Feat/timestamps

.github/workflows/build.yml

@@ -15,27 +15,34 @@ jobs:
       uses: actions/checkout@v4
       with:
         submodules: true
+        fetch-depth: 1
 
     - name: Install ARM GCC Toolchain
       run: |
-        sudo apt-get update
-        sudo apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi cmake build-essential
-
-    - name: Setup Raspberry Pi Pico SDK
-      uses: actions/checkout@v4
+        sudo apt-get update -qq
+        sudo apt-get install -y --no-install-recommends gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib cmake build-essential
+
+    - name: Cache Pico SDK
+      id: cache-pico-sdk
+      uses: actions/cache@v4
       with:
-        repository: raspberrypi/pico-sdk
-        ref: master 
         path: pico-sdk
-        submodules: true
+        key: pico-sdk-${{ runner.os }}-master
 
+    - name: Setup Raspberry Pi Pico SDK
+      if: steps.cache-pico-sdk.outputs.cache-hit != 'true'
+      run: |
+        git clone --depth 1 --branch master https://github.com/raspberrypi/pico-sdk.git
+        cd pico-sdk
+        git submodule update --init --depth 1
+
     - name: Configure CMake
       env:
         PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk
       run: cmake -B build
 
     - name: Build project
-      run: cmake --build build
+      run: cmake --build build --parallel 2
 
     - name: Upload UF2 Artifact
       uses: actions/upload-artifact@v4

README.md

@@ -3,7 +3,7 @@
 
 Embedded Avionics Data Logger (C++ / RP2350)
 
-A  flight data recorder(aka "Black Box") built for the Raspberry Pi Pico 2(RP2350). This project captures real-time motion data from an MPU6050 IMU and logs it to an SD card using a custom C++ wrapper around the FatFs filesystem provided by carlk3 (https://github.com/carlk3/no-OS-FatFS-SD-SDIO-SPI-RPi-Pico)
+A flight data recorder(aka "Black Box") built for the Raspberry Pi Pico 2(RP2350). This project captures real-time motion data from an MPU6050 IMU and logs it to an SD card using a custom C++ wrapper around the FatFs filesystem provided by carlk3 (https://github.com/carlk3/no-OS-FatFS-SD-SDIO-SPI-RPi-Pico)
 
 ![Recorder Demo](assets/demo.gif)
 
@@ -64,5 +64,5 @@ cmake --build build
 - [x] **Gyroscope Data Capture** (X/Y/Z)
 - [x] **Add Accelerometer Data:** Expand MPU6050 driver to capture acceleration.
 - [ ] **Error Codes:** Instead of just one LED, use different blink patterns.
-- [ ] **Timestamps:** Add millisecond precision timestamps to the log.
-- [ ] **FreeRTOS:** RTRefactor the codebase into prioritized Tasks (Sensing vs. Logging) using FreeRTOS to prevent SD card latency.
+- [x] **Timestamps:** Add millisecond precision timestamps to the log.
+- [ ] **FreeRTOS:** Refactor the codebase into prioritized Tasks (Sensing vs. Logging) using FreeRTOS to prevent SD card latency.

src/main.cpp

@@ -24,21 +24,23 @@ int main() {
         sleep_ms(50);
     }
 
-    Gyro_t current_gyro;
-    Accel_t current_accel;
+    Gyro_t g;
+    Accel_t a;
+    uint32_t timestamp;
+
     while(true) {
         if(Utils::is_button_clicked()){
             Utils::turnOff_green();
             recorder.stop_recording();
             printf("\n--- Stoping Flight Recorder ---\n");
             break;
         }
+        timestamp = to_ms_since_boot(get_absolute_time());
+        mpu.getGyro(&g);
+        mpu.getAccel(&a);
+        recorder.log_data(timestamp, g, a);
 
-        mpu.getGyro(&current_gyro);
-        mpu.getAccel(&current_accel);
-        recorder.log_data(current_gyro, current_accel);
-
-        printf("Logged: Gyro X:%d Y:%d Z:%d Accel X:%d Y:%d Z:%d \n", current_gyro.x, current_gyro.y, current_gyro.z , current_accel.x, current_accel.y, current_accel.z) ;
+        printf("Logged: %d Gyro X:%d Y:%d Z:%d Accel X:%d Y:%d Z:%d \n", timestamp, g.x, g.y, g.z , a.x, a.y, a.z) ;
 
         sleep_ms(50); 
     }

src/recorder/Recorder.cpp

@@ -53,20 +53,40 @@ Recorder::Recorder(spi_inst_t* spi_port, uint miso, uint mosi, uint sck, uint cs
 void Recorder::start_recording() 
 {
     this->card_p->mount();
-    FRESULT fr = file.open("0:flight_data.csv", FA_WRITE | FA_OPEN_APPEND);
+
+    char filename[20];
+    int file_idx = 0;
+    FRESULT fr;
+
+    // Loop until we find a filename that DOES NOT exist
+    while (true) {
+        sprintf(filename, "flight_%03d.csv", file_idx);
+        FILINFO fno;
+        fr = f_stat(filename, &fno); 
+
+        if (fr == FR_NO_FILE) {
+            // This name is free
+            break; 
+        }
+        file_idx++;
+    }
+
+    fr = file.open(filename, FA_WRITE | FA_OPEN_APPEND);
     if (fr == FR_OK) {
         is_open = true;
+        file.puts("Timestamp_ms,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ\n");
+        file.sync();
         return;
     }
     Utils::handle_error("SD Open Failed");
 }
 
-void Recorder::log_data(const Gyro_t& gyro, const Accel_t& accel) 
+void Recorder::log_data(uint32_t timestamp, const Gyro_t& gyro, const Accel_t& accel) 
 {
     if(!is_open) return;
 
     char buffer[64];
-    sprintf(buffer, "G: %d, %d, %d A: %d, %d, %d\n", gyro.x, gyro.y, gyro.z, accel.x, accel.y, accel.z);
+    sprintf(buffer, "%lu, %d, %d, %d, %d, %d, %d\n", timestamp, gyro.x, gyro.y, gyro.z, accel.x, accel.y, accel.z);
     file.puts(buffer);
     file.sync();
 }

src/recorder/Recorder.h

@@ -15,7 +15,7 @@ class Recorder {
     FatFsNs::SdCard* card_p = nullptr;
 
     void start_recording();
-    void log_data(const Gyro_t& gyro, const Accel_t& accel);
+    void log_data(uint32_t timestamp, const Gyro_t& gyro, const Accel_t& accel);
     void stop_recording();
 
 private: