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foglar 2024-07-10 21:17:20 +02:00
parent e8685549de
commit 41917ba646
12 changed files with 677 additions and 127 deletions
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4
.vscode/arduino.json vendored Normal file
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{
"board": "arduino:mbed_nano:nano33ble",
"sketch": "sender_module_final/sender_module_final.ino"
}

493
.vscode/c_cpp_properties.json vendored Normal file
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"__SIZEOF_LONG_LONG__=8",
"__ULACCUM_EPSILON__=0x1P-32ULK",
"__cpp_user_defined_literals=200809",
"__SACCUM_IBIT__=8",
"__GCC_ATOMIC_LLONG_LOCK_FREE=1",
"__FLT32X_MIN__=2.2250738585072014e-308F32x",
"__LDBL_DIG__=15",
"__FLT_DECIMAL_DIG__=9",
"__UINT_FAST16_MAX__=0xffffffffU",
"__GCC_ATOMIC_SHORT_LOCK_FREE=1",
"__INT_LEAST64_WIDTH__=64",
"__ULLFRACT_MAX__=0XFFFFFFFFFFFFFFFFP-64ULLR",
"__UINT_FAST8_TYPE__=unsigned int",
"__USFRACT_EPSILON__=0x1P-8UHR",
"__ULACCUM_FBIT__=32",
"__QQ_IBIT__=0",
"__cpp_init_captures=201304",
"__ATOMIC_ACQ_REL=4",
"__ATOMIC_RELEASE=3",
"USBCON"
]
}
]
}

29
.vscode/launch.json vendored Normal file
View File

@ -0,0 +1,29 @@
{
"configurations": [
{
"name": "(gdb) Launch",
"type": "cppdbg",
"request": "launch",
"program": "enter program name, for example ${workspaceFolder}/a.out",
"args": [],
"stopAtEntry": false,
"cwd": "${fileDirname}",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "Set Disassembly Flavor to Intel",
"text": "-gdb-set disassembly-flavor intel",
"ignoreFailures": true
}
]
}
],
"version": "2.0.0"
}

5
.vscode/settings.json vendored Normal file
View File

@ -0,0 +1,5 @@
{
"files.associations": {
"ostream": "cpp"
}
}

6
arduino-quick-upload
View File

@ -2,7 +2,6 @@
source "arduino-ports-enable"
# Check if a command-line argument is provided and if the path exists
if [ "$#" -eq 1 ] && [ -d "$1" ]; then
project_path="$1"
@ -29,17 +28,18 @@ if [ "$num_arduinos" -eq 0 ]; then
elif [ "$num_arduinos" -eq 1 ]; then
# If only one Arduino is connected, use it
arduino_port=$(echo "$board_list" | grep -oE '/dev/ttyACM[0-9]+')
clones_port=$(echo "$board_list" | grep -oE '/dev/ttyUSB[0-9]+')
board_type=$(echo "$board_list" | grep "$arduino_port" | awk '{print $(NF-1)}')
else
# If multiple Arduinos are connected, ask the user to select one
echo "Multiple Arduino boards found:"
echo "$board_list" | tail -n +2 | awk '{print $1, $NF}'
read -p "Please enter the port of the Arduino you want to upload to: " arduino_port
board_type=$(echo "$board_list" | grep "$arduino_port" | awk '{print $(NF-1)}'
board_type=$(
echo "$board_list" | grep "$arduino_port" | awk '{print $(NF-1)}'
)
fi
# Compile and upload the project to the selected Arduino
arduino-cli compile -b "$board_type" "$project_path"
arduino-cli upload ./ -p "$arduino_port" -b "$board_type"

1
sender_module/DEV_Config.cpp
View File

@ -30,6 +30,7 @@
#
******************************************************************************/
#include "DEV_Config.h"
#include <SofwareSerial>
SoftwareSerial mySerial(0, 1); // RX, TX
/******************************************************************************

