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@51:c5c40272ecc3, 2018-06-04 (annotated)
- Committer:
- mkelly10
- Date:
- Mon Jun 04 15:20:21 2018 +0000
- Revision:
- 51:c5c40272ecc3
- Parent:
- 50:1d59ea7c7a1c
- Child:
- 52:f207567d3ea4
FSG_PCB_V1
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 | 49:47ffa4feb6db | 25 | - Electrical issue with PWM signal interfering with motor driver signal (disabled servo for now) |
tnhnrl | 49:47ffa4feb6db | 26 | - Ability to erase MBED (only the MBED) log file through keyboard console |
tnhnrl | 49:47ffa4feb6db | 27 | Modified 2018-02-15 revA by Troy |
tnhnrl | 49:47ffa4feb6db | 28 | - Made minor changes including cleaning up some functions |
tnhnrl | 49:47ffa4feb6db | 29 | Modified 2018-02-15 revB by Troy |
tnhnrl | 49:47ffa4feb6db | 30 | - Modified StateMachine class to include manual motor-driving mode and FSM-driven battery and buoyancy engine motor inner loops (CHECK_TUNING) |
tnhnrl | 49:47ffa4feb6db | 31 | - Fixed some on-screen printouts in the StateMachine class |
tnhnrl | 49:47ffa4feb6db | 32 | - Added CHECK_TUNING state to MbedLogger printouts to MBED and SD card |
tnhnrl | 49:47ffa4feb6db | 33 | - Pool tested code worked with several dives. Neutral was BCE: 162 mm, BATT: 36 mm with CHECK_TUNING state; FIND_NEUTRAL (auto-tune) produced 161.0 and 34 mm |
danstrider | 10:085ab7328054 | 34 | */ |
tnhnrl | 20:8987a9ae2bc7 | 35 | |
tzyoung | 0:ea293bbf9717 | 36 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 37 | #include "StaticDefs.hpp" |
tnhnrl | 20:8987a9ae2bc7 | 38 | |
tnhnrl | 32:f2f8ae34aadc | 39 | // loop rate used to determine how fast events trigger in the while loop |
tnhnrl | 20:8987a9ae2bc7 | 40 | Ticker loop_rate_ticker; |
tnhnrl | 34:9b66c5188051 | 41 | Ticker log_loop_rate_ticker; |
tnhnrl | 32:f2f8ae34aadc | 42 | |
tnhnrl | 32:f2f8ae34aadc | 43 | 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 | 44 | 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 | 45 | |
tnhnrl | 32:f2f8ae34aadc | 46 | void loop_trigger() { loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 47 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 48 | |
danstrider | 10:085ab7328054 | 49 | void setup() { |
danstrider | 11:3b241ecb75ed | 50 | pc().baud(57600); |
tnhnrl | 50:1d59ea7c7a1c | 51 | pc().printf("\n\n\rFSG POOL TEST 2017-02-15 revB\n\n\r"); |
mkelly10 | 51:c5c40272ecc3 | 52 | |
mkelly10 | 51:c5c40272ecc3 | 53 | /* //setup data logger baud rate and write the start of the program (every time you reset) |
tnhnrl | 32:f2f8ae34aadc | 54 | datalogger().baud(57600); |
tnhnrl | 39:58375ca6b6ff | 55 | datalogger().printf("SYSTEM, RESET\n"); |
mkelly10 | 51:c5c40272ecc3 | 56 | */ |
mkelly10 | 51:c5c40272ecc3 | 57 | |
danstrider | 10:085ab7328054 | 58 | // start up the system timer |
tzyoung | 0:ea293bbf9717 | 59 | systemTime().start(); |
tnhnrl | 20:8987a9ae2bc7 | 60 | |
danstrider | 10:085ab7328054 | 61 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
mkelly10 | 51:c5c40272ecc3 | 62 | adc().initialize(); |
tzyoung | 0:ea293bbf9717 | 63 | adc().start(); |
danstrider | 10:085ab7328054 | 64 | |
danstrider | 10:085ab7328054 | 65 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 66 | imu().initialize(); |
danstrider | 10:085ab7328054 | 67 | imu().start(); |
danstrider | 10:085ab7328054 | 68 | |
danstrider | 10:085ab7328054 | 69 | // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298 |
