Tamariw Testing Panel

This Project contains the source code for the testing of different modules of the TAMARIW Panel Board.

compile and flash

1. To compile and flash example files: make main=hello_euler.cpp flash-sftp satellite=GOLD

Do the following:

1. Open hotspot and configure it to name TAMARIWPiTest and password pi@tamariw. In doing so, Raspberry Pi will automatically connect to your hotspot. If it does not, try rebooting the Pi.
2. Check the IP address of Pi in Devices connected on hotspot.
3. Goto this file and reconfigure the IP address of Pi.
4. To find the host key, use the command sftp raspberry@the_ip_address. Again, goto the same file and reconfigure the host key.

contents

folder structure

1. threads - Implementation of different RODOS thread and topics used in Tamariw.
2. libs - Low-level device drivers for different modules like H-Bridge, time of flight sensor etc.
3. satellite - Tamariw specific interfaces to access sensors and actuators.
4. examples - Individual test files for different components of Tamariw.

satellite

1. satellite_cofig - Configuration of pins, peripherals, and parameters used in Tamariw.
2. utils - Utility functions, and macros that are generally useful.
3. magnet - Interface to control electromagnets.
4. tof - Interface to access ToF measurements and relative position/velocity/orientation (state) estimates.
5. led - Interface for switching LEDs in TAMARIW.
6. fsm - Implementation of Tamariw Finite State Machine.
7. config_fsm - Config file for FSM parameters.

libs

1. hbridge - Hbridge driver that uses one PWM and two GPIO pins.
2. median_filter - Median filter for smoothing ToF distance measurements.
3. vl53l4cd - Driver for VL53L4CD Time of Flight sensor.
4. decadriver - Driver for Ultra-Wide Band transreceiver DW1000.

examples

1. hello_tof - Test file for ToF sensors.
2. hello_magnets - Test file for electromagnets.
3. hello_tofcal - Performs ToF calibration.
4. hello_em_current - Displays the current versus PWM for wide, configurable, range of PWM. Intended to be used to study how temperature affects the electromagnet's current for same PWM.
5. hello_current_control - Test file for current control of electromagnets for PID tuning. It has two modes; regulation and trajectory tracking.
6. hello_tof_single - To test single ToF sensor module independent of Tamariw boards.

threads

1. topics - Contains the declaration and definitation of all the topics for inter-thread communications. Not exactly a thread.
2. collision_control - Handles collision control using distance and velocity feedback.
3. current_control - Controls the current through each electromagnet. Its Sample rate is higher compared to collision_control.
4. telecommand - Handles the telecommands from ground station.
5. telemetry - Transmits data to groundstation.
6. tof_range - Performs ToF measurements and publishes to topic for other threads.

Compilation and macros

1. satellite=BLACK to choose satellite from available configurations (see: satellite_config.h).
2. pole=CONSTANT to specify that the satellite's magnetic polarity will not change during docking.

Example:

1. For BLACK satellite whose magnetic polarity is not supposed to change, use following command to compile and flash the code.

make satellite=BLACK pole=CONSTANT flash (flash-sftp)

schematics of indices

     _____________       ______ ______
    |             |     |      -      |
    |  1       0  |     |  3       2  |
    | (O)     (O) |     | (O)     (O) |
    |             |     |             |
    |      1      |     |      3      |
    |      o      |     |      o      |
    |             |     |             |
    |             |     |             |
    | 0 o     o 2 |     | 2 o     o 0 |
    |             |     |             |
    |             |     |             |
    |      o      |     |      o      |
    |      3      |     |      1      |
    |             |     |             |
    |             |     |             |
    |  2       3  |     |  0       1  |
    | (O)     (O) |     | (O)     (O) |
    |______-______|     |_____________|

(O) - electromagnet
 o  - time of flight sensor

authors

• Saurav Paudel, Info VIII, University of Würzburg
• Atheel Redah, Info VIII, University of Würzburg
• Rishav Sharma, Masters in SatTech, University of Würzburg

todos

1. Soft colision between two satellites.
2. Open-loop current versus temperature graph.
3. Closed-loop current versus temperature graph.
4. Filter current measurements (?).
5. Handle the sensor anomalies.