Raspberry Pi Pico support and organizational changes (#155)

<!-- Please Give Your PR a relevant title-->

## Description of Problem
These changes encompass everything that was needed to support a new
flight computer: Birdbrain. Birdbrain is roughly derived from
Catalyst-2, but includes several hardware changes, including a new
microcontroller, IMU, radio, SD card module and pyro channels.

## Notable Changes
<!-- Describe your thought process and the steps you took to find a
solution. If your process resulted in a new issue being created, link it
here-->
- replaced references to `Catalyst-2` with the new software name:
`Stimulant`
- Added a `sensors` directory with interfaces for some of the sensors
- added source code for `LSMDSOX`
- replaced `settings.h` with `config.h` and added a config for each
supported flight computer (`Catalyst-2` and `Birdbrain`)
- added build flags in `platformio.ini` to link source code
- modified unit tests to "work" with the new architecture (further
modification will be needed)

## Testing
<!-- Describe the testing that you did to validate your changes (i.e.
ran a unit test, loaded onto physical microcontroller etc.)-->
<!-- ex:
- Executed "throw test" on Catalyst to verify behavior
-->
- Flight tested with successful main parachute deploy (triggered by lack
of drogue failsafe) (Birdbrain)
- Ground "throw" tests (Birdbrain)


closes #15

README.md

@@ -1,11 +1,11 @@
-# Catalyst 2 Flight Computer
-Designed for Teensy 4.1
+# Stimulant
+Hardware agnostic flight software for high power rockets.
 
-Want to contribute? Start [here](https://github.com/Harlem-Launch-Alliance/Catalyst-2/blob/main/GETTING_STARTED.md).
+Want to contribute? Start [here](https://github.com/Harlem-Launch-Alliance/Stimulant/blob/main/docs/GETTING_STARTED.md).
 
 # NOTE: At this time we are only accepting contributions from [HLA](hla.nyc) members for issues with the `beginner` label.
 
-[Instructions for use](https://github.com/Harlem-Launch-Alliance/Catalyst-2#instructions-for-use)
+[Instructions for use](https://github.com/Harlem-Launch-Alliance/Stimulant#instructions-for-use)
 
 ## Goals:
 | Feature | Status |
@@ -26,29 +26,32 @@ Want to contribute? Start [here](https://github.com/Harlem-Launch-Alliance/Catal
 [Flow Chart](https://miro.com/app/board/uXjVPYUZ7mY=/?share_link_id=493963314311)
 
 ## Hardware:
+This software can support any configuration of hardware with exactly one of each of the following types:
+- Microcontroller
+- Inertial Measurement Unit
+- GPS
+- Radio transceiver
+
+The following hardware is currently supported:
 - Teensy 4.1
-- Adafruit BMP388 Barometric Altimeter
+- RaspberryPi Pico
+- Adafruit BMP388/BMP390 Barometric Altimeter
 - GY521 IMU (MPU 6050)
+- LSM6DSOX IMU
 - Adafruit Ultimate GPS
 - Xbee-PRO S3B
-- 5V buzzer
-
-## Dependencies:
-- https://github.com/adafruit/Adafruit_BMP3XX
-- https://github.com/adafruit/Adafruit_GPS
 
 ## Best Practices For Making Changes:
 - make sure your code compiles to verify your changes
 - comment your code
-- if you are including a new library in your code, add the GitHub link to the dependencies list above
 - multiple small functions are better than one big one. Remember, each function should only do one thing
 - break out groups of functions into their own files. Long files are difficult to read. Ideally `main.ino` would only have `void setup()` and `void loop()`
 
 ## Instructions for use:
 1. Connect all sensors and power source
-2. Integrate Teensy with rocket (try to keep IMU aligned with axis of rotation)
+2. Integrate flight computer with rocket (try to keep IMU aligned with axis of rotation)
 3. Put rocket on launch rail
-4. Power on Teensy
+4. Power on flight computer
     * **CAUTION**: Once powered on, any sudden movements may trigger launch detection
 5. Wait at least 5 minutes between powering on and launching to allow for proper sensor calibration
 6. Launch!

