most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp@54:d4990fb68404, 2018-06-08 (annotated)
- Committer:
- tnhnrl
- Date:
- Fri Jun 08 13:56:30 2018 +0000
- Revision:
- 54:d4990fb68404
- Parent:
- 53:c0586fe62b01
- Child:
- 55:f4ec445c42fe
heading not working
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
danstrider | 10:085ab7328054 | 1 | /* |
tnhnrl | 52:f207567d3ea4 | 2 | Modified FSG PCB V1_5 |
tnhnrl | 52:f207567d3ea4 | 3 | - Freezes when doing a dive or any timed sequence (commented out SD card references) |
tnhnrl | 52:f207567d3ea4 | 4 | - commented out sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 52:f207567d3ea4 | 5 | - commented out sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 52:f207567d3ea4 | 6 | - commented out sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 52:f207567d3ea4 | 7 | - reduced timer to 20 seconds for bench testing |
tnhnrl | 52:f207567d3ea4 | 8 | - modified ConfigFileIO for rudder() |
tnhnrl | 52:f207567d3ea4 | 9 | - added in getFloatUserInput function from newer code |
tnhnrl | 53:c0586fe62b01 | 10 | - changed LinearActuator & batt() in StaticDefs to match new pinouts from Bob/Matt/Troy fixes |
tnhnrl | 53:c0586fe62b01 | 11 | - slowed down battery motor because it's silly fast at 30 volts (bench test) |
tnhnrl | 53:c0586fe62b01 | 12 | * BCE gain is proportional 0.1 now 0.01 |
tnhnrl | 53:c0586fe62b01 | 13 | - BATT was moving in the wrong direction, gain was P: 0.10, I: 0.0, D: 0.0 |
tnhnrl | 53:c0586fe62b01 | 14 | * change gain to P: -0.10 (gain was flipped, I think the old circuit board had the voltages flipped??) |
tnhnrl | 53:c0586fe62b01 | 15 | - StateMachine changes for testing |
tnhnrl | 53:c0586fe62b01 | 16 | * added keyboard_menu_STREAM_STATUS(); |
tnhnrl | 53:c0586fe62b01 | 17 | * added keyboard_menu_RUDDER_SERVO_settings(); |
tnhnrl | 54:d4990fb68404 | 18 | - modified the zero on the battery position from 610 to 836 |
tnhnrl | 54:d4990fb68404 | 19 | - BMM (batt) slope may be incorrect, seems low, currently 0.12176 |
tnhnrl | 54:d4990fb68404 | 20 | - modified the zero on BCE from 253 to 460 |
tnhnrl | 54:d4990fb68404 | 21 | - Pressure readings are wrong |
tnhnrl | 54:d4990fb68404 | 22 | * added readADCCounts() to omegaPX209 class to see channel readings |
tnhnrl | 54:d4990fb68404 | 23 | * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4() |
tnhnrl | 54:d4990fb68404 | 24 | - fixed rudderLoop to headingLoop from newer code |
tnhnrl | 54:d4990fb68404 | 25 | |
tnhnrl | 54:d4990fb68404 | 26 | NOTE: Flipped motor controller output on connector side with battery mass mover (BMM) |
tnhnrl | 54:d4990fb68404 | 27 | - Motor direction was opposite the BCE motor (because of gearing) |
tnhnrl | 54:d4990fb68404 | 28 | - BMM P gain is now positive 0.02 (from -0.10) |
tnhnrl | 54:d4990fb68404 | 29 | |
danstrider | 10:085ab7328054 | 30 | */ |
tnhnrl | 20:8987a9ae2bc7 | 31 | |
tzyoung | 0:ea293bbf9717 | 32 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 33 | #include "StaticDefs.hpp" |
tnhnrl | 20:8987a9ae2bc7 | 34 | |
tnhnrl | 32:f2f8ae34aadc | 35 | // loop rate used to determine how fast events trigger in the while loop |
tnhnrl | 20:8987a9ae2bc7 | 36 | Ticker loop_rate_ticker; |
tnhnrl | 34:9b66c5188051 | 37 | Ticker log_loop_rate_ticker; |
tnhnrl | 32:f2f8ae34aadc | 38 | |
tnhnrl | 32:f2f8ae34aadc | 39 | volatile bool loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) |
tnhnrl | 34:9b66c5188051 | 40 | volatile bool log_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) |
tnhnrl | 32:f2f8ae34aadc | 41 | |
tnhnrl | 32:f2f8ae34aadc | 42 | void loop_trigger() { loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 43 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 44 | |
danstrider | 10:085ab7328054 | 45 | void setup() { |
danstrider | 11:3b241ecb75ed | 46 | pc().baud(57600); |
tnhnrl | 52:f207567d3ea4 | 47 | pc().printf("\n\n\rFSG PCB V1.5 2018-06-06 \n\n\r"); |
mkelly10 | 51:c5c40272ecc3 | 48 | |
