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@48:20e681885161, 2018-02-15 (annotated)
- Committer:
- tnhnrl
- Date:
- Thu Feb 15 04:01:57 2018 +0000
- Revision:
- 48:20e681885161
- Parent:
- 47:fb3c7929d3f3
- Child:
- 49:47ffa4feb6db
double-checking some data
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
danstrider | 10:085ab7328054 | 1 | /* |
tnhnrl | 48:20e681885161 | 2 | Modified 2018-02-01 revA by Troy |
tnhnrl | 48:20e681885161 | 3 | - Fixed bugs with file opening and closing |
tnhnrl | 48:20e681885161 | 4 | - Made a directory printing function in the MbedLogger class that does not use the Directory List library (removed) |
tnhnrl | 48:20e681885161 | 5 | Modified 2018-02-02 revA by Troy |
tnhnrl | 48:20e681885161 | 6 | - Placed mbed file transmitter functionality into MbedLogger class |
tnhnrl | 48:20e681885161 | 7 | - created a macro for printing out files to PC and serial port simultaneously (placed in main) |
tnhnrl | 48:20e681885161 | 8 | Modified 2018-02-07 revA by Troy |
tnhnrl | 48:20e681885161 | 9 | - SDFileSystem class added to code along with sd card file system in System "StaticDefs" |
tnhnrl | 48:20e681885161 | 10 | - Had to fix bug with SDFileSystem, the imported version uses a buggy FATFileSystem class |
tnhnrl | 48:20e681885161 | 11 | - Update came from https://os.mbed.com/teams/mbed-official/code/FATFileSystem/ (not the library importer tool) |
tnhnrl | 48:20e681885161 | 12 | - Modified MbedLogger constructor to include string for file system, e.g. "/sd/" and "/local/" |
tnhnrl | 48:20e681885161 | 13 | - Modified MbedLogger class to use local or sd card |
tnhnrl | 48:20e681885161 | 14 | - Created SD card file system using reader on pins p11, p12, p13, p14 (SPI interface) |
tnhnrl | 48:20e681885161 | 15 | Modified 2018-02-08 revA by Troy |
tnhnrl | 48:20e681885161 | 16 | - Test code without ADC running to check behavior (timing issue) |
tnhnrl | 48:20e681885161 | 17 | - Modified sequence to use sequence.txt and fixed warnings |
tnhnrl | 48:20e681885161 | 18 | - Fixed CRC issue with file reception (the command that the MBED sends out) |
tnhnrl | 48:20e681885161 | 19 | - Issue with IMU data on p27, need to check wiring and or MAX232 |
tnhnrl | 48:20e681885161 | 20 | Modified 2018-02-14 revA by Troy |
tnhnrl | 48:20e681885161 | 21 | - IMU tested and working correctly |
tnhnrl | 48:20e681885161 | 22 | - Data logging on SD card and MBED working simultaneously |
tnhnrl | 48:20e681885161 | 23 | - State Machine is being used to transmit data over Xbee instead of a separate ticker |
tnhnrl | 48:20e681885161 | 24 | - Servo driver tested separately in FSG_servo_test program (verified servo works separately) |
tnhnrl | 48:20e681885161 | 25 | - Electrical issue with PWM signal interfering with motor driver signal (disabled for now) |
tnhnrl | 48:20e681885161 | 26 | - |
danstrider | 10:085ab7328054 | 27 | */ |
tnhnrl | 20:8987a9ae2bc7 | 28 | |
tzyoung | 0:ea293bbf9717 | 29 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 30 | #include "StaticDefs.hpp" |
tnhnrl | 20:8987a9ae2bc7 | 31 | |
tnhnrl | 32:f2f8ae34aadc | 32 | // loop rate used to determine how fast events trigger in the while loop |
tnhnrl | 20:8987a9ae2bc7 | 33 | Ticker loop_rate_ticker; |
tnhnrl | 34:9b66c5188051 | 34 | Ticker log_loop_rate_ticker; |
