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rocket.cpp
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rocket.cpp
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#include <cstdio>
#include "hardware/watchdog.h"
#include "servo.h"
#include "ADXL345_RP2040/ADXL345.h"
#include "lfs-pico.h"
#include "log.h"
#define ENABLE_FILESYSTEM 1
const uint microseconds_per_second = 1000000;
const double accelerometer_coefficient = ADXL345_MG2G_MULTIPLIER * SENSORS_GRAVITY_STANDARD;
i2c_inst_t* accel_i2c_bus = i2c0;
const uint accel_sda_pin = 20;
const uint accel_scl_pin = 21;
const uint accel_interrupt_pin = 19;
const uint servo_pin = 2;
const uint piezo_pin = 7;
const uint button_pin = 6;
const uint led_pin = 25;
const uint start_servo_angle = 90;
const uint end_servo_angle = 180;
const uint freefall_treshold_mg = 600;
const uint freefall_time_ms = 200;
ADXL345 accelerometer;
volatile alarm_id_t piezo_alarm_id;
volatile bool piezo_enabled = false;
volatile bool piezo_on = false;
volatile bool led_on = false;
volatile bool wait_for_lock = true;
volatile bool parachute_ejected = false;
volatile int64_t parachute_ejected_timestamp = 0;
#if ENABLE_FILESYSTEM
lfs_t lfs;
lfs_file_t log_file;
#endif
int64_t piezo_callback(alarm_id_t id, void* user_data) {
printf("callback fired, pin: %d\n", piezo_pin);
uint delay_ms;
if (piezo_on) {
gpio_put(piezo_pin, false);
piezo_on = false;
delay_ms = 300;
} else {
gpio_put(piezo_pin, true);
piezo_on = true;
delay_ms = 1000;
}
piezo_alarm_id = add_alarm_in_ms(delay_ms, piezo_callback, nullptr, true);
return 0;
}
void piezo_start() {
gpio_put(piezo_pin, true);
piezo_alarm_id = add_alarm_in_ms(1500, piezo_callback, nullptr, true);
piezo_on = true;
}
void piezo_stop() {
cancel_alarm(piezo_alarm_id);
gpio_put(piezo_pin, false);
piezo_on = false;
}
void set_checksum_byte(log_event_t* evt) {
uint8_t* event = (uint8_t*) evt;
uint8_t parity = event[0];
// xor all other bytes except the checksum byte
for (uint i = 1; i < sizeof(log_event_t) - 1; i++)
parity ^= event[i];
evt->checksum = parity;
}
void interrupt_handler(uint gpio, uint32_t events) {
printf("interrupt! GPIO: %d events: 0x%x\n", gpio, events);
if (gpio == accel_interrupt_pin) {
uint8_t sources = accelerometer.getInterruptSources();
printf("interrupt values: 0x%x\n", sources);
if (accelerometer.isInterruptSource(ADXL345_INT_FREE_FALL, sources)) {
set_degrees(servo_pin, end_servo_angle);
if (!parachute_ejected) {
piezo_start();
parachute_ejected_timestamp = time_us_64();
}
#if ENABLE_FILESYSTEM
if (!parachute_ejected) {
log_event_t evt = { time_us_64(), LOG_MSG_PEAK, accelerometer.getX(), accelerometer.getY(), accelerometer.getZ(), 0 };
set_checksum_byte(&evt);
int ret = lfs_file_write(&lfs, &log_file, &evt, sizeof(evt));
printf("wrote to file, returned: %d\n", ret);
lfs_file_sync(&lfs, &log_file);
}
#endif
parachute_ejected = true;
}
} else if (gpio == button_pin) {
// pressing button locks the parachute if the microcontroller is after boot, or reboots if the parachute is ejected
printf("button pressed!\n");
if (wait_for_lock) {
wait_for_lock = false;
} else {
// 20 seconds timer failsafe to try and prevent accidental restart
if (parachute_ejected && parachute_ejected_timestamp + (20 * microseconds_per_second) < time_us_64()) {
printf("restarting...\n");
watchdog_enable(100, false);
// burn cycles until watchdog kicks in
while (true) { };
}
}
}
}
void fast_blink_led_blocking(int count) {
for (uint i = 0; i < count; i++) {
gpio_put(led_pin, true);
sleep_ms(100);
gpio_put(led_pin, false);