mkelly10 | 51:c5c40272ecc3 | 49 | /* //setup data logger baud rate and write the start of the program (every time you reset) |
tnhnrl | 32:f2f8ae34aadc | 50 | datalogger().baud(57600); |
tnhnrl | 39:58375ca6b6ff | 51 | datalogger().printf("SYSTEM, RESET\n"); |
mkelly10 | 51:c5c40272ecc3 | 52 | */ |
mkelly10 | 51:c5c40272ecc3 | 53 | |
danstrider | 10:085ab7328054 | 54 | // start up the system timer |
tzyoung | 0:ea293bbf9717 | 55 | systemTime().start(); |
tnhnrl | 20:8987a9ae2bc7 | 56 | |
danstrider | 10:085ab7328054 | 57 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
mkelly10 | 51:c5c40272ecc3 | 58 | adc().initialize(); |
tzyoung | 0:ea293bbf9717 | 59 | adc().start(); |
danstrider | 10:085ab7328054 | 60 | |
danstrider | 10:085ab7328054 | 61 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 62 | imu().initialize(); |
danstrider | 10:085ab7328054 | 63 | imu().start(); |
danstrider | 10:085ab7328054 | 64 | |
danstrider | 10:085ab7328054 | 65 | // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298 |
danstrider | 14:85b64a4d08e8 | 66 | depth().init(); |
danstrider | 14:85b64a4d08e8 | 67 | depth().tare(); |
danstrider | 10:085ab7328054 | 68 | |
tnhnrl | 48:20e681885161 | 69 | // construct the MBED local file system |
danstrider | 10:085ab7328054 | 70 | local(); |
tnhnrl | 48:20e681885161 | 71 | |
tnhnrl | 48:20e681885161 | 72 | // construct the SD card file system |
mkelly10 | 51:c5c40272ecc3 | 73 | // sd_card(); |
tnhnrl | 20:8987a9ae2bc7 | 74 | |
danstrider | 10:085ab7328054 | 75 | // load config data from files |
tnhnrl | 21:38c8544db6f4 | 76 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 21:38c8544db6f4 | 77 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 21:38c8544db6f4 | 78 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 21:38c8544db6f4 | 79 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 20:8987a9ae2bc7 | 80 | |
tnhnrl | 43:891baf306e0a | 81 | |
danstrider | 10:085ab7328054 | 82 | // set up the linear actuators. adc has to be running first. |
danstrider | 10:085ab7328054 | 83 | bce().init(); |
danstrider | 10:085ab7328054 | 84 | bce().start(); |
mkelly10 | 12:a0519d11d2b6 | 85 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 86 | |
danstrider | 10:085ab7328054 | 87 | batt().init(); |
tzyoung | 2:892b58e56712 | 88 | batt().start(); |
mkelly10 | 12:a0519d11d2b6 | 89 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 90 | |
danstrider | 10:085ab7328054 | 91 | // set up the depth and pitch outer loop controllers |
danstrider | 10:085ab7328054 | 92 | depthLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 93 | depthLoop().start(); |
tnhnrl | 16:3363b9f14913 | 94 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 95 | |
danstrider | 10:085ab7328054 | 96 | pitchLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 97 | pitchLoop().start(); |
tnhnrl | 16:3363b9f14913 | 98 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 99 | |
tnhnrl | 20:8987a9ae2bc7 | 100 | // show that the PID gains are loading from the file |
tnhnrl | 38:83d06c294807 | 101 | pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); |
tnhnrl | 38:83d06c294807 | 102 | pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); |
tnhnrl | 21:38c8544db6f4 | 103 | pc().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset()); |
tnhnrl | 21:38c8544db6f4 | 104 | pc().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); |
danstrider | 10:085ab7328054 | 105 | pc().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 106 | |
tnhnrl | 17:7c16b5671d0e | 107 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 108 | sequenceController().loadSequence(); |
tnhnrl | 20:8987a9ae2bc7 | 109 | |
tnhnrl | 20:8987a9ae2bc7 | 110 | // establish the main loop rate |
tnhnrl | 20:8987a9ae2bc7 | 111 | loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate |
tnhnrl | 32:f2f8ae34aadc | 112 | |
tnhnrl | 32:f2f8ae34aadc | 113 | // setup the data logger rate |
tnhnrl | 34:9b66c5188051 | 114 | log_loop_rate_ticker.attach(&log_loop_trigger, 1.0); // fires the ticker at 1 Hz rate (every second) |