danstrider | 14:85b64a4d08e8 | 70 | depth().init(); |
danstrider | 14:85b64a4d08e8 | 71 | depth().tare(); |
danstrider | 10:085ab7328054 | 72 | |
tnhnrl | 48:20e681885161 | 73 | // construct the MBED local file system |
danstrider | 10:085ab7328054 | 74 | local(); |
tnhnrl | 48:20e681885161 | 75 | |
tnhnrl | 48:20e681885161 | 76 | // construct the SD card file system |
mkelly10 | 51:c5c40272ecc3 | 77 | // sd_card(); |
tnhnrl | 20:8987a9ae2bc7 | 78 | |
danstrider | 10:085ab7328054 | 79 | // load config data from files |
tnhnrl | 21:38c8544db6f4 | 80 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 21:38c8544db6f4 | 81 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 21:38c8544db6f4 | 82 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 21:38c8544db6f4 | 83 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 20:8987a9ae2bc7 | 84 | |
tnhnrl | 43:891baf306e0a | 85 | |
danstrider | 10:085ab7328054 | 86 | // set up the linear actuators. adc has to be running first. |
danstrider | 10:085ab7328054 | 87 | bce().init(); |
danstrider | 10:085ab7328054 | 88 | bce().start(); |
mkelly10 | 12:a0519d11d2b6 | 89 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 90 | |
danstrider | 10:085ab7328054 | 91 | batt().init(); |
tzyoung | 2:892b58e56712 | 92 | batt().start(); |
mkelly10 | 12:a0519d11d2b6 | 93 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 94 | |
danstrider | 10:085ab7328054 | 95 | // set up the depth and pitch outer loop controllers |
danstrider | 10:085ab7328054 | 96 | depthLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 97 | depthLoop().start(); |
tnhnrl | 16:3363b9f14913 | 98 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 99 | |
danstrider | 10:085ab7328054 | 100 | pitchLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 101 | pitchLoop().start(); |
tnhnrl | 16:3363b9f14913 | 102 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 103 | |
tnhnrl | 20:8987a9ae2bc7 | 104 | // show that the PID gains are loading from the file |
tnhnrl | 38:83d06c294807 | 105 | 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 | 106 | 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 | 107 | 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 | 108 | 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 | 109 | pc().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 110 | |
tnhnrl | 17:7c16b5671d0e | 111 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 112 | sequenceController().loadSequence(); |
tnhnrl | 20:8987a9ae2bc7 | 113 | |
tnhnrl | 20:8987a9ae2bc7 | 114 | // establish the main loop rate |
tnhnrl | 20:8987a9ae2bc7 | 115 | loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate |
tnhnrl | 32:f2f8ae34aadc | 116 | |
tnhnrl | 32:f2f8ae34aadc | 117 | // setup the data logger rate |
tnhnrl | 34:9b66c5188051 | 118 | log_loop_rate_ticker.attach(&log_loop_trigger, 1.0); // fires the ticker at 1 Hz rate (every second) |
mkelly10 | 51:c5c40272ecc3 | 119 | |
tnhnrl | 47:fb3c7929d3f3 | 120 | //set time of logger (to current or close-to-current time) |
mkelly10 | 51:c5c40272ecc3 | 121 | mbedLogger().setLogTime(); |
mkelly10 | 51:c5c40272ecc3 | 122 | // sdLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 123 | |
tnhnrl | 47:fb3c7929d3f3 | 124 | //create log files if not present on file system |
tnhnrl | 47:fb3c7929d3f3 | 125 | mbedLogger().initializeLogFile(); |
mkelly10 | 51:c5c40272ecc3 | 126 | // sdLogger().initializeLogFile(); |
