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Extract constants
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@ZachGarcia42
ZachGarcia42 committed May 13, 2024
1 parent a41f701 commit 122754b
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Showing 2 changed files with 62 additions and 54 deletions.
36 changes: 36 additions & 0 deletions src/constants.hpp
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@@ -0,0 +1,36 @@
#include "stepper.h"

namespace constants {
// Packet Format
const uint8_t MSG_LEN = 86;
const uint8_t ALTITUDE_OFFSET = 9;
const uint8_t LATITUDE_OFFSET = 13;
const uint8_t LONGITUDE_OFFSET = 17;

// Servo
const uint8_t SERVO_PIN = 12;

// Stepper
const uint8_t STEPPER_PIN_1A = 7;
const uint8_t STEPPER_PIN_1B = 8;
const uint8_t STEPPER_PIN_2A = 9;
const uint8_t STEPPER_PIN_2B = 10;
const uint16_t STEPPER_STEPS_PER_REV = 200;
const uint16_t PLATFORM_STEPS_PER_REV = 1320;
const stepper_mode_t STEPPING_MODE = single;
const uint8_t SPEED = 60;

// RATS Position
const float GROUND_ELEV = 0.0;
const float GROUND_LAT = 0.0;
const float GROUND_LONG = 0.0;

// Radio
const float FREQ = 915; // MHz
const float BW = 125; // kHz
const uint8_t SF = 7; // Between 7 and 12
const uint8_t CR = 8; // Between 5 and 8. 4/8 coding ration - one redundancy bit for every data bit
const uint8_t SW = 0x16; // Sync-word (defines network) Default is 0d18
const int8_t PWR = 20; // Between 2 and 17 or 20 for max power

} // namespace constants
80 changes: 26 additions & 54 deletions src/main.cpp
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Expand Up @@ -12,13 +12,12 @@
*/

// Uncomment if you want debug information about signal strength and motor movements
// #define DEBUG

// #define STEPPER
// #define SERVO
#define SERVO
#define STEPPER
#define DEBUG

#include "../lib/pico-servo/include/pico_servo.h"
#include "constants.hpp"
#include "data.hpp"
#include "formulas.hpp"
#include "pico/stdlib.h"
Expand All @@ -35,50 +34,23 @@
#include "../lib/pico-servo/src/pico_servo.c"
#include "../lib/pico-stepper/lib/stepper.c"

#define ALTITUDE_OFFSET 9
#define LATITUDE_OFFSET 13
#define LONGITUDE_OFFSET 17

#define SERVO_PIN 12

bool launched = false;
bool recPacket = false;
long launchTime = 0;
float groundElev = 0.0;
float groundLat = 0.0;
float groundLong = 0.0;
int stepPos = 0;
float rockElev;
float rockLat;
float rockLong;

// Radio settings
float freq = 915; // MHz
float bw = 125; // kHz
uint8_t sf = 7; // Between 7 and 12
uint8_t cr = 8; // Between 5 and 8. 4/8 coding ration - one redundancy bit for every data bit
uint8_t sw = 0x16; // Sync-word (defines network) Default is 0d18
int8_t pwr = 20; // Between 2 and 17 or 20 for max power

// RadioLib setup
PicoHal *hal = new PicoHal(SPI_PORT, SPI_MISO, SPI_MOSI, SPI_SCK, 8000000);

SX1276 radio = new Module(hal, RX_CS, RX_DIO0, RADIOLIB_NC, RX_DIO1);

const int msglen = 86;

// initialize the stepper library on pins 7 through 10:

#ifdef STEPPER
stepper_t stepper;
const uint8_t stepper_pin_1A = 7;
const uint8_t stepper_pin_1B = 8;
const uint8_t stepper_pin_2A = 9;
const uint8_t stepper_pin_2B = 10;
const uint16_t stepper_steps_per_revolution = 200;
const uint16_t platformStepsPerRev = 1320;
const stepper_mode_t stepping_mode = single;
uint8_t speed = 60;
#endif // STEPPER

int main() {
Expand All @@ -95,15 +67,15 @@ int main() {
// Set duty cycle bounds in us
servo_set_bounds(500, 2500);
// Attach to pin 12
servo_attach(SERVO_PIN);
servo_attach(constants::SERVO_PIN);
// Set servo to 0 degrees
servo_move_to(SERVO_PIN, 0);
servo_move_to(constants::SERVO_PIN, 0);
#endif // SERVO

