Feature: Untangling Main

include/config.h → include/common/config.h

@@ -3,14 +3,6 @@
 
 #include "ArduinoHAL.h"
 
-#include "telemetry.h"
-#include "servointerface.h"
-#include "state_estimation/ApogeePredictor.h"
-#include "state_estimation/BurnoutStateMachine.h" 
-#include "data_handling/DataNames.h"
-#include "data_handling/DataPoint.h"
-#include "data_handling/DataSaverBigSD.h"
-
 #define TEST_FIN_DEPLOYMENT 1 // for testing fins 
 
 // mission configuration variables

include/common/globals.h

@@ -0,0 +1,31 @@
+#include "telemetry.h"
+#include "servointerface.h"
+#include "state_estimation/ApogeePredictor.h"
+#include "state_estimation/BurnoutStateMachine.h" 
+#include "data_handling/DataNames.h"
+#include "data_handling/DataPoint.h"
+#include "data_handling/DataSaverBigSD.h"
+
+VerticalVelocityEstimator* verticalVelocityEstimator;
+LaunchPredictor *lp;
+ApogeeDetector *ad;
+ServoInterface ms24;
+
+// these values when initialized are going to be pointing to null val - they're better definined in setup
+BurnoutStateMachine* sm = nullptr;
+ApogeePredictor* ap = nullptr; // 0.2 is the alpha for the EMA, 1.0 is the minimum climb velocity
+
+DataSaverBigSD* dataSaver;
+DataPoint aclX, aclY, aclZ, alt, temp, pres, gyroX, gyroY, gyroZ;
+
+Telemetry telemetry; 
+TelemetryData telemData; 
+
+extern float servoAngle;
+extern float targetServoAngle;
+extern double baseAlt;
+extern unsigned long previousTime;
+extern bool sd_init;
+extern uint32_t startCoastTime;
+extern ServoInterface ms24;
+extern float currAlt;

include/core/CommunicationVerification.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "common/config.h"
+#include "common/globals.h"
+
+/***
+ * initally deploys fins to show that we are in the communicate verification function
+ * retracts fins before entering loop
+ * if fins deploy after that point, we have an error
+ */
+void commsVerification(bool sd_init);

include/core/Setup.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#include "common/config.h"
+#include "common/globals.h"
+#include "simulation/Serial_Sim.h"
+
+void setup();

include/core/TelemetryProcessing.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#include "common/config.h"
+#include "common/globals.h"
+#include "simulation/Serial_Sim.h"
+
+void updateTelem();

src/CommunicationVerification.cpp

@@ -0,0 +1,21 @@
+#include "core/CommunicationVerification.h"
+
+/***
+ * initally deploys fins to show that we are in the communicate verification function
+ * retracts fins before entering loop
+ * if fins deploy after that point, we have an error
+ */
+void commsVerification(bool sd_init) {
+    ms24.setAngle(MAX_DEPLOYMENT_ANGLE);
+    delay(COMMUNICATION_VERIFICATION_DELAY);
+    ms24.setAngle(MIN_DEPLOYMENT_ANGLE);
+    delay(COMMUNICATION_VERIFICATION_DELAY);
+
+    SensorsActivated sensorsActivated = telemetry.getSensorsActivated();
+    std::vector<bool> verifiables = {sensorsActivated.mag, sensorsActivated.bmp, sensorsActivated.imu, sd_init};
+    for (bool verifiable : verifiables) {
+        ms24.setAngle(verifiable ? MIN_DEPLOYMENT_ANGLE : MAX_DEPLOYMENT_ANGLE);
+        delay(COMMUNICATION_VERIFICATION_DELAY);
+    }
+    delay(COMMUNICATION_VERIFICATION_DELAY);
+}

