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
- Committer:
- joel_ssc
- Date:
- 2019-02-15
- Revision:
- 82:0981b9ada820
- Parent:
- 81:7ff2c6467892
- Child:
- 84:eccd8e837134
File content as of revision 82:0981b9ada820:
#include "mbed.h" #include "StaticDefs.hpp" ////////////////////////////////////////////////////////////////// NEW TICKER Ticker systemTicker; bool setup_complete = false; volatile unsigned int bTick = 0; volatile unsigned int timer_counter = 0; static unsigned int read_ticker(void) { //Basically this makes sure you're reading the data at one instance (not while it's changing) unsigned int val = bTick; if( val ) bTick = 0; return( val ); } ////////////////////////////////////////////////////////////////// NEW TICKER volatile bool fsm_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) volatile bool log_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) void loop_trigger() { fsm_loop = true;} // loop trigger (used in while loop) void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) static int current_state = 0; static int have_legfile = 0; static bool file_opened = false; void FSM() { // FSM loop runs at 10 hz if(fsm_loop) { // led one removed fsm_loop = false; // wait until the loop rate timer fires again current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). } } void log_function() { // log loop runs at 1 hz if (log_loop) { //start logloop8 //when the state machine is not in SIT_IDLE state (or a random keyboard press) if(current_state != 0) { //first if - not in sit_idle/keyboard state if (!file_opened) { //if the log file is not open, open it mbedLogger().appendLogFile(current_state, 1); //open MBED file once //sdLogger().appendLogFile(current_state, 0); //open SD file once file_opened = true; //stops it from continuing to open it xbee().printf(">>>>>>>> Recording. Log file re opened. <<<<<<<<\n\r"); } else { //just record to the Mbed file system mbedLogger().appendLogFile(current_state, 1); //writing data //sdLogger().appendLogFile(current_state, 1); //writing data } } //end first if //when the current FSM state is zero (SIT_IDLE), close the file else { //start first else for current_state ==0 sit idle/keyboard //this can only happen once if (file_opened) { //WRITE ONCE mbedLogger().appendLogFile(current_state, 1); //write the idle state, then close //sdLogger().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 file_opened = false; xbee().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); } } //end first else } //END OF LOG LOOP8 log_loop = false; // wait until the loop rate timer fires again } //single system timer to run hardware/electronics timing static void system_timer(void) { bTick = 1; timer_counter++; //only start these updates when everything is properly setup (through setup function) if (setup_complete) { if ( (timer_counter % 5) == 0) { //this runs at 0.005 second intervals (200 Hz) adc().update(); //every iteration of this the A/D converter runs //now this runs at 0.01 second intervals 03/12/2018 } if ( (timer_counter % 10) == 0) { bce().update(); //update() inside LinearActuator class (running at 0.01 second intervals) batt().update(); } if ( (timer_counter % 20) == 0 ) { // 0.02 second intervals rudder().runServo(); } if ( (timer_counter % 50) == 0 ) { // 0.05 second intervals imu().runIMU(); } if ( (timer_counter % 100) == 0) { // 100,000 microseconds = 0.1 second intervals depthLoop().runOuterLoop(); pitchLoop().runOuterLoop(); headingLoop().runOuterLoop(); } if ( (timer_counter % 1000) == 0) { // update at 1.0 second intervals //gui().updateGUI(); } if ( (timer_counter % 30000) == 0) { // update at 30.0 second intervals //pc().printf("XB!\n"); } } } void setup() { // xbee().baud(115200); // comment out so default is 9600 for USB communications xbee().printf("\n\n\r 2018-11-08 FSG PCB XBee\n\n\r"); //pc().baud(57600); // start up the system timer //systemTimer().start(); // set up and start the adc. This runs on a fixed interval and is interrupt driven adc().initialize(); //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(); xbee().printf("Rudder servo initialized!\n\r"); // set up and start the imu. This polls in the background imu().initialize(); //imu().start(); // construct the MBED local file system local(); // construct the SD card file system TEST 10/23/18 //sd_card(); // mbedLogger().initializeDiagFile(); // load config data from files mbedLogger().setLogTime(); int print_diag = 0; // do not print to diag file before it is named configFileIO().load_LogVers_config(print_diag); // version numbers of the log and diag files from "logvers.txt" mbedLogger().initializeDiagFile(print_diag); print_diag=1; configFileIO().load_LogVers_config(print_diag); // Cnow print info to diag file mbedLogger().initializeDiagFile(print_diag); configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) configFileIO().load_RUDDER_config(); // load the rudder servo inner loop parameters from the file "SERVO.txt" configFileIO().load_HEADING_config(); // load the rudder servo outer loop HEADING control parameters from the file "HEADING.txt" (contains neutral position) // set up the linear actuators. adc has to be running first. 