merge to push ADC

Author: Jude Merritt

.gitignore

@@ -253,4 +253,5 @@ build_logs/
 # Doxygen output
 html/
 docs/
-# End of https://www.toptal.com/developers/gitignore/api/cmake,c,c++,clion,macos
+# End of https://www.toptal.com/developers/gitignore/api/cmake,c,c++,clion,macos
+*.bin

.vscode/launch.json

@@ -4,7 +4,7 @@
     {
       "name": "openocd dev debug CM7",
       "cwd": "${workspaceRoot}",
-      "executable": "/Users/mahiremran/Desktop/GitHub/titan/build/test_spi.elf",
+      "executable": "/Users/mahiremran/Desktop/GitHub/titan/build/test_errc.elf",
       "armToolchainPath": "/Applications/ArmGNUToolchain/14.3.rel1/arm-none-eabi/bin",
       "request": "launch",
       "type": "cortex-debug",
@@ -21,7 +21,7 @@
     {
       "name": "openocd test debug CM7",
       "cwd": "${workspaceRoot}",
-      "executable": "/Users/mahiremran/Desktop/GitHub/titan/build/test_spi.elf",
+      "executable": "/Users/mahiremran/Desktop/GitHub/titan/build/test_errc.elf",
       "armToolchainPath": "/Applications/ArmGNUToolchain/14.3.rel1/arm-none-eabi/bin",
       "request": "attach",
       "type": "cortex-debug",
@@ -42,5 +42,5 @@
       ]
     }
   ],
-  "project.debugTarget": "/Users/mahiremran/Desktop/GitHub/titan/build/test_pwm.elf"
+  "project.debugTarget": "/Users/mahiremran/Desktop/GitHub/titan/build/test_errc.elf"
 }

CMakeLists.txt

@@ -101,6 +101,7 @@ add_firmware_target(test_pwm ${CMAKE_SOURCE_DIR}/test/test_pwm.c)
 add_firmware_target(test_spi ${CMAKE_SOURCE_DIR}/test/test_spi.c)
 add_firmware_target(test_usart ${CMAKE_SOURCE_DIR}/test/test_usart.c)
 add_firmware_target(test_oscilloscope ${CMAKE_SOURCE_DIR}/test/test_oscilloscope.c)
+add_firmware_target(test_errc ${CMAKE_SOURCE_DIR}/test/test_errc.c)
 
 # Native host unit test: test_alloc (compiled with system gcc, not the ARM cross-compiler)
 add_custom_command(

build.sh

@@ -12,7 +12,7 @@ LOG_FILE="$LOG_DIR/build_$(date +%Y%m%d_%H%M%S).log"
 exec > >(tee -a "$LOG_FILE") 2>&1
 
 FW_TARGET="${1:-${FW_TARGET:-titan}}"
-FW_TARGETS=(titan test_pwm test_spi test_usart test_oscilloscope)
+FW_TARGETS=(titan test_pwm test_spi test_usart test_oscilloscope test_errc)
 MAX_ATTEMPTS=3
 UPDATE_DEBUG_TARGET=false
 
@@ -24,11 +24,11 @@ done
 
 # ── Target validation ──────────────────────────────────────────────────────────
 case "$FW_TARGET" in
-  titan|test_pwm|test_spi|test_usart|test_oscilloscope|commit_check|all|clean|docs)
+  titan|test_pwm|test_spi|test_usart|test_oscilloscope|test_errc|commit_check|all|clean|docs)
     ;;
   *)
     echo "Unknown target: $FW_TARGET"
-    echo "Valid targets: titan, test_pwm, test_spi, test_usart, test_oscilloscope, commit_check, all, clean, docs"
+    echo "Valid targets: titan, test_pwm, test_spi, test_usart, test_oscilloscope, test_errc, commit_check, all, clean, docs"
     exit 4
     ;;
 esac

