ORIZABA FLIGHT COMPUTER CODE

SEDS Avionics Team Full-Scale Flight Computer 2024-2025 Season Competiton Link for team placement: IREC 2025

• 10K COTS: 56th place out of 81 teams
• Overall: 86th place out of 142 teams

Design

Result

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Microcontroller: Teensy 4.1

LIST FOR SENSOR DATA STORAGE/TRANSMISSION

• Google Sheets Link

Sensors:

BNO055 Main IMU

• Github Library
• Datasheet

ASM330LHH Backup IMU

• Github Library
• Datasheet
• Wiring Diagram

MS561101BA03-50 Barometer

• Github Library
• Datasheet

MAX-M8C-0 GPS

• Github Library PENDING
• Datasheet

MMC5983MA Magnetometer

• DatasheetPENDING
• Github Library

HTU20DF Temperature & Humidity Sensor

• Datasheet
• Github Library

MCP7940M-I/SN Real-time Clock

• Datasheet
• Github Library

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Radios:

Reyax 868/915 MHz LoRa RYLR998 module

• Website
• AT Command Manual
• Datasheet

Reyax RYLR 689 LoRa module

• Website
• Datasheet

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Storage:

SST26VF080AT-104I/SN Flash IC Memory

• Github Library

SD Card Module

• Standard Arduino SPI SD card library

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Sensor I2C Addresses:

• Main IMU (BNO055): 0x28
• Backup IMU (ASM330): 0x6A
• Magnetometer: 0x30
• Temperature & Humidity Sensor (HTU20D): 0x40
• Barometer (MS5611): 0x77

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LESSONS learned from VINSON FLIGHT COMPUTER SUBSCALE:

• IGNORE .PIO Folder: ADD the .pio to the .gitignore to not flood the git repository and add any sensor functions from the sensor library to a seperate header file

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Branch Creation Template

Describe your issue

Please provide a detailed description of the issue you are reporting.

Checklist before creating a branch

• I have created a new branch from the main branch.
• My branch name starts with either fix/ or feature/ followed by a descriptive name.
• I have committed my changes and pushed them to the branch.
• I have performed a self-review of my code and tested it on my branch.
• I have deleted the branch after the pull request is merged into main

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GUIDELINES for Setting up Platform.IO

• Single Main File: Ensure there is only ONE .cpp file that contains setup() and loop() in your src directory. Multiple files with these functions will cause compilation errors.
• Archive Storage: If files are not intended for compilation, place them in the archive folder since only the src folder is compiled.
• Test Folder Usage: Unless you are actively testing, do not place any files in the test folder as it may cause errors.
• Include Folder: Any custom header files should be placed in the include folder, which is recognized by PlatformIO as the location for header files.

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Commenting Standards

This project uses C, C++, and Arduino code for embedded systems, and we adhere to a consistent commenting style to keep the codebase clear, maintainable, and easy to navigate.

1. Function-Level Comments

• Format: Use Doxygen-style comments (/** ... */) before each function.
• Content:
  • Briefly describe the function’s purpose, parameters, and return values.
  • Use @brief to summarize the function at a high level.
  • Use @param and @return tags to document function inputs/outputs.
  • For any known issues, planned work, or bugs, use TODO(#issueNumber) or FIXME(#issueNumber).
  • Use NOTE(name): to highlight non-actionable observations or temporary conditions.

Example:

/**
 * @brief Fetches data from a sensor and processes the result.
 *
 * Reads from the specified sensor pin, applies filtering, and returns the
 * processed value. This function is non-blocking.
 *
 * @param sensorPin The Arduino analog pin number where the sensor is connected.
 * @return The filtered sensor reading as an integer.
 *
 * NOTE(alice): Currently using a simple moving average filter. See #45 for a discussion on implementing a Kalman filter.
 * TODO(#101): Integrate a calibration routine to improve accuracy.
 * FIXME(#102): Handle sensor saturation conditions more gracefully.
 */
int readAndProcessSensor(int sensorPin) {
    // ...
}

2. Single-Level Comments (Above or Inline)

• Format: Use Doxygen-style comments (//) before each comment.
• Content:
  • Briefly describe the purpose of the code
  • (Case-by-case basis) Tag anyone who will work on this code

/// This is a single-line Doxygen comment.
/// It documents myOtherVariable.
int myOtherVariable;

int myVariable // Place the comment here

3. TODO/FIXME Comments

Use TODO(#issueNumber)or FIXME(#issueNumber) to mark pending tasks, enhancements, or additional steps you plan to implement. Conditions:

• If going to use in a function multi-line comment you can place it inside as noted in #1 Function-Level Comments
• If going to be single line then mark it as the following below:

int calculateChecksum(uint8_t data[], size_t length) {
    int checksum = 0;
    for (size_t i = 0; i < length; i++) {
        checksum += data[i]; // TODO(#789): Handle overflow for large data arrays.
    }
    return checksum;
}

or

bool connectToWiFi(const char* ssid, const char* password) {
    bool success = WiFi.begin(ssid, password); // FIXME(#456): Implement retry logic for failed connections.
    return success;
}

• If needed for a multi-line TODO/FIXME comment then use the syntax as following to not clutter the code and hinder readbility:

/**
 * FIXME(#456): Implement retry logic for failed connections.
 */
bool connectToWiFi(const char* ssid, const char* password) {
    bool success = WiFi.begin(ssid, password);
    return success;
}