#ifdef STEPPER
// Initialize stepper
stepper_init(&stepper, stepper_pin_1A, stepper_pin_1B, stepper_pin_2A, stepper_pin_2B, stepper_steps_per_revolution, stepping_mode);
stepper_set_speed_rpm(&stepper, speed);
stepper_init(&stepper, constants::STEPPER_PIN_1A, constants::STEPPER_PIN_1B, constants::STEPPER_PIN_2A, constants::STEPPER_PIN_2B, constants::STEPPER_STEPS_PER_REV, constants::STEPPING_MODE);
stepper_set_speed_rpm(&stepper, constants::SPEED);
#endif // STEPPER

gpio_init(RX_CS);
Expand All @@ -121,7 +93,7 @@ int main() {
printf("[SX1276] Initializing ... ");
#endif // DEBUG

int state = radio.begin(freq, bw, sf, cr, sw, pwr);
int state = radio.begin(constants::FREQ, constants::BW, constants::SF, constants::CR, constants::SW, constants::PWR);
if (state != RADIOLIB_ERR_NONE) {
printf("failed, code %d\n", state);
return 1;
Expand All @@ -136,8 +108,8 @@ int main() {
#ifdef DEBUG
printf("[SX1276] Waiting for incoming transmission ... ");
#endif // DEBUG
uint8_t received[msglen];
int state = radio.receive(received, msglen);
uint8_t received[constants::MSG_LEN];
int state = radio.receive(received, constants::MSG_LEN);

if (state == RADIOLIB_ERR_NONE) {

Expand Down Expand Up @@ -180,7 +152,7 @@ int main() {
printf(" Hz\n");
#endif // DEBUG
// Send data to Ground Station
for (uint i = 0; i < msglen; i++) {
for (uint i = 0; i < constants::MSG_LEN; i++) {
printf("%c", received[i]);
}
for (uint i = 0; i < sizeof(radio_metadata); i++) {
Expand All @@ -190,9 +162,9 @@ int main() {
// TODO(Zach) Check GPS valid flag

// Extract values
memcpy(&rockElev, received + ALTITUDE_OFFSET, sizeof(float)); // Altitude field
memcpy(&rockLat, received + LATITUDE_OFFSET, sizeof(float)); // Latitude field
memcpy(&rockLong, received + LONGITUDE_OFFSET, sizeof(float)); // Longitude field
memcpy(&rockElev, received + constants::ALTITUDE_OFFSET, sizeof(float)); // Altitude field
memcpy(&rockLat, received + constants::LATITUDE_OFFSET, sizeof(float)); // Latitude field
memcpy(&rockLong, received + constants::LONGITUDE_OFFSET, sizeof(float)); // Longitude field

} else if (state == RADIOLIB_ERR_RX_TIMEOUT) {
// timeout occurred while waiting for a packet
Expand All @@ -206,10 +178,10 @@ int main() {
#endif // DEBUG
} else if (state == RADIOLIB_ERR_SPI_WRITE_FAILED) {
// Likely something on board shorted. Restart radio module
int restart_state = radio.begin(freq, bw, sf, cr, sw, pwr);
int restart_state = radio.begin(constants::FREQ, constants::BW, constants::SF, constants::CR, constants::SW, constants::PWR);
while (restart_state != RADIOLIB_ERR_NONE) {
printf("failed, code %d\n", state);
restart_state = radio.begin(freq, bw, sf, cr, sw, pwr);
restart_state = radio.begin(constants::FREQ, constants::BW, constants::SF, constants::CR, constants::SW, constants::PWR);
}
} else {
// some other error occurred
Expand All @@ -227,40 +199,40 @@ int main() {
}

// convert coordinates to angles
double dist = distance(rockLat, rockLong, groundLat, groundLong);
double dist = distance(rockLat, rockLong, constants::GROUND_LAT, constants::GROUND_LONG);
#ifdef DEBUG
printf("Distance: ");
printf("%d", dist);
printf(" km\n");
#endif // DEBUG
double bear = bearing(rockLat, rockLong, groundLat, groundLong);
double bear = bearing(rockLat, rockLong, constants::GROUND_LAT, constants::GROUND_LONG);
#ifdef DEBUG
printf("Bearing: ");
printf("%d", bear);
printf(" degrees\n");
#endif // DEBUG
double asc = ascension(rockElev, groundElev, dist);
double asc = ascension(rockElev, constants::GROUND_ELEV, dist);
#ifdef DEBUG
printf("Ascension: ");
printf("%d", asc);
printf(" degrees\n");
#endif // DEBUG

#ifdef STEPPER
int target = -1 * (bear / 360) * platformStepsPerRev;
int target = -1 * (bear / 360) * constants::PLATFORM_STEPS_PER_REV;
int stepsToTake = target - stepPos;
if (target - stepPos > (platformStepsPerRev / 2)) {
stepsToTake = (target - stepPos) - platformStepsPerRev;
} else if (target - stepPos < -(platformStepsPerRev / 2)) {
stepsToTake = (target - stepPos) + platformStepsPerRev;
if (target - stepPos > (constants::PLATFORM_STEPS_PER_REV / 2)) {
stepsToTake = (target - stepPos) - constants::PLATFORM_STEPS_PER_REV;
} else if (target - stepPos < -(constants::PLATFORM_STEPS_PER_REV / 2)) {
stepsToTake = (target - stepPos) + constants::PLATFORM_STEPS_PER_REV;
} else {
stepsToTake = target - stepPos;
}
stepPos = target;
#endif // STEPPER
#ifdef SERVO
// aim antenna
servo_move_to(SERVO_PIN, 90 - asc);
servo_move_to(constants::SERVO_PIN, 90 - asc);
#endif // SERVO
#ifdef STEPPER
stepper_rotate_steps(&stepper, stepsToTake);
Expand Down

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