src/Setup.cpp

@@ -0,0 +1,33 @@
+#include "core/Setup.h"
+
+void setup() {
+    Serial.begin(BAUD_RATE);
+    delay(SETUP_DELAY);
+
+    ms24.setup(SERVO_PIN, SERVO_RANGE, SERVO_LOWER_PULSE, SERVO_UPPER_PULSE);
+    telemetry.setupSensors();
+
+    // be wary, as we're putting data onto the heap with these new statements. may need to be reconfigured if we have to save space in the future
+    dataSaver = new DataSaverBigSD(SD_CHIP_SELECT);
+    verticalVelocityEstimator = new VerticalVelocityEstimator();
+    ad = new ApogeeDetector(1.0f);
+    lp = new LaunchPredictor(ACCEL_THRESHOLD_MS2, LAUNCH_WINDOW_SIZE_MS, LAUNCH_WINDOW_INTERVAL_MS);
+    sm = new BurnoutStateMachine(dataSaver, lp, ad, verticalVelocityEstimator);
+    ap = new ApogeePredictor(*verticalVelocityEstimator, EMA_ALPHA, MINIMUM_CLIMB_VELOCITY);
+
+
+    sd_init = dataSaver->begin(); // super super important for comms verification
+
+
+    pinMode(LED_BUILTIN, OUTPUT);
+    digitalWrite(LED_BUILTIN, HIGH);
+    previousTime = millis();
+    targetServoAngle = MIN_DEPLOYMENT_ANGLE;
+    startCoastTime = 0;
+
+    #ifdef SIM
+        SerialSim::getInstance().begin(&Serial, sm);
+    #endif
+
+    delay(SETUP_DELAY); // wait for setup to finish
+}

src/TelemetryProcessing.cpp

@@ -0,0 +1,48 @@
+#include "core/TelemetryProcessing.h"
+
+void updateTelem()
+{
+    #ifdef SIM
+        SerialSim::getInstance().update();
+        delay(10);
+    #endif
+
+    // init telem & telem sensor recording
+    telemData = telemetry.getTelemetry();
+
+    // if you ever change the orientation of the sensors, this WILL probably need to be adjusted
+    telemData.sensorData["magnetometer"].magnetic.x = telemData.sensorData["magnetometer"].magnetic.y * -1; 
+    telemData.sensorData["magnetometer"].magnetic.y = telemData.sensorData["magnetometer"].magnetic.x;
+
+    currAlt = telemData.sensorData["altitude"].altitude; // will be used later so store
+
+    // update data points
+    aclX.data = telemData.sensorData["acceleration"].acceleration.x;
+    aclY.data = telemData.sensorData["acceleration"].acceleration.y;
+    aclZ.data = telemData.sensorData["acceleration"].acceleration.z;
+    alt.data = currAlt;
+
+    gyroX.data = telemData.sensorData["gyro"].gyro.x;
+    gyroY.data = telemData.sensorData["gyro"].gyro.y;
+    gyroZ.data = telemData.sensorData["gyro"].gyro.z;
+    temp.data = telemData.sensorData["temperature"].temperature;
+    pres.data = telemData.sensorData["pressure"].pressure;
+
+    // give everything the same timestamp for eventual byte5 integration
+    unsigned long currTime = millis();
+    aclX.timestamp_ms = aclY.timestamp_ms = aclZ.timestamp_ms = alt.timestamp_ms = currTime; 
+    gyroX.timestamp_ms = gyroY.timestamp_ms = gyroZ.timestamp_ms = currTime; 
+    temp.timestamp_ms = currTime; 
+    pres.timestamp_ms = currTime; 
+
+    // save the data points to their respective data names
+    dataSaver->saveDataPoint(aclX, ACCELEROMETER_X);
+    dataSaver->saveDataPoint(aclY, ACCELEROMETER_Y);
+    dataSaver->saveDataPoint(aclZ, ACCELEROMETER_Z);
+    dataSaver->saveDataPoint(alt, ALTITUDE);
+    dataSaver->saveDataPoint(temp, TEMPERATURE);
+    dataSaver->saveDataPoint(pres, PRESSURE);
+    dataSaver->saveDataPoint(gyroX, GYROSCOPE_X);
+    dataSaver->saveDataPoint(gyroY, GYROSCOPE_Y);
+    dataSaver->saveDataPoint(gyroZ, GYROSCOPE_Z);
+}