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

Wed Dec 20 23:21:15 2017 +0000
Working version for pool testing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
danstrider 10:085ab7328054 1 /*
tnhnrl 24:c7d9b5bf3829 2 Modified 2017-11-29 revA by Troy
tnhnrl 24:c7d9b5bf3829 3 - changelog.txt carries previous changes
tnhnrl 24:c7d9b5bf3829 4 - Incorporated email changes and did quick bench test
tnhnrl 28:16c83a2fdefa 5 1) In FIND_NEUTRAL, add bce().setPosition_mm(bceFloatPosition) to the one-shot actions after the unpause().
tnhnrl 28:16c83a2fdefa 6 2) NEUTRAL_FIRST_PITCH, changed batt position by half from 1.0 to 0.5.
tnhnrl 28:16c83a2fdefa 7 3) NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE are using getSetPosition now
tnhnrl 28:16c83a2fdefa 8 4) previousPosition_mm deleted (and print statements changed)
tnhnrl 28:16c83a2fdefa 9 5) NEUTRAL_SLOWLY_RISE check is using bce().getSetPosition_mm()
tnhnrl 28:16c83a2fdefa 10 6) Timers replaced with _neutral_timer variable
tnhnrl 28:16c83a2fdefa 11 7) Default timeout is 8 minutes = 480 seconds
tnhnrl 24:c7d9b5bf3829 12 - Redid the sub-state recording method to only update on state changes
tnhnrl 27:0a5b90cd65d6 13 Modified 2017-11-29 revB by Troy
tnhnrl 27:0a5b90cd65d6 14 - minor print fixes
tnhnrl 28:16c83a2fdefa 15 Modified 2017-11-29 revC by Troy
tnhnrl 28:16c83a2fdefa 16 - removed depthTolerance variable that was not being used.
tnhnrl 28:16c83a2fdefa 17 Modified 2017-11-30 revA by Troy/Dan
tnhnrl 28:16c83a2fdefa 18 - Modified state RISE to setCommand to -1.0 feet (force out of water) and go to next state (float level) when above 0.5 feet
tnhnrl 28:16c83a2fdefa 19 - Modified sub-state NEUTRAL_SINKING to only move 2.5 mm per cycle instead of 5 mm
tnhnrl 28:16c83a2fdefa 20 - Commented out home function (accidentally hit home and got stuck while at LASR)
tnhnrl 28:16c83a2fdefa 21 - Added max depth neutral and dive variables
tnhnrl 28:16c83a2fdefa 22 - Print max recorded depths and current neutral buoyancy positions
tnhnrl 28:16c83a2fdefa 23 Modified 2017-11-30 revB by Troy/Dan
tnhnrl 28:16c83a2fdefa 24 - Dive and Multi-Dive cycles now exit to FLOAT_BROADCAST state
tnhnrl 28:16c83a2fdefa 25 - FLOAT_LEVEL pitchTolerance variable increased from 1.0 degree to 5.0 degrees (PV was difficult to level in LASR pool)
tnhnrl 28:16c83a2fdefa 26 - Added the ability to record the states of the FSM and print to user using keyboard "Z"
tnhnrl 28:16c83a2fdefa 27 Modified 2017-12-01 revA by Troy
tnhnrl 28:16c83a2fdefa 28 - Minor update to 2017-11-30 revB
tnhnrl 28:16c83a2fdefa 29 - Now printing current neutral battery and BCE setpoints and max depth in neutral and dive cycle with "C" (and current sensor data)
tnhnrl 28:16c83a2fdefa 30 - Pool-tested with successful dives.
tnhnrl 28:16c83a2fdefa 31 1) Dive working correctly. (And max dive tracker shows that it is reaching the correct commanded depth.)
tnhnrl 28:16c83a2fdefa 32 2) Float broadcast working correctly. (And we are now going directly from dive and rise to float broadcast.)
tnhnrl 28:16c83a2fdefa 33 3) Neutral sequence has PV diving with -10 to -20 degrees of pitch, battery command seems to be slow or inactive.
tnhnrl 28:16c83a2fdefa 34 3) Float broadcast working correctly.
tnhnrl 28:16c83a2fdefa 35 4) FSM tracker and sub-FSM tracker working.