main/apogee.h

@@ -2,13 +2,10 @@
  * apogee detection and helper functions
  * 
  ****************************************************************************/
+#pragma once
 
-#include "Ewma.h"
-#include "utils.h"
-
-#define G_FORCE_TO_LAUNCH 3 //if acceleration exceeds this number the rocket will assume it has been launched
-#define MAX_APOGEE_ACCEL 2 //we can rule out apogee if acceleration is about this amount (Gs)
-//#define CHECK_FOR_APOGEE_HZ 4 //frequency that we check for apogee within the detect apogee function
+#include "utils/datatypes.h"
+#include "utils/Ewma.h"
 
 /**
  * @brief Detect if rocket has been launched using acceleration data

main/attitude.h

@@ -7,8 +7,10 @@
 //rates are magnitudes of rad/s
 //assuming roll == 0, pitchRate will be equivalent to y, and yawRate will be equivalent to x
 
-#include "Ewma.h" 
-#include "utils.h"
+#pragma once
+
+#include "utils/datatypes.h"
+#include "utils/Ewma.h" 
 
 /// @brief this object tracks attitude/orientation as well as gyroscope calibration values
 class Attitude {

main/config/birdbrain.h

@@ -0,0 +1,35 @@
+/*****************************************************************************
+ * This file is for any settings or constants that may be manually adjusted
+ * specific to the Birdbrain flight computer
+ ****************************************************************************/
+#pragma once
+
+//tick times (microseconds)
+constexpr uint32_t TICK_TIME_ONPAD = 10000;
+constexpr uint32_t TICK_TIME_ASCENDING = 10000;
+constexpr uint32_t TICK_TIME_DESCENDING = 50000;
+constexpr uint32_t TICK_TIME_POST_FLIGHT = 1000000;
+
+constexpr uint32_t GPS_WAIT_TIME = 900; //number of seconds to wait for GPS to acquire signal before moving on
+
+constexpr uint32_t RING_QUEUE_LENGTH = 1000;//each 100 elements is 1 seconds of data at 100hz
+
+// pin definitions
+constexpr int BMP_CS = 7; //SPI chipSelect of bmp altimeter
+constexpr int BUILTIN_SDCARD = 9; // SPI chipSelect of SD card
+constexpr int RADIO_CS = 8; //SPI chipSelect of radio module
+constexpr int IMU_CS = 6; //SPI chipSelect of IMU
+constexpr int SPI0_SCK = 2; //SPI clock pin
+constexpr int SPI0_MOSI = 3; //SPI MOSI pin
+constexpr int SPI0_MISO = 4; //SPI MISO pin
+constexpr int SPI1_SCK = 10;
+constexpr int SPI1_MOSI = 11;
+constexpr int SPI1_MISO = 12;
+constexpr int BUZZER_PIN = 26;
+constexpr int PYRO0_PIN = 14;
+constexpr int PYRO1_PIN = 15;
+
+constexpr int TONE_HZ = 2500; //frequency of buzzer tone
+
+#define GPSSerial Serial1 //Hardware Serial Location of GPS
+#define XBeeSerial Serial //Hardware Serial Location of XBee

main/settings.h → main/config/catalyst2.h

@@ -1,15 +1,9 @@
 /*****************************************************************************
  * This file is for any settings or constants that may be manually adjusted
- * 
+ * specific to the Catalyst-2 flight computer
  ****************************************************************************/
 #pragma once
 
-#ifndef UNIT_TEST
-#include <Arduino.h>
-#else
-#include "../test/lib/mock_arduino.h"
-#endif // UNIT_TEST
-
 //tick times (microseconds)
 constexpr uint32_t TICK_TIME_ONPAD = 10000;
 constexpr uint32_t TICK_TIME_ASCENDING = 10000;
@@ -18,14 +12,21 @@ constexpr uint32_t TICK_TIME_POST_FLIGHT = 1000000;
 
 constexpr uint32_t GPS_WAIT_TIME = 300; //number of seconds to wait for GPS to acquire signal before moving on
 