tnhnrl | 32:f2f8ae34aadc | 35 | |
tnhnrl | 32:f2f8ae34aadc | 36 | 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 | 37 | 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 | 38 | |
tnhnrl | 32:f2f8ae34aadc | 39 | void loop_trigger() { loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 40 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 41 | |
danstrider | 10:085ab7328054 | 42 | void setup() { |
danstrider | 11:3b241ecb75ed | 43 | pc().baud(57600); |
tnhnrl | 39:58375ca6b6ff | 44 | pc().printf("\n\n\rFSG POOL TEST 2017-12-21 revA\n\n\r"); |
tnhnrl | 32:f2f8ae34aadc | 45 | |
tnhnrl | 32:f2f8ae34aadc | 46 | //setup data logger baud rate and write the start of the program (every time you reset) |
tnhnrl | 32:f2f8ae34aadc | 47 | datalogger().baud(57600); |
tnhnrl | 39:58375ca6b6ff | 48 | datalogger().printf("SYSTEM, RESET\n"); |
tnhnrl | 20:8987a9ae2bc7 | 49 | |
danstrider | 10:085ab7328054 | 50 | // start up the system timer |
tzyoung | 0:ea293bbf9717 | 51 | systemTime().start(); |
tnhnrl | 20:8987a9ae2bc7 | 52 | |
danstrider | 10:085ab7328054 | 53 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
tzyoung | 0:ea293bbf9717 | 54 | adc().initialize(); |
tzyoung | 0:ea293bbf9717 | 55 | adc().start(); |
danstrider | 10:085ab7328054 | 56 | |
danstrider | 10:085ab7328054 | 57 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 58 | imu().initialize(); |
danstrider | 10:085ab7328054 | 59 | imu().start(); |
danstrider | 10:085ab7328054 | 60 | |
danstrider | 10:085ab7328054 | 61 | // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298 |
danstrider | 14:85b64a4d08e8 | 62 | depth().init(); |
danstrider | 14:85b64a4d08e8 | 63 | depth().tare(); |
danstrider | 10:085ab7328054 | 64 | |
tnhnrl | 48:20e681885161 | 65 | // construct the MBED local file system |
danstrider | 10:085ab7328054 | 66 | local(); |
tnhnrl | 48:20e681885161 | 67 | |
tnhnrl | 48:20e681885161 | 68 | // construct the SD card file system |
tnhnrl | 48:20e681885161 | 69 | sd_card(); |
tnhnrl | 20:8987a9ae2bc7 | 70 | |
danstrider | 10:085ab7328054 | 71 | // load config data from files |
tnhnrl | 21:38c8544db6f4 | 72 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 21:38c8544db6f4 | 73 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 21:38c8544db6f4 | 74 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 21:38c8544db6f4 | 75 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 20:8987a9ae2bc7 | 76 | |
tnhnrl | 43:891baf306e0a | 77 | |
danstrider | 10:085ab7328054 | 78 | // set up the linear actuators. adc has to be running first. |
danstrider | 10:085ab7328054 | 79 | bce().init(); |
danstrider | 10:085ab7328054 | 80 | bce().start(); |
mkelly10 | 12:a0519d11d2b6 | 81 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 82 | |
danstrider | 10:085ab7328054 | 83 | batt().init(); |
tzyoung | 2:892b58e56712 | 84 | batt().start(); |
mkelly10 | 12:a0519d11d2b6 | 85 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 86 | |
danstrider | 10:085ab7328054 | 87 | // set up the depth and pitch outer loop controllers |
danstrider | 10:085ab7328054 | 88 | depthLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 89 | depthLoop().start(); |
tnhnrl | 16:3363b9f14913 | 90 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 91 | |
