[AV-1055] MIDAS Gyro / Backup LowG (#14)

* implemented backup low g sensor * renamed backuplowg to gyroscope * changed thread sleep from 16 to 10 * "balls" - rbhog * "sad emoji" - eisha
ISSUIUC · Oct 7, 2023 · 5a121e9 · 5a121e9
1 parent 825e153
commit 5a121e9
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Showing 7 changed files with 51 additions and 1 deletion.
diff --git a/MIDAS/platformio.ini b/MIDAS/platformio.ini
@@ -5,6 +5,7 @@ framework = arduino
 build_flags =
     -DARDUINO_USB_CDC_ON_BOOT=1
 build_src_filter = +<*> -<silsim/> +<hardware/>
+lib_deps = sparkfun/SparkFun LSM6DS3 Breakout@^1.0.3
 
 [env:mcu_hilsim]
 platform = espressif32

diff --git a/MIDAS/src/errors.h b/MIDAS/src/errors.h
@@ -3,5 +3,6 @@
 
 enum ErrorCode {
     NoError,
-    LowGCouldNotBeInitialized
+    LowGCouldNotBeInitialized,
+    GyroCouldNotBeInitialized
 };
diff --git a/MIDAS/src/hardware/Gyroscope.cpp b/MIDAS/src/hardware/Gyroscope.cpp
@@ -0,0 +1,24 @@
+#include "sensors.h"
+
+// #include sensor library
+#include <SparkFunLSM6DS3.h>
+// global static instance of the sensor
+LSM6DS3 LSM;
+
+ErrorCode Gyroscope::init() {
+    // do whatever steps to initialize the sensor
+    // if it errors, return the relevant error code
+    if (!LSM.begin()) {
+        return ErrorCode::GyroCouldNotBeInitialized;
+    }
+    return ErrorCode::NoError;
+}
+
+GyroscopeData Gyroscope::read() {
+    // read from aforementioned global instance of sensor
+    GyroscopeData result;
+    result.gx = LSM.readFloatGyroX();
+    result.gy = LSM.readFloatGyroY(),
+    result.gz = LSM.readFloatGyroZ();
+    return result;
+}
diff --git a/MIDAS/src/rocket_state.h b/MIDAS/src/rocket_state.h
@@ -38,6 +38,7 @@ struct RocketState {
 
     SensorState<LowGData> low_g;
     SensorState<HighGData> high_g;
+    SensorState<GyroscopeData> gyroscope;
     SensorState<Barometer> barometer;
     SensorState<Continuity> continuity;
     SensorState<Voltage> voltage;

diff --git a/MIDAS/src/sensor_data.h b/MIDAS/src/sensor_data.h
@@ -58,6 +58,12 @@ struct HighGData {
     float gz = 0;
 };
 
+struct GyroscopeData {
+    float gx = 0;
+    float gy = 0;
+    float gz = 0;
+};
+
 struct Barometer {
     float temperature = 0;
     float pressure = 0;

diff --git a/MIDAS/src/sensors.h b/MIDAS/src/sensors.h
@@ -13,6 +13,11 @@ struct LowGSensor {
     LowGData read();
 };
 
+struct Gyroscope {
+    ErrorCode init();
+    GyroscopeData read();
+};
+
 struct HighGSensor {
     ErrorCode init();
     HighGData read();
@@ -40,6 +45,7 @@ struct OrientationSensor {
 
 struct Sensors {
     LowGSensor low_g;
+    Gyroscope gyroscope;
     HighGSensor high_g;
     BarometerSensor barometer;
     ContinuitySensor continuity;

diff --git a/MIDAS/src/systems.cpp b/MIDAS/src/systems.cpp
@@ -34,6 +34,15 @@ DECLARE_THREAD(low_g, RocketSystems* arg) {
     vTaskDelete(NULL);
 }
 
+DECLARE_THREAD(gyroscope, RocketSystems* arg) {
+    while (true) {
+        THREAD_SLEEP(10);
+        // Serial.println("LOWG");
+        arg->rocket_state.gyroscope.update(arg->sensors.gyroscope.read());
+    }
+    vTaskDelete(NULL);
+}
+
 DECLARE_THREAD(high_g, RocketSystems* arg) {
     while (true) {
         THREAD_SLEEP(16);
@@ -111,6 +120,7 @@ bool init_sensors(Sensors& sensors) {
     // todo message on failure
     INIT_SENSOR(sensors.low_g);
     INIT_SENSOR(sensors.high_g);
+    INIT_SENSOR(sensors.gyroscope);
     INIT_SENSOR(sensors.barometer);
     INIT_SENSOR(sensors.continuity);
     INIT_SENSOR(sensors.orientation);
@@ -132,6 +142,7 @@ void begin_systems(RocketSystems& config) {
     START_THREAD(data_logger, DATA_CORE, &config);
     START_THREAD(barometer, SENSOR_CORE, &config);
     START_THREAD(low_g, SENSOR_CORE, &config);
+    START_THREAD(gyroscope, SENSOR_CORE, &config);
     START_THREAD(high_g, SENSOR_CORE, &config);
     START_THREAD(orientation, SENSOR_CORE, &config);
     START_THREAD(magnetometer, SENSOR_CORE, &config);