+constexpr uint32_t RING_QUEUE_LENGTH = 3000;//each 100 elements is 1 second of data at 100hz
+
+// pin definitions
 constexpr int BMP_CS = 10; //SPI chipSelect of bmp altimeter
-#ifdef PICO
-#define GPSSerial Serial1 //Hardware Serial Location of GPS
-#define XBeeSerial Serial //Hardware Serial Location of XBee
-constexpr uint32_t RING_QUEUE_LENGTH = 1000;//each 100 elements is 1 seconds of data at 100hz
-#else
+constexpr int SPI0_SCK = 11; //SPI clock pin (used for built in SD card)
+constexpr int SPI0_MOSI = 12; //SPI MOSI pin
+constexpr int SPI0_MISO = 13; //SPI MISO pin
+constexpr int SPI1_SCK = SPI0_SCK;
+constexpr int SPI1_MOSI = SPI0_MOSI;
+constexpr int SPI1_MISO = SPI0_MISO;
+constexpr int BUZZER_PIN = 33;
+constexpr int PYRO0_PIN = 34;
+constexpr int PYRO1_PIN = 35;
+
+constexpr int TONE_HZ = 1000; //frequency of buzzer tone
+
 #define XBeeSerial Serial1 //Hardware Serial Location of XBee
 #define GPSSerial Serial2 //Hardware Serial Location of GPS
-constexpr uint32_t RING_QUEUE_LENGTH = 3000;//each 100 elements is 1 seconds of data at 100hz
-#endif // PICO
-constexpr int BUZZER_PIN = 33;

main/config/config.h

@@ -0,0 +1,24 @@
+/*****************************************************************************
+ * This file is for any settings or constants that may be manually adjusted
+ * not specific to any hardware architecture
+ * all hardware specific settings should be in their own file
+ * 
+ * all hardware architectures should be conditionally included here
+ ****************************************************************************/
+#pragma once
+
+#ifdef UNIT_TEST
+#include "../test/lib/mock_arduino.h"
+#else
+#include <Arduino.h>
+#endif // UNIT_TEST
+
+#if defined(BIRDBRAIN)
+#include "config/birdbrain.h"
+#elif defined(CATALYST2)
+#include "config/catalyst2.h"
+#endif
+
+constexpr double MAIN_ALTITUDE = 200; //altitude to deploy main parachute at (meters)
+constexpr double G_FORCE_TO_LAUNCH = 2; //if acceleration exceeds this number the rocket will assume it has been launched
+constexpr double MAX_APOGEE_ACCEL = 1; //we can rule out apogee if acceleration is above this amount (Gs)

main/data.h

@@ -2,16 +2,15 @@
  * This file is for saving and transmitting data
  * currently using an SD card and Xbee respectively
  ****************************************************************************/
-#include "ringQueue.h"
-#include "settings.h"
-#include "utils.h"
+#pragma once
+
+#include "config/config.h"
+#include "utils/datatypes.h"
+#include "utils/ringQueue.h"
+
 #include <SD.h>
 
-#ifndef PICO
 const int CS_SD = BUILTIN_SDCARD;
-#else
-const int CS_SD = 15;
-#endif // PICO
 
 char filename[50];
 RingQueue<imuReading> imuQueue;
@@ -56,7 +55,7 @@ void setupSD(String date){
   }
   else
     XBeeSerial.println("MicroSD card: successful");
-  String filestart = "Catalyst2-";
+  String filestart = "Stimulant-";
   filestart.concat(date);
   filestart.concat(".csv");
   filestart.toCharArray(filename, 50);
@@ -67,6 +66,9 @@ void setupSD(String date){
   }
   else {
     XBeeSerial.println("MicroSD card: error opening file");
+    XBeeSerial.print("Filename: ");
+    XBeeSerial.println(filename);
+    delay(5000);
   }
 }
 