danstrider | 10:085ab7328054 | 92 | pitchLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 93 | pitchLoop().start(); |
tnhnrl | 16:3363b9f14913 | 94 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 95 | |
tnhnrl | 20:8987a9ae2bc7 | 96 | // show that the PID gains are loading from the file |
tnhnrl | 38:83d06c294807 | 97 | 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 | 98 | 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 | 99 | 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 | 100 | 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 | 101 | pc().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 102 | |
tnhnrl | 17:7c16b5671d0e | 103 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 104 | sequenceController().loadSequence(); |
tnhnrl | 20:8987a9ae2bc7 | 105 | |
tnhnrl | 20:8987a9ae2bc7 | 106 | // establish the main loop rate |
tnhnrl | 20:8987a9ae2bc7 | 107 | loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate |
tnhnrl | 32:f2f8ae34aadc | 108 | |
tnhnrl | 32:f2f8ae34aadc | 109 | // setup the data logger rate |
tnhnrl | 34:9b66c5188051 | 110 | log_loop_rate_ticker.attach(&log_loop_trigger, 1.0); // fires the ticker at 1 Hz rate (every second) |
tnhnrl | 32:f2f8ae34aadc | 111 | |
tnhnrl | 35:2f66ea4863d5 | 112 | //create the MBED log file (current log file) |
tnhnrl | 36:966a86937e17 | 113 | //mbedLogger().openFile(); |
tnhnrl | 45:16b8162188ca | 114 | |
tnhnrl | 47:fb3c7929d3f3 | 115 | //set time of logger (to current or close-to-current time) |
tnhnrl | 47:fb3c7929d3f3 | 116 | mbedLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 117 | sdLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 118 | |
tnhnrl | 47:fb3c7929d3f3 | 119 | //create log files if not present on file system |
tnhnrl | 47:fb3c7929d3f3 | 120 | mbedLogger().initializeLogFile(); |
tnhnrl | 48:20e681885161 | 121 | sdLogger().initializeLogFile(); |
tnhnrl | 47:fb3c7929d3f3 | 122 | |
tnhnrl | 45:16b8162188ca | 123 | pc().printf("Size of ConfigFile: %d\n\r", sizeof(ConfigFile)); |
tnhnrl | 45:16b8162188ca | 124 | pc().printf("Size of ConfigFileIO: %d\n\r", sizeof(ConfigFileIO)); |
tnhnrl | 45:16b8162188ca | 125 | pc().printf("Size of IMU: %d\n\r", sizeof(IMU)); |
tnhnrl | 45:16b8162188ca | 126 | pc().printf("Size of LinearActuator: %d\n\r", sizeof(LinearActuator)); |
tnhnrl | 45:16b8162188ca | 127 | pc().printf("Size of LTC1298 (SpiADC): %d\n\r", sizeof(SpiADC)); |
tnhnrl | 45:16b8162188ca | 128 | pc().printf("Size of MbedLogger: %d\n\r", sizeof(MbedLogger)); |
tnhnrl | 45:16b8162188ca | 129 | pc().printf("Size of omegaPX209: %d\n\r", sizeof(omegaPX209)); |
tnhnrl | 45:16b8162188ca | 130 | pc().printf("Size of OuterLoop: %d\n\r", sizeof(OuterLoop)); |
tnhnrl | 45:16b8162188ca | 131 | pc().printf("Size of PIDController: %d\n\r", sizeof(PIDController)); |
tnhnrl | 45:16b8162188ca | 132 | pc().printf("Size of PololuHBridge: %d\n\r", sizeof(PololuHBridge)); //fix this class |
tnhnrl | 45:16b8162188ca | 133 | pc().printf("Size of PosVelFilter: %d\n\r", sizeof(PosVelFilter)); |
tnhnrl | 45:16b8162188ca | 134 | pc().printf("Size of SequenceController: %d\n\r", sizeof(SequenceController)); |
tnhnrl | 45:16b8162188ca | 135 | pc().printf("Size of ServoDriver: %d\n\r", sizeof(ServoDriver)); |
tnhnrl | 45:16b8162188ca | 136 | pc().printf("Size of StateMachine: %d\n\r", sizeof(StateMachine)); |