1
sender_module/DEV_Config.h
View File

@ -1,7 +1,6 @@
#ifndef _DEV_CONFIG_H_
#define _DEV_CONFIG_H_
#include <SoftwareSerial.h>
#include <avr/pgmspace.h>
#include <stdint.h>
#include <stdio.h>

81
sender_module/sender_module.ino
View File

@ -1,22 +1,21 @@
#include <SoftwareSerial.h>
#include <SPI.h>
#include <SD.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Adafruit_INA219.h>
//#include <Adafruit_INA219.h>
#include "DEV_Config.h"
#include "L76X.h"
#include "Waveshare_10Dof-D.h"
//#include "L76X.h"
//#include "Waveshare_10Dof-D.h"
// Define pin numbers for modules
const int NRF_CE_PIN = 9;
const int NRF_CS_PIN = 8;
const byte address[6] = "00001";
const int GPS_TX_PIN = 0;
const int GPS_RX_PIN = 1;
//const int GPS_TX_PIN = 0;
//const int GPS_RX_PIN = 1;
//const String INA219_SDA_PIN = "A4";
//const String INA219_SCL_PIN = "A5";
@ -27,7 +26,7 @@ const int LAUNCH_STAGE_PIN = 6;
// Create objects for modules
RF24 radio(NRF_CE_PIN, NRF_CS_PIN);
GNRMC GPS1;
//GNRMC GPS1;
//Adafruit_INA219 ina219;
File dataFile;
@ -88,7 +87,7 @@ void ready_stage() {
counter = 0;
} else {
counter += 1;
delay(300)
delay(300);
}
if (counter == 10) {
@ -118,24 +117,24 @@ void arm_stage() {
}
// GPS
DEV_Set_Baudrate(9600);
DEV_Delay_ms(500);
//DEV_Set_Baudrate(9600);
//DEV_Delay_ms(500);
// IMU
IMU_EN_SENSOR_TYPE enMotionSensorType, enPressureType;
imuInit(&enMotionSensorType, &enPressureType);
if (IMU_EN_SENSOR_TYPE_ICM20948 == enMotionSensorType) {
Serial.println("# Success ICM-20948 init");
Serial.println(IMU_EN_SENSOR_TYPE_ICM20948);
} else {
Serial.println("# Fail ICM-20948 init");
}
if (IMU_EN_SENSOR_TYPE_BMP280 == enPressureType) {
Serial.println("# Success BMP280 init");
} else {
Serial.println("# Fail BMP280 init");
Serial.println(enPressureType);
}
//IMU_EN_SENSOR_TYPE enMotionSensorType, enPressureType;
//imuInit(&enMotionSensorType, &enPressureType);
//if (IMU_EN_SENSOR_TYPE_ICM20948 == enMotionSensorType) {
// Serial.println("# Success ICM-20948 init");
// Serial.println(IMU_EN_SENSOR_TYPE_ICM20948);
//} else {
// Serial.println("# Fail ICM-20948 init");
//}
//if (IMU_EN_SENSOR_TYPE_BMP280 == enPressureType) {
// Serial.println("# Success BMP280 init");
//} else {
// Serial.println("# Fail BMP280 init");
// Serial.println(enPressureType);
//}
// INA219
// if (!ina219.begin()) {
@ -184,7 +183,7 @@ void arm_stage() {
counter = 0;
} else {
counter += 1;
delay(300)
delay(300);
}
if (counter == 10) {
@ -217,20 +216,20 @@ void landed_stage() {
// Turn off gyro and accelerometer
}
float getBatteryLevel() {
// Read bus voltage from INA219
float busVoltage = ina219.getBusVoltage_V();
// Assuming fully charged battery voltage is 4.2V and empty is 3.0V
float maxVoltage = 4.2;
float minVoltage = 3.0;
// Map the bus voltage to a battery level percentage
float batteryLevel = map(busVoltage, minVoltage, maxVoltage, 0, 100);
// Constrain the battery level to be within 0 and 100
batteryLevel = constrain(batteryLevel, 0, 100);
return batteryLevel;
}
//float getBatteryLevel() {
// // Read bus voltage from INA219
// float busVoltage = ina219.getBusVoltage_V();
//
// // Assuming fully charged battery voltage is 4.2V and empty is 3.0V
// float maxVoltage = 4.2;
// float minVoltage = 3.0;
//
// // Map the bus voltage to a battery level percentage
// float batteryLevel = map(busVoltage, minVoltage, maxVoltage, 0, 100);
//
// // Constrain the battery level to be within 0 and 100
// batteryLevel = constrain(batteryLevel, 0, 100);
//
// return batteryLevel;
//}