tnhnrl 28:16c83a2fdefa 36 5) Antenna working until tail just under water (last depth recorded varies between 1.0 and 1.5 feet)
tnhnrl 30:2964617e7676 37 Modified 2017-12-06 revA by Troy
tnhnrl 30:2964617e7676 38 - Added "_isTimeoutRunning = false;" to the FIND_NEUTRAL successful exit case ("else if (runNeutralStateMachine() == NEUTRAL_EXIT)"
tnhnrl 30:2964617e7676 39 1) This will reset the timeout when the PV has successfully found and saved the neutral BCE and battery positions
tnhnrl 30:2964617e7676 40 - Successful dive and multi-dive sequences exit to FLOAT_BROADCAST state (fix was implemented in code that did not respond, reimplemented here)
tnhnrl 30:2964617e7676 41 1) Also made the change to the SequenceController (which loads a file that has multiple sequences)
tnhnrl 31:8616e397c22d 42 - FIND_NEUTRAL starts in NEUTRAL_SINKING with fix on sub-FSM to start with NEUTRAL_SINKING (verified via mbed on bench)
tnhnrl 32:f2f8ae34aadc 43 Modified 2017-12-07 revA by Troy
tnhnrl 32:f2f8ae34aadc 44 - Using new neutral finding sequence, dive slowly, rise slowly, then check pitch (pitch is not active at all until final state)
tnhnrl 32:f2f8ae34aadc 45 - Added additional print information (showing neutral parameters with "C")
tnhnrl 32:f2f8ae34aadc 46 Modified 2017-12-07 revB by Troy
tnhnrl 32:f2f8ae34aadc 47 - Momentum offsets reintroduced:
tnhnrl 32:f2f8ae34aadc 48 1) CASE DIVE uses "else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches"
tnhnrl 32:f2f8ae34aadc 49 2) CASE RISE uses "else if (depthLoop().getPosition() < depthLoop().getCommand() + 0.5) { // including offset for low momentum approaches"
tnhnrl 32:f2f8ae34aadc 50 - Momentum on rise command does not exit properly, removed
tnhnrl 32:f2f8ae34aadc 51 Modified 2017-12-11 revA by Troy
tnhnrl 32:f2f8ae34aadc 52 - Added a logger function the main while loop
tnhnrl 32:f2f8ae34aadc 53 - Added vectors (essentially resizable arrays) to hold the data in the State Machine because of memory limitations
tnhnrl 32:f2f8ae34aadc 54 Modified 2017-12-12 revA by Troy
tnhnrl 32:f2f8ae34aadc 55 - Logger directly implemented in StateMachine (records every 5 seconds)
tnhnrl 32:f2f8ae34aadc 56 Modified 2017-12-12 revB by Troy
tnhnrl 32:f2f8ae34aadc 57 - Logger fixes implemented in StateMachine, was not logging each state, fixed the reset
tnhnrl 32:f2f8ae34aadc 58 - Made logger into a function call
tnhnrl 32:f2f8ae34aadc 59 Modified 2017-12-13 revA by Troy
tnhnrl 32:f2f8ae34aadc 60 - Added function to print log file to screen (tested on bench with multiple dives and timers)
tnhnrl 32:f2f8ae34aadc 61 Modified 2017-12-18 revA by Troy
tnhnrl 32:f2f8ae34aadc 62 - Redo of the code to stop opening and closing files each time
tnhnrl 32:f2f8ae34aadc 63 - This should allow you to write to the open file, then close it once you exit the sequence back to SIT_IDLE
tnhnrl 32:f2f8ae34aadc 64 - Start record in dive, end when you exit float broadcast...
tnhnrl 32:f2f8ae34aadc 65 Modified 2017-12-19 revA by Troy
tnhnrl 32:f2f8ae34aadc 66 - Fixed OpenLog printing to include states and variable names. Currently logs to LOG#####.TXT files
tnhnrl 32:f2f8ae34aadc 67 1) Note: The OpenLog only starts a new log when it is power-cycled (with the MBED)
tnhnrl 34:9b66c5188051 68 Modified 2017-12-20 revA by Troy
tnhnrl 32:f2f8ae34aadc 69 - Modified code to log every 1 second in current iteration
tnhnrl 34:9b66c5188051 70 Modified 2017-12-20 revB by Troy
tnhnrl 34:9b66c5188051 71 - Fixed bug where Dive depth was resetting to rise depth
danstrider 10:085ab7328054 72 */
tnhnrl 20:8987a9ae2bc7 73
tzyoung 0:ea293bbf9717 74 #include "mbed.h"
tzyoung 0:ea293bbf9717 75 #include "StaticDefs.hpp"
tnhnrl 20:8987a9ae2bc7 76