tnhnrl | 21:38c8544db6f4 | 137 | } |
tnhnrl | 20:8987a9ae2bc7 | 138 | |
danstrider | 10:085ab7328054 | 139 | int main() { |
danstrider | 10:085ab7328054 | 140 | setup(); |
tnhnrl | 16:3363b9f14913 | 141 | |
danstrider | 10:085ab7328054 | 142 | while(1) { |
tnhnrl | 34:9b66c5188051 | 143 | static int current_state = 0; |
tnhnrl | 36:966a86937e17 | 144 | |
tnhnrl | 36:966a86937e17 | 145 | static bool file_opened = false; |
tnhnrl | 36:966a86937e17 | 146 | |
tnhnrl | 39:58375ca6b6ff | 147 | // FSM loop runs at 10 hz |
tnhnrl | 20:8987a9ae2bc7 | 148 | if(loop) { |
tnhnrl | 32:f2f8ae34aadc | 149 | led1() = !led1(); // blink led 1 |
tnhnrl | 45:16b8162188ca | 150 | current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 20:8987a9ae2bc7 | 151 | loop = false; // wait until the loop rate timer fires again |
tnhnrl | 17:7c16b5671d0e | 152 | } |
tnhnrl | 32:f2f8ae34aadc | 153 | |
tnhnrl | 39:58375ca6b6ff | 154 | // log loop runs at 1 hz |
tnhnrl | 34:9b66c5188051 | 155 | if (log_loop) { |
tnhnrl | 45:16b8162188ca | 156 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 45:16b8162188ca | 157 | if (current_state == TRANSMIT_LOG or current_state == RECEIVE_SEQUENCE) { |
tnhnrl | 45:16b8162188ca | 158 | //main_loop_rate_ticker.detach(); |
tnhnrl | 45:16b8162188ca | 159 | //log_loop_rate_ticker.detach(); |
tnhnrl | 45:16b8162188ca | 160 | |
tnhnrl | 45:16b8162188ca | 161 | ; //pass |
tnhnrl | 45:16b8162188ca | 162 | } |
tnhnrl | 34:9b66c5188051 | 163 | |
tnhnrl | 45:16b8162188ca | 164 | else if(current_state != 0) { |
tnhnrl | 45:16b8162188ca | 165 | if (!file_opened) { //if the log file is not open, open it |
tnhnrl | 45:16b8162188ca | 166 | mbedLogger().appendLogFile(current_state, 0); //open MBED file once |
tnhnrl | 48:20e681885161 | 167 | sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 45:16b8162188ca | 168 | |
tnhnrl | 45:16b8162188ca | 169 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 37:357e98a929cc | 170 | |
tnhnrl | 36:966a86937e17 | 171 | pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 172 | } |
tnhnrl | 36:966a86937e17 | 173 | |
tnhnrl | 45:16b8162188ca | 174 | //record to Mbed file system |
tnhnrl | 45:16b8162188ca | 175 | mbedLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 48:20e681885161 | 176 | sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 36:966a86937e17 | 177 | } |
tnhnrl | 36:966a86937e17 | 178 | |
tnhnrl | 39:58375ca6b6ff | 179 | //when the current FSM state is zero, reset the file |
tnhnrl | 36:966a86937e17 | 180 | else { |
tnhnrl | 36:966a86937e17 | 181 | //this can only happen once |
tnhnrl | 36:966a86937e17 | 182 | if (file_opened) { |
tnhnrl | 45:16b8162188ca | 183 | mbedLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 48:20e681885161 | 184 | sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 45:16b8162188ca | 185 | |
tnhnrl | 36:966a86937e17 | 186 | file_opened = false; |
tnhnrl | 37:357e98a929cc | 187 | |
tnhnrl | 37:357e98a929cc | 188 | pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 189 | } |
tnhnrl | 34:9b66c5188051 | 190 | } |
tnhnrl | 34:9b66c5188051 | 191 | |
tnhnrl | 34:9b66c5188051 | 192 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 45:16b8162188ca | 193 | } //END OF LOG LOOP |
danstrider | 10:085ab7328054 | 194 | } |
danstrider | 10:085ab7328054 | 195 | } |