communication_protocol.txt

@@ -0,0 +1,160 @@
+# Data from flight comptuer:
+    # Flight computer sensor data
+    # Flight computer status
+    # Flight computer valve/servo states
+
+# Data from CC:
+    # CC passthrough sensor data
+    # CC passthrough valve states
+    # CC status data
+
+# Loggers:
+    # Status Logger
+    # Flight computer sensor logger
+    # Flight computer valve/servo state logger
+
+# Flight Computer Sensors
+    # 2x IMU - [accel x (2 bytes), accel y (2 bytes), accel z (2 bytes), gyro x (2 bytes), gyro y (2 bytes), gyro z (2 bytes)] - 12 bytes each
+    # 2x Magnetometer - [mag x (2 bytes), mag y (2 bytes), mag z (2 bytes)] - 6 bytes each
+    # 2x barometer - 3 bytes each (reads pressure)
+    # 2x Temperature sensor - temperature (2 bytes) (one is on power board, one is on sensor board)
+    # GPS - [latitude (4 bytes), longitude (4 bytes), altitude (4 bytes), velocity x (2 bytes), velocity y (2 bytes), velocity z (2 bytes), time (4 bytes)] - 22 bytes
+    # ADC - 3 bytes per data point (max of 24 pressure sensors, 24 RTDs, 3 strain guages)
+    
+    # 3x current sensors - 2 bytes each
+
+# Flight computer valves/servos
+    # 12 actuator outputs
+    # 8 servo outputs
+    
+# Downlink Packets (from FC to CC):
+
+    # Sensor data packet:
+        # 0x01
+        # <IMU 1 accel x (2 bytes)>
+        # <IMU 1 accel y (2 bytes)>
+        # <IMU 1 accel z (2 bytes)>
+        # <IMU 1 gyro x (2 bytes)>
+        # <IMU 1 gyro y (2 bytes)>
+        # <IMU 1 gyro z (2 bytes)>
+        # <IMU 2 accel x (2 bytes)>
+        # <IMU 2 accel y (2 bytes)>
+        # <IMU 2 accel z (2 bytes)>
+        # <IMU 2 gyro x (2 bytes)>
+        # <IMU 2 gyro y (2 bytes)>
+        # <IMU 2 gyro z (2 bytes)>
+        # <Magnetometer 1 mag x (2 bytes)>
+        # <Magnetometer 1 mag y (2 bytes)>
+        # <Magnetometer 1 mag z (2 bytes)>
+        # <Magnetometer 2 mag x (2 bytes)>
+        # <Magnetometer 2 mag y (2 bytes)>
+        # <Magnetometer 2 mag z (2 bytes)>
+        # <Barometer 1 pressure (3 bytes)>
+        # <Barometer 2 pressure (3 bytes)>
+        # <Temperature sensor 1 temperature (2 bytes)>
+        # <Temperature sensor 2 temperature (2 bytes)>
+        # <Current sensor 1 current (2 bytes)>
+        # <Current sensor 2 current (2 bytes)>
+        # <Current sensor 3 current (2 bytes)>
+
+    # GPS data packet
+        # 0x02
+        # <Latitude (4 bytes)>
+        # <Longitude (4 bytes)>
+        # <Altitude (4 bytes)>
+        # <Velocity x (2 bytes)>
+        # <Velocity y (2 bytes)>
+        # <Velocity z (2 bytes)>
+        # <Time (4 bytes)>
+            
+    # ADC data packet
+        # 0x03
+        # <packet index (1 byte)>
+        # <data point (3 bytes)> (repeat for each sensor in adc config for this packet index)
+            
+    # State packet
+        # 0x04
+        # <valve state (1 bit)> (repeat for each valve in status protocol, pad to byte boundary)
+        # <servo state (2 bytes)> (repeat for each servo in status protocol)
+
+    # comm packet:
+        # 0x05
+        # <ping id (2 bytes)>
+        # <system mode (1 byte)>
+        # <processor time (4 bytes)> (ms since startup)
+        # <last command id (2 bytes)>
+        # <last command status (1 byte)>
+        # <message count (1 byte)>
+        # <message 1 tag (1 byte)> (optional) (repeat for each desired message)
+        
+        # NOTE: After comm packet is sent over radio, FC is expected
+        # The comm packet is expected every 100 ms, with 10 ms given for a response.         
+        
+        # Command status values
+            # 0x00 Command waiting
+            # 0x01 Command in progress
+            # 0x02 Command completed successfully
+            # 0x03 Command failed due to invalid tag
+            # 0x04 Command failed due to invalid arguments
+            # 0x05 Command failed due to out of range arguments
+            # 0x06 Command failed due to hardware error
+            # 0x07 Command failed due to timeout
+            # 0x08 Command failed due to invalid system state
+            # 0x09 Command aborted by flight computer
+            # 0x0A Command awaiting confirmation
+
+# Uplink Packets (from CC to FC):
+
+    # comm packet:
+        # 0x01
+        # <ping id (2 bytes)>
+        # <system time (4 bytes)> (unix timestamp)
+        # <command valid (1 byte)> (0 = invalid, 1 = valid)
+        # <command id (2 bytes)> (optional, only if command valid = 1)
+        # <command type (1 byte)> (optional, only if command valid = 1)
+        # <command tag (1 byte)> (optional, only if command valid = 1)
+        # <command arguments (pre-determined variable length)> (optional, only if command valid = 1)
+
+        # Command types
+            # 0x00 Static command
+            # 0x01 Custom command
+            
+        # Static command tags and args
+            
+            # Change valve state
+                # 0x00
+                # <valve id (1 byte)>
+                # <new state (1 byte)> (0 = closed, 1 = open)
+                
+            # Pulse valve
+                # 0x01
+                # <valve id (1 byte)>
+                # <pulse duration (2 bytes)> (in milliseconds)
+                
+            # Change servo state
+                # 0x02
+                # <servo id (1 byte)>
+                # <new position (2 bytes)>
+                
+            # Pulse servo
+                #0x03
+                # <servo id (1 byte)>
+                # <new position (2 bytes)>
+                # <pulse duration (2 bytes)> (in milliseconds)
+                
+            # Set sys mode
+                # 0x04
+                # <new mode (1 byte)>
+                
+            # Set comm link
+                # 0x05
+                # <new link (1 byte)> (0 = RS485, 1 = radio)
+                            
+            # Sleep
+                #0x04
+                
+            # Wake
+                # 0x05
+                 
+            # Restart (2 commands to confirm)
+                #0x06