mkelly10 | 51:c5c40272ecc3 | 127 | |
tnhnrl | 21:38c8544db6f4 | 128 | } |
tnhnrl | 20:8987a9ae2bc7 | 129 | |
danstrider | 10:085ab7328054 | 130 | int main() { |
danstrider | 10:085ab7328054 | 131 | setup(); |
mkelly10 | 51:c5c40272ecc3 | 132 | |
danstrider | 10:085ab7328054 | 133 | while(1) { |
tnhnrl | 34:9b66c5188051 | 134 | static int current_state = 0; |
tnhnrl | 36:966a86937e17 | 135 | |
tnhnrl | 36:966a86937e17 | 136 | static bool file_opened = false; |
tnhnrl | 36:966a86937e17 | 137 | |
tnhnrl | 39:58375ca6b6ff | 138 | // FSM loop runs at 10 hz |
tnhnrl | 20:8987a9ae2bc7 | 139 | if(loop) { |
tnhnrl | 32:f2f8ae34aadc | 140 | led1() = !led1(); // blink led 1 |
tnhnrl | 45:16b8162188ca | 141 | current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 20:8987a9ae2bc7 | 142 | loop = false; // wait until the loop rate timer fires again |
tnhnrl | 17:7c16b5671d0e | 143 | } |
tnhnrl | 32:f2f8ae34aadc | 144 | |
tnhnrl | 39:58375ca6b6ff | 145 | // log loop runs at 1 hz |
tnhnrl | 34:9b66c5188051 | 146 | if (log_loop) { |
tnhnrl | 45:16b8162188ca | 147 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 45:16b8162188ca | 148 | if (current_state == TRANSMIT_LOG or current_state == RECEIVE_SEQUENCE) { |
tnhnrl | 45:16b8162188ca | 149 | //main_loop_rate_ticker.detach(); |
tnhnrl | 45:16b8162188ca | 150 | //log_loop_rate_ticker.detach(); |
tnhnrl | 45:16b8162188ca | 151 | |
tnhnrl | 45:16b8162188ca | 152 | ; //pass |
tnhnrl | 45:16b8162188ca | 153 | } |
tnhnrl | 34:9b66c5188051 | 154 | |
tnhnrl | 45:16b8162188ca | 155 | else if(current_state != 0) { |
tnhnrl | 45:16b8162188ca | 156 | if (!file_opened) { //if the log file is not open, open it |
tnhnrl | 45:16b8162188ca | 157 | mbedLogger().appendLogFile(current_state, 0); //open MBED file once |
tnhnrl | 48:20e681885161 | 158 | sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 45:16b8162188ca | 159 | |
tnhnrl | 45:16b8162188ca | 160 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 37:357e98a929cc | 161 | |
tnhnrl | 36:966a86937e17 | 162 | pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 163 | } |
tnhnrl | 36:966a86937e17 | 164 | |
tnhnrl | 45:16b8162188ca | 165 | //record to Mbed file system |
tnhnrl | 45:16b8162188ca | 166 | mbedLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 48:20e681885161 | 167 | sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 36:966a86937e17 | 168 | } |
tnhnrl | 36:966a86937e17 | 169 | |
tnhnrl | 39:58375ca6b6ff | 170 | //when the current FSM state is zero, reset the file |
tnhnrl | 36:966a86937e17 | 171 | else { |
tnhnrl | 36:966a86937e17 | 172 | //this can only happen once |
tnhnrl | 36:966a86937e17 | 173 | if (file_opened) { |
tnhnrl | 45:16b8162188ca | 174 | mbedLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 48:20e681885161 | 175 | sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 45:16b8162188ca | 176 | |
tnhnrl | 36:966a86937e17 | 177 | file_opened = false; |
tnhnrl | 37:357e98a929cc | 178 | |
tnhnrl | 37:357e98a929cc | 179 | pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 180 | } |
tnhnrl | 34:9b66c5188051 | 181 | } |
tnhnrl | 34:9b66c5188051 | 182 | |
tnhnrl | 34:9b66c5188051 | 183 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 45:16b8162188ca | 184 | } //END OF LOG LOOP |
danstrider | 10:085ab7328054 | 185 | } |
mkelly10 | 51:c5c40272ecc3 | 186 | |
danstrider | 10:085ab7328054 | 187 | } |