@@ -112,7 +114,9 @@ void recordData(gpsReading sample, bool prelaunch){
  * 
  */
 void backupToSD(){
+  XBeeSerial.println("backing up...");
   File dataFile = SD.open(filename, FILE_WRITE);
+  char buffer[50];
   if(!dataFile){
     XBeeSerial.println("error opening datalog");
     return;
@@ -140,27 +144,45 @@ void backupToSD(){
         gpsQueue.dequeue();
       }
     }
-    dataFile.print(imuSample.time); dataFile.print(',');
-    if(altitude != 0)
-      dataFile.print(altitude, 1);
+    itoa(imuSample.time,buffer,10);
+    dataFile.print(buffer); dataFile.print(',');
+    if(altitude != 0) {
+      dtostrf(altitude, 6, 1, buffer);
+      dataFile.print(buffer);
+    }
     dataFile.print(',');
-    if(latitude != 0)
-      dataFile.print(latitude, 4);
+    if(latitude != 0) {
+      dtostrf(latitude, 6, 4, buffer);
+      dataFile.print(buffer);
+    }
     dataFile.print(',');
-    if(longitude != 0)
-      dataFile.print(longitude, 4);
+    if(longitude != 0) {
+      dtostrf(longitude, 6, 4, buffer);
+      dataFile.print(buffer);
+    }
     dataFile.print(',');
-    dataFile.print(imuSample.gyro.x); dataFile.print(',');
-    dataFile.print(imuSample.gyro.y); dataFile.print(',');
-    dataFile.print(imuSample.gyro.z); dataFile.print(',');
-    dataFile.print(imuSample.accel.x); dataFile.print(',');
-    dataFile.print(imuSample.accel.y); dataFile.print(',');
-    dataFile.print(imuSample.accel.z); dataFile.print(',');
-    dataFile.print(imuSample.attitude.x); dataFile.print(',');
-    dataFile.print(imuSample.attitude.y); dataFile.print(',');
-    dataFile.print(imuSample.attitude.z); dataFile.print(',');
-    if(altitude != 0)
-      dataFile.print(state);
+    dtostrf(imuSample.gyro.x, 8, 4, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    dtostrf(imuSample.gyro.y, 8, 4, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    dtostrf(imuSample.gyro.z, 8, 4, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    dtostrf(imuSample.accel.x, 8, 4, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    dtostrf(imuSample.accel.y, 8, 4, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    dtostrf(imuSample.accel.z, 8, 4, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    dtostrf(imuSample.attitude.x, 8, 4, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    dtostrf(imuSample.attitude.y, 8, 4, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    dtostrf(imuSample.attitude.z, 8, 4, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    if(altitude != 0) {
+      itoa(state,buffer,10);
+      dataFile.print(buffer);
+    }
     dataFile.println(',');
   }
   while(!bmpQueue.isEmpty()){
@@ -176,13 +198,20 @@ void backupToSD(){
         gpsQueue.dequeue();
       }
     }
-    dataFile.print(bmpSample.time); dataFile.print(',');
-    dataFile.print(bmpSample.altitude, 1); dataFile.print(',');
-    if(latitude != 0)
-      dataFile.print(latitude, 4);
+    itoa(bmpSample.time,buffer,10);
+    dataFile.print(buffer); dataFile.print(',');
+    dtostrf(bmpSample.altitude, 6, 1, buffer);
+    dataFile.print(buffer); dataFile.print(',');
+    if(latitude != 0) {
+      dtostrf(latitude, 6, 4, buffer);
+      dataFile.print(buffer);
+    }
+    dataFile.print(',');
+    if(longitude != 0) {
+      dtostrf(longitude, 6, 4, buffer);
+      dataFile.print(buffer);
+    }
     dataFile.print(',');
-    if(longitude != 0)
-      dataFile.print(longitude, 4);
     dataFile.print(',');
     dataFile.print(',');
     dataFile.print(',');
@@ -193,8 +222,10 @@ void backupToSD(){
     dataFile.print(',');
     dataFile.print(',');
     dataFile.print(',');
-    dataFile.print(bmpSample.state);
+    itoa(bmpSample.state,buffer,10);
+    dataFile.print(buffer);
     dataFile.println(',');
   }
-  dataFile.close(); 
+  dataFile.close();
+  XBeeSerial.println("back up complete");
 }