t)buffer[3] << 8 | (uint16_t)buffer[2]),
+            (int16_t) ((uint16_t)buffer[5] << 8 | (uint16_t)buffer[4])
     };
 
 

lib/sensor_hardware/Accelerometer_ADXL375.h

@@ -20,6 +20,10 @@ class Accelerometer_ADXL375 : public Accelerometer {
         device = new I2CProtocol(address, pipe, freq);
     };
 
+    Accelerometer_ADXL375(byte chipSelect, SPIClass& spi, uint32_t frequency) {
+        device = new SPIProtocol(chipSelect, spi, SPISettings(frequency, MSBFIRST, SPI_MODE3), 0x80 | 0x40, 0x80 | 0x40);
+    }
+
     // SPI constructor to be added in future when needed
 };