Diff: main.cpp

Revision:

67:c86a4b464682

Parent:

66:0f20870117b7

Child:

68:8f549749b8ce

--- a/main.cpp	Tue Jun 19 20:14:23 2018 +0000
+++ b/main.cpp	Mon Jun 25 15:44:00 2018 +0000
@@ -34,12 +34,19 @@
         - added timing code for interrupt that drives the rudder (testing with o-scope)
         - PID controller replaced with newer version from 5/29 code branch
         - StateMachine hanged style of variables to match convention in code
-    
     Modified FSG PCB V_1_4
-        - adcLed = 0; in adc
-    
+        - adc tests
     Modified FSG PCB V_1_5
         - IMU update
+        - Testing print outs
+    Modified FSG PCB V_1_6
+        - new BMM zero count of 240 (confirmed manually)
+        - new BCE zero count of 400 (confirmed manually)
+        - Modified emergency climb to go to position 10 on the BMM, not zero (almost relying on the limit switch)
+        - fixed keyboard input; including typing in the timeout (can enter exact times)
+    Modified FSG PCB V_1_7
+        - removed data logger references
+        
 */
 
 /* removed unused variables */
@@ -124,6 +131,9 @@
         else {
             //this can only happen once
             if (file_opened) {
+                //WRITE ONCE
+                mbedLogger().appendLogFile(current_state, 1);   //write the idle state, then close
+                
                 mbedLogger().appendLogFile(current_state, 0);    //close log file
                 //sdLogger().appendLogFile(current_state, 0);    //close log file
                 
@@ -159,7 +169,7 @@
         }
         
         if ( (timer_counter % 50) == 0 ) {    // 0.05 second intervals 
-            //imu().runIMU();
+            imu().runIMU();
         }
         
         if ( (timer_counter % 100) == 0) {     // 100,000 microseconds = 0.1 second intervals
@@ -185,7 +195,7 @@
  
     // set up and start the adc. This runs on a fixed interval and is interrupt driven
     adc().initialize();
-    //adc().start();
+    //one central interrupt is updating the ADC (not using the start function)
     
     // setup and run the rudder(servo) pwm signal (start the ticker)
     //rudder().init();
@@ -195,10 +205,6 @@
     imu().initialize();
     //imu().start();
     
-    // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298
-    depth().init();
-    depth().tare();
-    
     // construct the MBED local file system
     local();
     
@@ -219,6 +225,7 @@
     bce().setPIDHighLimit(bce().getTravelLimit());     //travel limit of this linear actuator
     bce().init();
     //bce().start();  //removed start, it's handled by the interrupt
+    bce().runLinearActuator();
     bce().pause(); // start by not moving
  
     batt().setPIDHighLimit(batt().getTravelLimit());    //travel limit of this linear actuator
@@ -268,6 +275,12 @@
     //sdLogger().initializeLogFile();
     
     setup_complete = true;
+    
+    // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298
+    wait(0.1);          //giving this time to work
+    depth().init();
+    wait(0.1);          //giving this time to work
+    depth().tare();   //this did not work correctly before the ADC starts
 }
 
 int main() {
@@ -276,7 +289,7 @@
     unsigned int tNow = 0;
     
     pc().baud(57600);
-    pc().printf("\n\n\r  TICKER TEST 05/25/2018 running at 10 kHz (0.0001 second interval) \n\n\r");
+    pc().printf("\n\n\r FSG PCB v1.6 (XBee) 6/22/2018 \n\n\r");
     
     systemTicker.attach_us(&system_timer, 1000);         // Interrupt timer running at 0.001 seconds       (slower than original ADC time interval)
         
@@ -291,12 +304,9 @@
                     fsm_loop = true;
                     FSM();
                 }
-                if ( (tNow % 1000) == 0 ) {   // 1.0 second intervals
-                   log_loop = true;
-                    log_function();
-                }
             }
             
+            //NOT TRANSMITTING DATA, NORMAL OPERATIONS
             else {
                 if ( (tNow % 100) == 0 ) {   // 0.1 second intervals (10 Hz)
                     fsm_loop = true;
@@ -306,6 +316,8 @@
                 if ( (tNow % 1000) == 0 ) {   // 1.0 second intervals
                     log_loop = true;
                     log_function();
+                    
+                    led1() = !led1();
                 }
             }
         }