4
sender_module_final/ISSUES.md Normal file
View File

@ -0,0 +1,4 @@
# Problems
- Arduino Nano Couldn't power up the sd card reader, need to input 5V to micro SD card reader.
- Couldn't make Arduino Nano work with nRF24 - maybe same issue

27
sender_module_final/README.md Normal file
View File

@ -0,0 +1,27 @@
# Sender module
## Stages of flight
1. Preflight - Remove before flight button or smthing like that
- no communication, blocked parachute ejection, all systems down
2. Ready - Signal from groundstation
- sys check (modules calibration, battery check, atd...), blocked parachute ejection, wait for launch pin removed, only send data, do not save them
3. Launch - Removed pin from the rocket
- launch, all systems sending and saving data on sd card
4. Apogee - Detected that rocket is in apogee with accelerometer
- parachute ejection, all systems working, gps check and height check
5. Return - Rocket has no velocity
- all not needed systems shutdown/sleep, buzz on, gps sending location, battery check, turn off gyro and accelerometer
## Modules
- nRF24L01 - Communication with groundstation
- SD card reader - Write all recieved data to the SD card
- Buzzer - To find our rocket after launch
- Servo motors - Ejection of parachute
## Tasks
- PCB for our computer
- send signal of listening
- wait for recieve

111
sender_module_final/sender_module_final.ino
View File

@ -6,15 +6,14 @@
#include <RF24.h>
// Define pin numbers for modules
const int NRF_CE_PIN = 9;
const int NRF_CS_PIN = 8;
const byte address[6] = "00001";
const int BUZZER_PIN = 2;
const int SERVO_A_PIN = 3;
const int CHIP_SELECT = 4;
const int SERVO_B_PIN = 5;
int plusThreshold = 40, minusThreshold = -40;
const int NRF_CS_PIN = 8;
const int NRF_CE_PIN = 9;
// Create objects for modules
RF24 radio(NRF_CE_PIN, NRF_CS_PIN);
@ -77,7 +76,6 @@ void loop()
}
}
bool isButtonPressed(int buttonPin) { return digitalRead(buttonPin) == LOW; }
void beep()
{
digitalWrite(BUZZER_PIN, HIGH);
@ -88,6 +86,7 @@ void beep()
void ready_stage()
{
Serial.println("# READY stage");
analogWrite(LED_BUILTIN, HIGH);
beep();
if (!IMU.begin())
@ -105,8 +104,8 @@ void ready_stage()
// radio.write(&msg, sizeof(msg));
// Serial.println("# Success nRF24L01 init");
//// SD card
// if (!SD.begin(4))
// SD card
//if (!SD.begin(CHIP_SELECT))
//{
// Serial.println("# Fail SD module init");
//}
@ -114,6 +113,7 @@ void ready_stage()
//{
// Serial.println("# Success SD module init");
//}
//
//if (SD.exists("data.txt"))
//{
// Serial.println("# File exists");
@ -123,6 +123,7 @@ void ready_stage()
// Serial.println("# File does not exist");
// dataFile = SD.open("data.txt", FILE_WRITE);
//}
//
//if (dataFile)
//{
// Serial.println("# File opened");
@ -137,6 +138,10 @@ void ready_stage()
Serial.print(IMU.accelerationSampleRate());
Serial.println(" Hz");
//dataFile.print("# Accelerometer sample rate = ");
//dataFile.println(IMU.accelerationSampleRate());
//dataFile.close();
current_stage = ARM;
}
