HILSIM Streamer

MIDAS/.gitignore

@@ -1,6 +1,6 @@
 .pio
 .vscode
-/src/log_checksum.h
 **/.DS_Store
 *.launch
-*.pyc
+*.pyc
+struct_sizes.json

MIDAS/README.md

@@ -20,4 +20,7 @@ Note that if you never directly installed platformio and instead are just using
 the VSCode extension, these commands won't work until you install platformio
 manually.
 
-To run SILSIM from the command line, use `pio run -e mcu_silsim`.
+To run SILSIM from the command line, use `pio run -e mcu_silsim`.
+
+### HILSIM
+To start a basic hilsim run, you must first run the `struct_sizes` target, then you can upload the hilsim data and run `hilsimstreamer.py`

MIDAS/hilsim/hilsimstreamer.py

@@ -0,0 +1,103 @@
+import serial
+import serial.tools
+import serial.tools.list_ports
+import time
+import json
+
+import csv
+import os
+
+def write_to_csv(filename, data):
+    file_exists = os.path.exists(filename)
+
+    with open(filename, 'a', newline='') as csvfile:
+        writer = csv.writer(csvfile)
+
+        if not file_exists:
+            writer.writerow(['Timestamp', 'fsmstate', 'global_armed', 'a_armed', 'a_firing', 'b_armed', 'b_firing', 'c_armed', 'c_firing', 'd_armed', 'd_firing'])
+
+        writer.writerow(data)
+
+device = None
+# Look for midas comport
+for comport in serial.tools.list_ports.comports():
+    if comport.vid == 0x303a:
+        # This is an espressif device
+        print(comport.name, "is an Espressif device")
+        device = comport
+        break
+
+print(device.device)
+
+if not device:
+    print("MIDAS is not connected!")
+    exit()
+
+# make this a command line argument
+file = open(r"data43.launch", "rb")
+
+# Read the json file
+SIZES = { int(k): v for k, v in json.load(open("../struct_sizes.json", 'r')).items() }
+print(SIZES)
+
+test_list=file.read(4)
+print("Checksum", hex(int.from_bytes(test_list, byteorder='little')))
+ser = serial.Serial(
+    port=comport.device,         
+    baudrate=115200,       
+    timeout=None       
+)
+print(ser.write('!'.encode('ascii')))
+print("Magic", ser.read_until('\n'.encode('ascii'))) # Should be our magic
+print("Checksum", hex(int(ser.read_until('\n'.encode('ascii'))))) # Should be our magic
+print("Garbage", ser.read_until('\n'.encode('ascii')))
+print("Garbage", ser.read_until('\n'.encode('ascii')))
+#print("Garbage", ser.read_until('\n'.encode('ascii')))
+#print("Garbage", ser.read_until('\n'.encode('ascii')))
+#print("Garbage", ser.read_until('\n'.encode('ascii')))
+
+counter = 0
+
+
+start_time = time.perf_counter()
+prev = None
+while True:
+    tag = file.read(4)
+    if not tag:
+        break 
+
+    tag = int.from_bytes(tag, byteorder='little')
+    timestamp = file.read(4)
+    timestamp = int.from_bytes(timestamp, byteorder='little')
+    # print(tag, int.from_bytes(timestamp, byteorder='little'))
+
+    if tag in SIZES:
+        size = SIZES[tag]
+        # print(size)
+
+        data = file.read(size)
+        # print(data)
+
+        ser.write(tag.to_bytes(1, byteorder='little'))   
+        # ser.write(size.to_bytes(4, byteorder='little'))
+        ser.write(data)
+        content = (ser.read())
+        # data = bytes.decode(content, encoding="ascii")
+        # if len(content) != 0:
+        #     # print(content)
+        #     if ("Error") in (data):
+        #         print((content))
+        if content != prev:
+            prev = content
+            print(counter, file.tell(), int.from_bytes(content))
+
+        previous_pyro_array = [timestamp, int.from_bytes(content), int.from_bytes(ser.read()), int.from_bytes(ser.read()), int.from_bytes(ser.read()), int.from_bytes(ser.read()), int.from_bytes(ser.read()), int.from_bytes(ser.read()), int.from_bytes(ser.read()), int.from_bytes(ser.read()), int.from_bytes(ser.read())]
+
+        write_to_csv("pyro_data.csv", previous_pyro_array)
+    else:
+        raise ValueError(f"Unknown tag: {tag}")
+    counter += 1
+
+ser.close()
+end_time = time.perf_counter()
+print("Done in ", end_time - start_time)