tnhnrl 32:f2f8ae34aadc 77 // loop rate used to determine how fast events trigger in the while loop
tnhnrl 20:8987a9ae2bc7 78 Ticker loop_rate_ticker;
tnhnrl 34:9b66c5188051 79 Ticker log_loop_rate_ticker;
tnhnrl 32:f2f8ae34aadc 80
tnhnrl 32:f2f8ae34aadc 81 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 82 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 83
tnhnrl 32:f2f8ae34aadc 84 void loop_trigger() { loop = true;} // loop trigger (used in while loop)
tnhnrl 34:9b66c5188051 85 void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop)
tnhnrl 32:f2f8ae34aadc 86
danstrider 10:085ab7328054 87 void setup() {
danstrider 11:3b241ecb75ed 88 pc().baud(57600);
tnhnrl 34:9b66c5188051 89 pc().printf("\n\n\rFSG POOL TEST 2017-12-20 revB (DESKTOP SAVE TEST)\n\n\r");
tnhnrl 32:f2f8ae34aadc 90
tnhnrl 32:f2f8ae34aadc 91 //setup data logger baud rate and write the start of the program (every time you reset)
tnhnrl 32:f2f8ae34aadc 92 datalogger().baud(57600);
tnhnrl 32:f2f8ae34aadc 93 datalogger().printf("DATA, LOGGER, START\n");
tnhnrl 20:8987a9ae2bc7 94
danstrider 10:085ab7328054 95 // start up the system timer
tzyoung 0:ea293bbf9717 96 systemTime().start();
tnhnrl 20:8987a9ae2bc7 97
danstrider 10:085ab7328054 98 // set up and start the adc. This runs on a fixed interval and is interrupt driven
tzyoung 0:ea293bbf9717 99 adc().initialize();
tzyoung 0:ea293bbf9717 100 adc().start();
danstrider 10:085ab7328054 101
danstrider 10:085ab7328054 102 // set up and start the imu. This polls in the background
danstrider 10:085ab7328054 103 imu().initialize();
danstrider 10:085ab7328054 104 imu().start();
danstrider 10:085ab7328054 105
danstrider 10:085ab7328054 106 // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298
danstrider 14:85b64a4d08e8 107 depth().init();
danstrider 14:85b64a4d08e8 108 depth().tare();
danstrider 10:085ab7328054 109
danstrider 10:085ab7328054 110 // construct a local file system
danstrider 10:085ab7328054 111 local();
tnhnrl 20:8987a9ae2bc7 112
danstrider 10:085ab7328054 113 // load config data from files
tnhnrl 21:38c8544db6f4 114 configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt"
tnhnrl 21:38c8544db6f4 115 configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt"
tnhnrl 21:38c8544db6f4 116 configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position)
tnhnrl 21:38c8544db6f4 117 configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position)
tnhnrl 20:8987a9ae2bc7 118
danstrider 10:085ab7328054 119 // set up the linear actuators. adc has to be running first.
danstrider 10:085ab7328054 120 bce().init();
danstrider 10:085ab7328054 121 bce().start();
mkelly10 12:a0519d11d2b6 122 bce().pause(); // start by not moving
tnhnrl 20:8987a9ae2bc7 123
danstrider 10:085ab7328054 124 batt().init();
tzyoung 2:892b58e56712 125 batt().start();
mkelly10 12:a0519d11d2b6 126 batt().pause(); // start by not moving
tnhnrl 20:8987a9ae2bc7 127
danstrider 10:085ab7328054 128 // set up the depth and pitch outer loop controllers
danstrider 10:085ab7328054 129 depthLoop().init();
tnhnrl 13:84fcbe1dcd62 130 depthLoop().start();
tnhnrl 16:3363b9f14913 131 depthLoop().setCommand(stateMachine().getDepthCommand());
tnhnrl 20:8987a9ae2bc7 132
danstrider 10:085ab7328054 133 pitchLoop().init();
tnhnrl 13:84fcbe1dcd62 134 pitchLoop().start();
tnhnrl 16:3363b9f14913 135 pitchLoop().setCommand(stateMachine().getPitchCommand());
tnhnrl 20:8987a9ae2bc7 136
tnhnrl 20:8987a9ae2bc7 137 // show that the PID gains are loading from the file
tnhnrl 21:38c8544db6f4 138 pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 21:38c8544db6f4 139 pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 21:38c8544db6f4 140 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 141 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 142 pc().printf("\n\r");