@ -154,12 +159,22 @@ void arm_stage()
int counter = 0;
float x, y, z;
bool toggle = false;
//dataFile = SD.open("data.txt", FILE_WRITE);
//dataFile.println("# ARM stage");
while (true)
{
if (IMU.accelerationAvailable())
{
IMU.readAcceleration(x, y, z);
Serial.println(x);
//dataFile.print(x);
//dataFile.print(" ");
//dataFile.print(y);
//dataFile.print(" ");
//dataFile.println(z);
if (x > 1)
{
Serial.println("# Launch Detect");
@ -171,14 +186,26 @@ void arm_stage()
}
}
if (counter > 10)
if (counter < 15)
{
Serial.println("# Launching");
//dataFile.println("# Launching");
break;
}
if (toggle)
{
digitalWrite(LED_BUILTIN, HIGH);
}
else
{
digitalWrite(LED_BUILTIN, LOW);
}
toggle = !toggle;
}
current_stage = ASCENT;
//dataFile.close();
}
void ascent_stage()
@ -186,91 +213,51 @@ void ascent_stage()
Serial.println("# ASCENT Stage");
unsigned long StartTime = millis();
int FailOrientationCounter = 0;
//File dataFile = SD.open("data.txt", FILE_WRITE);
//dataFile.println("# ASCENT stage");
while (true)
{
unsigned long CurrentTime = millis();
unsigned long ElapsedTime = CurrentTime - StartTime;
Serial.println(ElapsedTime);
if (IMU.gyroscopeAvailable())
{
float x, y, z;
if (IMU.accelerationAvailable())
{
IMU.readAcceleration(x, y, z);
IMU.readGyroscope(x, y, z);
}
int degreesX = 0;
int degreesY = 0;
if (x > 0.1)
{
x = 100 * x;
degreesX = map(x, 0, 97, 0, 90);
Serial.print("# Tilting up ");
Serial.print(degreesX);
Serial.println(" degrees");
}
if (x < -0.1)
{
x = 100 * x;
degreesX = map(x, 0, -100, 0, 90);
Serial.print("# Tilting down ");
Serial.print(degreesX);
Serial.println(" degrees");
}
if (y > 0.1)
{
y = 100 * y;
degreesY = map(y, 0, 97, 0, 90);
Serial.print("Tilting left ");
Serial.print(degreesY);
Serial.println(" degrees");
}
if (y < -0.1)
{
y = 100 * y;
degreesY = map(y, 0, -100, 0, 90);
Serial.print("# Tilting right ");
Serial.print(degreesY);
Serial.println(" degrees");
}
if (((y < -0.1 || y > 0.1) && degreesY > 40) || (x < -0.1 && degreesX < 50) || (x > 0.1))
{
FailOrientationCounter++;
}
else
{
FailOrientationCounter = 0;
}
if ((ElapsedTime > 9000) || (FailOrientationCounter > 20))
if ((ElapsedTime > 9000))
{
dataFile.println("# Apogee detected by time");
break;
}
}
current_stage = DESCENT;
//dataFile.close();
}
void descent_stage()
{
Serial.println("# DESCENT stage");
//File dataFile = SD.open("data.txt", FILE_WRITE);
//dataFile.println("# DESCENT stage");
for (int pos = 0; pos <= 150; pos += 1)
{
// in steps of 1 degree
A.write(pos);
delay(1);
Serial.println(pos);
}
for (int pos = 90; pos >= 0; pos -= 1)
{
B.write(pos);
delay(1);
Serial.println(pos);
}
Serial.println("# Parachute deployed");
unsigned long StartTime = millis();
while (true)
@ -280,10 +267,12 @@ void descent_stage()
if (ElapsedTime > 300000)
{
//dataFile.println("# Landing detected");
break;
}
}
current_stage = LANDED;
//dataFile.close();
}
void landed_stage()

0
testing/serial_communication_test/serial_communication_test.ino Normal file
View File