MIDAS/hilsim/pyro_data_plotter.py

@@ -0,0 +1,44 @@
+from matplotlib import pyplot as plt
+import pandas as pd
+
+df = pd.read_csv('pyro_data.csv')
+
+    # STATE_IDLE = 0
+    # STATE_FIRST_BOOST = 1
+    # STATE_BURNOUT = 2
+    # STATE_COAST = 3
+    # STATE_SUSTAINER_IGNITION = 4
+    # STATE_SECOND_BOOST = 5
+    # STATE_FIRST_SEPARATION = 6
+    # STATE_APOGEE = 7
+    # STATE_DROGUE_DEPLOY = 8
+    # STATE_DROGUE = 9
+    # STATE_MAIN_DEPLOY = 10
+    # STATE_MAIN = 11
+    # STATE_LANDED = 12 
+    # FSM_STATE_COUNT = 13
+
+y_labs = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13]
+y_labs_map = ['STATE_IDLE', 'STATE_FIRST_BOOST', 'STATE_BURNOUT', 'STATE_COAST', 'STATE_SUSTAINER_IGNITION', 'STATE_SECOND_BOOST', 'STATE_FIRST_SEPARATION', 'STATE_APOGEE', 'STATE_DROGUE_DEPLOY', 'STATE_DROGUE', 'STATE_MAIN_DEPLOY', 'STATE_MAIN', 'STATE_LANDED', 'FSM_STATE_COUNT']
+
+for index, row in df.iterrows():
+    if (index > 0 and df.loc[df.index[index]]["a_armed"] != df.loc[df.index[index-1]]["a_armed"] or
+        df.loc[df.index[index]]["b_armed"] != df.loc[df.index[index-1]]["b_armed"] or
+        df.loc[df.index[index]]["c_armed"] != df.loc[df.index[index-1]]["c_armed"] or
+        df.loc[df.index[index]]["d_armed"] != df.loc[df.index[index-1]]["d_armed"] or
+        df.loc[df.index[index]]["a_firing"] != df.loc[df.index[index-1]]["a_firing"] or
+        df.loc[df.index[index]]["b_firing"] != df.loc[df.index[index-1]]["b_firing"] or
+        df.loc[df.index[index]]["c_firing"] != df.loc[df.index[index-1]]["c_firing"] or
+        df.loc[df.index[index]]["d_firing"] != df.loc[df.index[index-1]]["d_firing"] or 
+        df.loc[df.index[index]]["global_armed"] != df.loc[df.index[index-1]]["global_armed"]
+        ):
+
+        plt.axvline(x = df.loc[df.index[index]]["Timestamp"], color = 'red')
+
+
+plt.yticks(y_labs, y_labs_map)
+
+plt.ylim(0, 15)
+
+plt.plot(df['Timestamp'], df['fsmstate'])
+plt.show()

MIDAS/platformio.ini

@@ -27,6 +27,7 @@ build_flags =
     -DARDUINO_USB_CDC_ON_BOOT=1
     -DCONFIG_DISABLE_HAL_LOCKS=1
     -std=gnu++2a
+    -DHILSIM=1
     -DIS_BOOSTER
 build_unflags =
     -std=gnu++11
@@ -47,9 +48,12 @@ build_flags =
     -DHILSIM=1
     -DIS_SUSTAINER
     -std=gnu++2a
-build_src_filter = +<*> -<silsim/> -<hardware/> +<hilsim>
+build_src_filter = +<*> -<silsim/> -<hardware/> +<hilsim> -<hilsim/StructSizes.cpp>
 build_unflags =
     -std=gnu++11
+lib_deps =
+    adafruit/Adafruit LIS3MDL@^1.2.1 ; Magnetometer driver
+    stevemarple/MicroNMEA@^2.0.6 ; NMEA Parsing library (for GPS messages)
 
 [env:mcu_hilsim_booster]
 platform = espressif32
@@ -62,9 +66,12 @@ build_flags =
     -DHILSIM=1
     -DIS_BOOSTER
     -std=gnu++2a
-build_src_filter = +<*> -<silsim/> -<hardware/> +<hilsim>
+build_src_filter = +<*> -<silsim/> -<hardware/> +<hilsim> -<hilsim/StructSizes.cpp>
 build_unflags =
     -std=gnu++11
+lib_deps =
+    adafruit/Adafruit LIS3MDL@^1.2.1 ; Magnetometer driver
+    stevemarple/MicroNMEA@^2.0.6 ; NMEA Parsing library (for GPS messages)
 
 
 [env:mcu_silsim_sustainer]
@@ -98,3 +105,11 @@ lib_deps =
     Eigen
 lib_ignore =
     TCAL9539
+
+
+[env:struct_sizes]
+platform=native
+build_type = release
+build_unflags =
+    -std=gnu++11
+build_src_filter = +<hilsim/StructSizes.cpp>

MIDAS/src/Mutex.h

@@ -51,7 +51,7 @@ struct Mutex {
      */
     T read() {
         if (!mutex_handle || mutex_handle != check) {
-            Serial.println("Aw shucks");
+            Serial.println("Aw shucks read");
             Serial.flush();
         }
         xSemaphoreTake(mutex_handle, portMAX_DELAY);
@@ -77,7 +77,7 @@ struct Mutex {
     */
     void read2(T* ptr) {
         if (!mutex_handle || mutex_handle != check) {
-            Serial.println("Aw shucks");
+            Serial.println("Aw shucks read2");
             Serial.flush();
         }
         xSemaphoreTake(mutex_handle, portMAX_DELAY);
@@ -93,7 +93,7 @@ struct Mutex {
      */
     void write(T value) {
         if (!mutex_handle || mutex_handle != check) {
-            Serial.println("Aw shucks");
+            Serial.println("Aw shucks write");
             Serial.flush();
         }
 

MIDAS/src/hardware/Pyro.cpp → MIDAS/src/Pyro.cpp

@@ -1,7 +1,11 @@
 #include <cmath>
 
-#include "sensors.h"
-#include "pins.h"
+#ifdef HILSIM
+#include "hilsim/sensors.h"
+#else
+#include "hardware/sensors.h"
+#endif
+#include "hardware/pins.h"
 
 #include "TCAL9539.h"
 

MIDAS/src/hardware/SDLog.cpp → MIDAS/src/SDLog.cpp

@@ -2,6 +2,7 @@
 #include <SPI.h>
 #include <SD_MMC.h>
 
+#include "hardware/pins.h"
 #include "SDLog.h"
 
 /**

MIDAS/src/hardware/SDLog.h → MIDAS/src/SDLog.h

@@ -3,7 +3,11 @@
 #include <FS.h>
 
 #include <SD.h>
-#include "sensors.h"
+#ifdef HILSIM
+#include "hilsim/sensors.h"
+#else
+#include "hardware/sensors.h"
+#endif
 #include "data_logging.h"
 
 /**

MIDAS/src/hardware/main.cpp

@@ -5,7 +5,7 @@
 #include "systems.h"
 #include "hardware/pins.h"
 #include "hardware/Emmc.h"
-#include "hardware/SDLog.h"
+#include "SDLog.h"
 #include "sensor_data.h"
 
 /**

MIDAS/src/hardware/sensors.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "errors.h"
+#include "../errors.h"
 #include "sensor_data.h"
 #include "hardware/pins.h"
 

MIDAS/src/hilsim/Barometer.cpp

@@ -0,0 +1,33 @@
+#include "sensors.h"
+#include <MS5611.h>
+
+MS5611 MS(MS5611_CS);       //singleton object for the MS sensor
+
+/**
+ * @brief Initializes barometer, returns NoError
+ * 
+ * @return Error code
+*/
+ErrorCode BarometerSensor::init() {
+    MS.init();
+
+    return ErrorCode::NoError;
+}
+
+/**
+ * @brief Reads the pressure and temperature from the MS5611
+ * 
+ * @return Barometer data packet
+*/
+Barometer BarometerSensor::read() {
+    MS.read(12);
+
+    /*
+     * TODO: Switch to latest version of library (0.3.9) when we get hardware to verify
+    */
+    float pressure = static_cast<float>(MS.getPressure() * 0.01 + 26.03);
+    float temperature = static_cast<float>(MS.getTemperature() * 0.01);
+    float altitude = static_cast<float>(-log(pressure * 0.000987) * (temperature + 273.15) * 29.254);
+
+    return barometer;
+}

MIDAS/src/hilsim/Continuity.cpp

@@ -0,0 +1,33 @@
+#include "sensors.h"
+#include "ads7138-q1.h"
+#include <hal.h>
+
+#define PYRO_VOLTAGE_DIVIDER (5.0 / (5.0 + 20.0))       //voltage divider for pyro batt voltage, check hardware schematic
+#define CONT_VOLTAGE_DIVIDER (5.0 / (5.0 + 20.0))       //voltage divider for continuity voltage, check hardware schematic
+
+/**
+ * @brief Initializes ADC, returns NoError
+ * 
+ * @return Error code
+*/
+ErrorCode ContinuitySensor::init() {
+    ADS7138Init();              // Ask ADS to init the pins, we still need to get the device to actually read
+
+    return ErrorCode::NoError;
+}
+
+/**
+ * @brief Reads the value of the ADC
+ * 
+ * @return Continuity data packet
+*/
+Continuity ContinuitySensor::read() {
+    Continuity continuity;
+    //ADC reference voltage is 3.3, returns 12 bit value
+    continuity.sense_pyro = adcAnalogRead(ADCAddress{SENSE_PYRO}).value * 3.3f / 4096.f / PYRO_VOLTAGE_DIVIDER;
+    continuity.pins[0] = adcAnalogRead(ADCAddress{SENSE_MOTOR}).value * 3.3f / 4096.f / CONT_VOLTAGE_DIVIDER;
+    continuity.pins[1] = adcAnalogRead(ADCAddress{SENSE_MAIN}).value * 3.3f / 4096.f / CONT_VOLTAGE_DIVIDER;
+    continuity.pins[2] = adcAnalogRead(ADCAddress{SENSE_APOGEE}).value * 3.3f / 4096.f / CONT_VOLTAGE_DIVIDER;
+    continuity.pins[3] = adcAnalogRead(ADCAddress{SENSE_AUX}).value * 3.3f / 4096.f / CONT_VOLTAGE_DIVIDER;
+    return continuity;
+}