sleep_ms(50);
}
}
int main() {
stdio_init_all();
gpio_init(led_pin);
gpio_set_dir(led_pin, GPIO_OUT);
uint blink_cnt = watchdog_caused_reboot() ? 2 : 8;
fast_blink_led_blocking(blink_cnt);
// for USB console debugging
if (!watchdog_caused_reboot())
sleep_ms(2000);
printf("hi :)\n");
// initialize GPIO pins
gpio_init(piezo_pin);
gpio_set_dir(piezo_pin, GPIO_OUT);
gpio_init(button_pin);
gpio_set_dir(button_pin, GPIO_IN);
gpio_init(accel_interrupt_pin);
gpio_set_dir(accel_interrupt_pin, GPIO_IN);
gpio_set_irq_enabled_with_callback(button_pin, GPIO_IRQ_EDGE_RISE, true, &interrupt_handler);
set_servo(servo_pin);
// set up accelerometer free fall interrupt
accelerometer = ADXL345();
accelerometer.begin(ADXL345_DEFAULT_ADDRESS, accel_i2c_bus, accel_sda_pin, accel_scl_pin);
accelerometer.setRange(ADXL345_RANGE_16_G);
gpio_set_irq_enabled_with_callback(accel_interrupt_pin, GPIO_IRQ_EDGE_RISE, true, &interrupt_handler);
accelerometer.setFreefallInterruptTime(freefall_time_ms);
accelerometer.setFreefallInterruptTreshold(freefall_treshold_mg);
accelerometer.setInterrupt(ADXL345_INT_FREE_FALL, true);
uint8_t status = watchdog_caused_reboot() ? LOG_MSG_WATCHDOG : LOG_MSG_BOOT;
if (status == LOG_MSG_WATCHDOG)
printf("rebooted by watchdog!\n");
// mount filesystem and log a boot (if enabled)
#if ENABLE_FILESYSTEM
printf("filesystem support enabled\n");
int err = lfs_mount(&lfs, &cfg);
// reformat if we can't mount the filesystem
// this should only happen on the first boot
if (err) {
printf("filesystem mount failed, reformatting...\n");
lfs_format(&lfs, &cfg);
lfs_mount(&lfs, &cfg);
}
lfs_file_open(&lfs, &log_file, log_file_name, LFS_O_WRONLY | LFS_O_CREAT | LFS_O_APPEND);
log_event_t evt = { time_us_64(), status, 0, 0, 0, 0 };
set_checksum_byte(&evt);
int ret = lfs_file_write(&lfs, &log_file, &evt, sizeof(evt));
printf("wrote to file, returned: %d\n", ret);
lfs_file_sync(&lfs, &log_file);
size_t size = lfs_file_size(&lfs, &log_file);
printf("log file size: %d\n", size);
#endif
watchdog_enable(1500, 1);
// wait for button press to start the program
printf("waiting for button press (pin %d)...\n", button_pin);
while (true) {
if (!wait_for_lock)
break;
sleep_ms(1000);
gpio_put(led_pin, !led_on);
led_on = !led_on;
watchdog_update();
}
// set motor to initial position
set_degrees(servo_pin, start_servo_angle);
printf("starting main loop...\n");
while (true) {
// blink the LED to indicate that the program is alive and periodically log the accelerometer data
gpio_put(led_pin, !led_on);
led_on = !led_on;
uint8_t interrupt_enable_register = accelerometer.readRegister(ADXL345_REG_INT_ENABLE);
// if value of the interrupt enable register is not what we expect, log an error
if (interrupt_enable_register ^ ADXL345_INT_FREE_FALL) {
printf("accelerometer connection error!\n");
fast_blink_led_blocking(4);
#if ENABLE_FILESYSTEM
log_event_t evt = { time_us_64(), LOG_MSG_CONN_ERROR, accelerometer.getX(), accelerometer.getY(), accelerometer.getZ(), 0 };
set_checksum_byte(&evt);
int ret = lfs_file_write(&lfs, &log_file, &evt, sizeof(evt));
printf("wrote to file, returned: %d\n", ret);
lfs_file_sync(&lfs, &log_file);
#endif
} else {
// periodically log accelerometer data
#if ENABLE_FILESYSTEM
log_event_t evt = { time_us_64(), LOG_MSG_REGULAR, accelerometer.getX(), accelerometer.getY(), accelerometer.getZ(), 0 };
set_checksum_byte(&evt);
int ret = lfs_file_write(&lfs, &log_file, &evt, sizeof(evt));
printf("wrote to file, returned: %d\n", ret);
lfs_file_sync(&lfs, &log_file);
#endif
}
watchdog_update();
sleep_ms(300);
}
}