Diff: main.cpp

Revision:

20:8987a9ae2bc7

Parent:

17:7c16b5671d0e

Child:

21:38c8544db6f4

--- a/main.cpp	Wed Nov 22 00:08:03 2017 +0000
+++ b/main.cpp	Wed Nov 22 14:32:06 2017 +0000
@@ -71,29 +71,27 @@
         - Added multi-dive (and multi-rise) states to FSM (may incorporate single dive states into states)
         - Need to double-check behavior of sub-FSM but bench-top testing showed correct behavior for transition from sinking, to slowly rise, to check pitch
         - Need to add a check for the multi-dive sequence file (sequence.cfg) being loaded on the MBED
+    Modified 2017-11-21 by Dan
+        - removed blocker and set up a loop rate timer that runs the state machine and keyboard at 10 Hz.
+        - work inside StateMachine and particularly in the findNeutralSubState.
 */
-
+ 
 #include "mbed.h"
 #include "StaticDefs.hpp"
 #include "config_functions.h"
-
-volatile bool blocker = true;   //volatile used to prevent compiler from optimizing this (assuming the state is constant)
-volatile bool keyboard_flag = true;
-
-Ticker blocker_ticker;
-
-//blocker using a ticker
-void reset_blocker() {
-    blocker = false;
-};
-
+ 
+// loop rate timer for slowing down how fast while(1) runs in main()
+Ticker loop_rate_ticker;
+volatile bool loop = false;
+void loop_trigger() { loop = true; }; // loop trigger
+ 
 void setup() {
-    pc().printf("\n\n\r\rFSG 2017-11-20\n\r");
+    pc().printf("\n\n\r\rFSG 2017-11-21\n\r");
     pc().baud(57600);
-
+ 
     // start up the system timer
     systemTime().start();
-
+ 
     // set up and start the adc. This runs on a fixed interval and is interrupt driven
     adc().initialize();
     adc().start();
@@ -108,32 +106,32 @@
     
     // construct a local file system
     local();
-
+ 
     // load config data from files
     load_BCE_config();      // load the buoyancy engine parameters from the file "bce.txt"
     load_BATT_config();     // load the battery mass mover parameters from the file "batt.txt"
     load_DEPTH_config();    // load the depth control loop parameters from the file "depth.txt"
     load_PITCH_config();    // load the depth control loop parameters from the file "pitch.txt"
-
+ 
     // set up the linear actuators.  adc has to be running first.
     bce().init();
     bce().start();
     bce().pause(); // start by not moving
-
+ 
     batt().init();
     batt().start();
     batt().pause(); // start by not moving
-
+ 
     // set up the depth and pitch outer loop controllers
     depthLoop().init();
     depthLoop().start();
     depthLoop().setCommand(stateMachine().getDepthCommand());
-
+ 
     pitchLoop().init();
     pitchLoop().start();
     pitchLoop().setCommand(stateMachine().getPitchCommand());
-
-    // do not leave this in. Check that PID gains are loading
+ 
+    // show that the PID gains are loading from the file
     pc().printf("bce    P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f  \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
     pc().printf("batt   P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f  \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
     pc().printf("depth  P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
@@ -151,36 +149,22 @@
     
     //load sequence from file
     sequenceController().loadSequence();
+ 
+    // establish the main loop rate
+    loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate
 }
-
-
-
+ 
+ 
+ 
 int main() {
     setup();
     
-    blocker_ticker.attach(&reset_blocker, 0.01); // 100 Hz loop rate
-    uint32_t n = 0;
-    
     while(1) {
-        led1() = !led1(); // blink
-        
-        //"blocker" while loop runs at 100 hz because of the ticker
-        while(blocker) {            
-            if (keyboard_flag) {
-                stateMachine().keyboard();          //current concept runs keyboard and state machine in a while loop
-                stateMachine().runStateMachine();
-            
-                keyboard_flag = false;
-            }
+        // does this stuff at the loop rate
+        if(loop) {
+            led1() = !led1(); // blink
+            stateMachine().runStateMachine();
+            loop = false; // wait until the loop rate timer fires again
         }
-        
-        //this runs at 10 hz
-        if (n%10 == 0)
-        {  
-            keyboard_flag = true;   //the flag controls the rate at which this operates
-        }   
-        
-        //keyboard_flag = true;   //set the keyboard flag
-        blocker = true;         //reset the blocker while loop when this is completed
     }
 }
\ No newline at end of file