src/app/states/fill_state.c

@@ -12,6 +12,8 @@ bool fill_state_init(){
 }
 
 int fill_state_run(){
+    
+
     return 3;
 }
 

src/app/utils/pinout.h

@@ -0,0 +1,115 @@
+/**
+ * This file is part of the Titan Flight Computer Project
+ * Copyright (c) 2025 UW SARP
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, version 3.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @file app/utils/pinout.h
+ * @authors Joshua Beard
+ * @brief Physical pinout of flight computer board
+ */
+
+ #include <stdint.h>
+
+
+const uint32_t GNSS_SPI_CS = 126;
+// SPI 3, same as sensor board SPI
+const uint32_t GNSS_SPI_MOSI = 111;
+const uint32_t GNSS_SPI_MISO = 110;
+const uint32_t GNSS_SPI_SCLK = 109;
+//-------------------------------
+
+const uint32_t EXT_FLASH_QSPI_CS = 66;
+const uint32_t EXT_FLASH_QSPI_SCLK = 24;
+const uint32_t EXT_FLASH_QSPI_IO_0 = 22;
+const uint32_t EXT_FLASH_QSPI_IO_1 = 23;
+const uint32_t EXT_FLASH_QSPI_IO_2 = 21;
+const uint32_t EXT_FLASH_QSPI_IO_3 = 20;
+//-------------------------------
+
+const uint32_t RADIO_SPI_CS = 84;
+// SPI 2
+const uint32_t RADIO_SPI_MOSI = 75;
+const uint32_t RADIO_SPI_MISO = 74;
+const uint32_t RADIO_SPI_SCLK = 73;
+
+const uint32_t RADIO_IRQ = 85;
+const uint32_t RADIO_SHDN = 49;
+//-------------------------------
+
+// UART 2
+const uint32_t RS485_UART_TX = 39;
+const uint32_t RS485_UART_RX = 40;
+
+const uint32_t RS485_RE = 44;
+const uint32_t RS485_DE = 43;
+//-------------------------------
+//CAN could be here, but I omit since we are not using it in the minimal version
+
+const uint32_t USB_DATA_plus = 101;
+const uint32_t USB_DATA_minus = 100;
+const uint32_t USB_ID = 99;
+//-------------------------------
+
+const uint32_t SWD_CLK = 107;
+const uint32_t SWD_IO = 102;
+const uint32_t SWD_OUT = 130;
+const uint32_t RST = 27;
+//-------------------------------
+
+const uint32_t ACTUATOR_SPI_MOSI = 5;
+const uint32_t ACTUATOR_SPI_MISO = 4;
+const uint32_t ACTUATOR_CS_1 = 63;
+const uint32_t ACTUATOR_CS_2 = 62;
+const uint32_t ACTUATOR_CS_3 = 61;
+const uint32_t POWER_TMP_CS = 58; // power board temperature 
+
+const uint32_t PWM_1 = 38;
+const uint32_t PWM_2 = 93;
+const uint32_t PWM_3 = 82;
+const uint32_t PWM_4 = 37;
+const uint32_t PWM_5 = 45;
+const uint32_t PWM_6 = 46;
+const uint32_t PWM_7 = 136;
+const uint32_t PWM_8 = 137;
+
+//-------------------------------
+
+const uint32_t IGNITE_IO = 51;
+const uint32_t IGNITE_CONT = 52; // ADC in
+const uint32_t BATT_EN = 60;
+
+//-------------------------------
+
+// SPI 3, same as GNSS spi 
+// NOTE: EVERYTHING IN THIS BLOCK IS ON SPI 3
+const uint32_t SENSOR_SPI_MOSI = 111; // ANA_SPI on diagram
+const uint32_t SENSOR_SPI_MISO = 110;
+const uint32_t SENSOR_SPI_SCLK = 109;
+
+// ADC CS
+const uint32_t SENSOR_CS_1 = 76;
+const uint32_t SENSOR_CS_2 = 77;
+const uint32_t SENSOR_CS_3 = 114;
+const uint32_t SENSOR_CS_4 = 115;
+const uint32_t SENSOR_CS_5 = 116;
+const uint32_t SENSOR_CS_6 = 117;
+
+// Regular sensor CS
+const uint32_t IMU_1_CS = 120;
+const uint32_t IMU_2_CS = 121;
+const uint32_t BARO_1_CS = 122;
+const uint32_t BARO_2_CS = 123;
+const uint32_t ANALOG_TMP_CS = 124; // analog (sensor) board temperature
+const uint32_t MAGNOTOMETER_CS = 125;
+//-------------------------------