tnhnrl 21:38c8544db6f4 143
tnhnrl 17:7c16b5671d0e 144 //load sequence from file
tnhnrl 17:7c16b5671d0e 145 sequenceController().loadSequence();
tnhnrl 20:8987a9ae2bc7 146
tnhnrl 20:8987a9ae2bc7 147 // establish the main loop rate
tnhnrl 20:8987a9ae2bc7 148 loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate
tnhnrl 32:f2f8ae34aadc 149
tnhnrl 32:f2f8ae34aadc 150 // setup the data logger rate
tnhnrl 34:9b66c5188051 151 log_loop_rate_ticker.attach(&log_loop_trigger, 1.0); // fires the ticker at 1 Hz rate (every second)
tnhnrl 32:f2f8ae34aadc 152
tnhnrl 35:2f66ea4863d5 153 //create the MBED log file (current log file)
tnhnrl 36:966a86937e17 154 //mbedLogger().openFile();
tnhnrl 21:38c8544db6f4 155 }
tnhnrl 20:8987a9ae2bc7 156
danstrider 10:085ab7328054 157 int main() {
danstrider 10:085ab7328054 158 setup();
tnhnrl 16:3363b9f14913 159
danstrider 10:085ab7328054 160 while(1) {
tnhnrl 34:9b66c5188051 161 static int current_state = 0;
tnhnrl 36:966a86937e17 162
tnhnrl 36:966a86937e17 163 static bool file_opened = false;
tnhnrl 36:966a86937e17 164
tnhnrl 32:f2f8ae34aadc 165 // runs at 10 hz
tnhnrl 20:8987a9ae2bc7 166 if(loop) {
tnhnrl 32:f2f8ae34aadc 167 led1() = !led1(); // blink led 1
tnhnrl 34:9b66c5188051 168
tnhnrl 34:9b66c5188051 169 //running State Machine. Returns 0 if sitting idle (SIT_IDLE state).
tnhnrl 34:9b66c5188051 170 current_state = stateMachine().runStateMachine();
tnhnrl 34:9b66c5188051 171
tnhnrl 20:8987a9ae2bc7 172 loop = false; // wait until the loop rate timer fires again
tnhnrl 17:7c16b5671d0e 173 }
tnhnrl 32:f2f8ae34aadc 174
tnhnrl 34:9b66c5188051 175 //runs at 1 hz
tnhnrl 34:9b66c5188051 176 if (log_loop) {
tnhnrl 34:9b66c5188051 177 led3() = !led3(); // blink led 3
tnhnrl 34:9b66c5188051 178
tnhnrl 36:966a86937e17 179 //pc().printf("led 3 blinking once a second?\n\r"); //confirmed
tnhnrl 36:966a86937e17 180
tnhnrl 34:9b66c5188051 181 //when the state machine is not in SIT_IDLE state
tnhnrl 34:9b66c5188051 182 if(current_state != 0) {
tnhnrl 36:966a86937e17 183 //pc().printf("\n\rDEBUG: trying to record data \n\r");
tnhnrl 36:966a86937e17 184
tnhnrl 36:966a86937e17 185 //if file is not open, open it
tnhnrl 36:966a86937e17 186 if (!file_opened) {
tnhnrl 36:966a86937e17 187 mbedLogger().openFile(); //open MBED file once
tnhnrl 36:966a86937e17 188 file_opened = true; //stops it from continuing to open it
tnhnrl 36:966a86937e17 189
tnhnrl 36:966a86937e17 190 pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r");
tnhnrl 36:966a86937e17 191 }
tnhnrl 36:966a86937e17 192
tnhnrl 36:966a86937e17 193 //record to OpenLog hardware
tnhnrl 36:966a86937e17 194 OpenLog().recordData(current_state); //start recording
tnhnrl 36:966a86937e17 195
tnhnrl 36:966a86937e17 196 //record to Mbed
tnhnrl 36:966a86937e17 197 //mbedLogger().saveDataToFile(string_state,current_state,stateMachine().dataArray());
tnhnrl 36:966a86937e17 198 mbedLogger().saveDataToFile(current_state,stateMachine().dataArray());
tnhnrl 36:966a86937e17 199 }
tnhnrl 36:966a86937e17 200
tnhnrl 36:966a86937e17 201 //when the current state is zero, reset the file
tnhnrl 36:966a86937e17 202 else {
tnhnrl 36:966a86937e17 203 //this can only happen once
tnhnrl 36:966a86937e17 204 if (file_opened) {
tnhnrl 36:966a86937e17 205 mbedLogger().closeFile();
tnhnrl 36:966a86937e17 206 file_opened = false;
tnhnrl 36:966a86937e17 207 }
tnhnrl 36:966a86937e17 208 //else
tnhnrl 36:966a86937e17 209 // file_opened = false;
tnhnrl 34:9b66c5188051 210 }
tnhnrl 34:9b66c5188051 211
tnhnrl 34:9b66c5188051 212 log_loop = false; // wait until the loop rate timer fires again
tnhnrl 34:9b66c5188051 213 }
danstrider 10:085ab7328054 214 }
danstrider 10:085ab7328054 215 }