mkelly10 | 51:c5c40272ecc3 | 115 | |
tnhnrl | 47:fb3c7929d3f3 | 116 | //set time of logger (to current or close-to-current time) |
mkelly10 | 51:c5c40272ecc3 | 117 | mbedLogger().setLogTime(); |
mkelly10 | 51:c5c40272ecc3 | 118 | // sdLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 119 | |
tnhnrl | 47:fb3c7929d3f3 | 120 | //create log files if not present on file system |
tnhnrl | 47:fb3c7929d3f3 | 121 | mbedLogger().initializeLogFile(); |
mkelly10 | 51:c5c40272ecc3 | 122 | // sdLogger().initializeLogFile(); |
mkelly10 | 51:c5c40272ecc3 | 123 | |
tnhnrl | 21:38c8544db6f4 | 124 | } |
tnhnrl | 20:8987a9ae2bc7 | 125 | |
danstrider | 10:085ab7328054 | 126 | int main() { |
danstrider | 10:085ab7328054 | 127 | setup(); |
mkelly10 | 51:c5c40272ecc3 | 128 | |
danstrider | 10:085ab7328054 | 129 | while(1) { |
tnhnrl | 34:9b66c5188051 | 130 | static int current_state = 0; |
tnhnrl | 36:966a86937e17 | 131 | |
tnhnrl | 36:966a86937e17 | 132 | static bool file_opened = false; |
tnhnrl | 36:966a86937e17 | 133 | |
tnhnrl | 39:58375ca6b6ff | 134 | // FSM loop runs at 10 hz |
tnhnrl | 20:8987a9ae2bc7 | 135 | if(loop) { |
tnhnrl | 32:f2f8ae34aadc | 136 | led1() = !led1(); // blink led 1 |
tnhnrl | 45:16b8162188ca | 137 | current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 20:8987a9ae2bc7 | 138 | loop = false; // wait until the loop rate timer fires again |
tnhnrl | 17:7c16b5671d0e | 139 | } |
tnhnrl | 32:f2f8ae34aadc | 140 | |
tnhnrl | 39:58375ca6b6ff | 141 | // log loop runs at 1 hz |
tnhnrl | 34:9b66c5188051 | 142 | if (log_loop) { |
tnhnrl | 45:16b8162188ca | 143 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 45:16b8162188ca | 144 | if (current_state == TRANSMIT_LOG or current_state == RECEIVE_SEQUENCE) { |
tnhnrl | 45:16b8162188ca | 145 | //main_loop_rate_ticker.detach(); |
tnhnrl | 45:16b8162188ca | 146 | //log_loop_rate_ticker.detach(); |
tnhnrl | 45:16b8162188ca | 147 | |
tnhnrl | 45:16b8162188ca | 148 | ; //pass |
tnhnrl | 45:16b8162188ca | 149 | } |
tnhnrl | 34:9b66c5188051 | 150 | |
tnhnrl | 45:16b8162188ca | 151 | else if(current_state != 0) { |
tnhnrl | 45:16b8162188ca | 152 | if (!file_opened) { //if the log file is not open, open it |
tnhnrl | 45:16b8162188ca | 153 | mbedLogger().appendLogFile(current_state, 0); //open MBED file once |
tnhnrl | 52:f207567d3ea4 | 154 | // sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 45:16b8162188ca | 155 | |
tnhnrl | 45:16b8162188ca | 156 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 37:357e98a929cc | 157 | |
tnhnrl | 36:966a86937e17 | 158 | pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 159 | } |
tnhnrl | 36:966a86937e17 | 160 | |
tnhnrl | 45:16b8162188ca | 161 | //record to Mbed file system |
tnhnrl | 45:16b8162188ca | 162 | mbedLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 52:f207567d3ea4 | 163 | // sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 36:966a86937e17 | 164 | } |
tnhnrl | 36:966a86937e17 | 165 | |
tnhnrl | 39:58375ca6b6ff | 166 | //when the current FSM state is zero, reset the file |
tnhnrl | 36:966a86937e17 | 167 | else { |
tnhnrl | 36:966a86937e17 | 168 | //this can only happen once |
tnhnrl | 36:966a86937e17 | 169 | if (file_opened) { |
tnhnrl | 45:16b8162188ca | 170 | mbedLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 52:f207567d3ea4 | 171 | // sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 45:16b8162188ca | 172 | |
tnhnrl | 36:966a86937e17 | 173 | file_opened = false; |
tnhnrl | 37:357e98a929cc | 174 | |
tnhnrl | 37:357e98a929cc | 175 | pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 176 | } |
tnhnrl | 34:9b66c5188051 | 177 | } |
tnhnrl | 34:9b66c5188051 | 178 | |
tnhnrl | 34:9b66c5188051 | 179 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 45:16b8162188ca | 180 | } //END OF LOG LOOP |
danstrider | 10:085ab7328054 | 181 | } |
mkelly10 | 51:c5c40272ecc3 | 182 | |
danstrider | 10:085ab7328054 | 183 | } |