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 batt().init(); batt().runLinearActuator(); // _init = true; //batt().start();//removed start, it's handled by the interrupt batt().pause(); // start by not moving // set up the depth, pitch, and rudder outer loop controllers depthLoop().init(); //removed start, it's handled by the interrupt depthLoop().setCommand(stateMachine().getDepthCommand()); pitchLoop().init(); //removed start, it's handled by the interrupt pitchLoop().setCommand(stateMachine().getPitchCommand()); headingLoop().init(); //removed start, it's handled by the interrupt //headingLoop().setCommand(stateMachine().getHeadingCommand()); // FIX LATER //heading flag that adjust the PID error is set in the constructor //systemTicker.attach_us(&system_timer, 10000); // Interrupt timer running at 0.01 seconds (slower than original ADC time interval) // show that the PID gains are loading from the file xbee().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()); xbee().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()); xbee().printf("rudder min pwm: %6.2f, max pwm: %6.2f, center pwm: %6.2f, min deg: %6.2f, max deg: %6.2f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); xbee().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()); xbee().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()); xbee().printf("heading P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f deg (deadband: %0.1f)\r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(), headingLoop().getDeadband()); xbee().printf("\n\r"); //load sequence from file sequenceController().loadSequence(); char buf[256]; //xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r"); sprintf(buf, "\n\n\r in setup(): starting legController().loadleg() \n\n\r"); mbedLogger().appendDiagFile(buf,0); have_legfile = legController().loadLeg(); //set time of logger (to current or close-to-current time) now set earlier at line 149 // mbedLogger().setLogTime(); //sdLogger().setLogTime(); //create log files if not present on file system mbedLogger().initializeLogFile(); mbedLogger().appendLogFile(current_state, 1); //write the idle state, then close //sdLogger().appendLogFile(current_state, 1); //write the idle state, then close mbedLogger().appendLogFile(current_state, 0); //close log file added jcw nov 9 2018 for test //sdLogger().appendLogFile(current_state, 0); //close log file //sdLogger().initializeLogFile(); // works 10/23/18 setup_complete = true; } /*************************** v1.8 **************************/ int main() { setup(); //setup electronics/hardware // on landing, check orientation, if upside down, fix that first systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) unsigned int tNow = 0; int vernum=0; int diagnum=0; char buf[256]; xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r"); sprintf(buf, "\n\n\r 2018-08-14 FSG PCB XBee line234main (setup complete) \n\n\r"); mbedLogger().appendDiagFile(buf,0); sprintf(buf, "finished setting up and will exit\n\n\r"); mbedLogger().appendDiagFile(buf,3); tNow=5; sprintf(buf, "log file config values logfile= %s diag file= %s\n", configFileIO().logFilesStruct.logFileName, configFileIO().logFilesStruct.diagFileName); tNow=0; mbedLogger().appendDiagFile(buf,3); vernum = configFileIO().logFilesStruct.logversion; diagnum = configFileIO().logFilesStruct.diagversion; sprintf(buf, "translated values LOG FILE VERSION number (vernum)=%d diag file version number(diagnum) = %d\n", vernum, diagnum); mbedLogger().appendDiagFile(buf,3); sprintf(buf, "logfiles_struct values - direct LOG FILE VERSION ().logversion=%d diag file version().diagversion = %d\n", configFileIO().logFilesStruct.logversion, configFileIO().logFilesStruct.diagversion); mbedLogger().appendDiagFile(buf,3); sprintf(buf, "try another messgae after closing file up and then will exit\n\n\r"); mbedLogger().appendDiagFile(buf,0); //wait(5); //exit(0); systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) int keeprunning = 1; if(have_legfile) { //install the leg variables in a structure, and set the state there. stateMachine().getLegParams(); //should set up everything with proper LEG_POSITION_DIVE state } while (keeprunning) { if( read_ticker() ) // read_ticker runs at the speed of 10 kHz (adc timing) { ++tNow; //Note to self: Retest data transmission code. //This is currently running at 0.1 second intervals (10 hz) and was working well for data transmission if (current_state == TX_MBED_LOG or current_state == RX_SEQUENCE) { if ( (tNow % 100) == 0 ) { // 0.01 second intervals (100 Hz) fsm_loop = true; FSM(); } } // end if(currentstate..) //NOT TRANSMITTING DATA, NORMAL OPERATIONS else { //FSM if ( (tNow % 100) == 0 ) { // 0.1 second intervals fsm_loop = true; FSM(); //get commands and update GUI gui().getCommandFSM(); } //LOGGING if ( (tNow % 1000) == 0 ) { // 1.0 second intervals log_loop = true; log_function(); } } // end else { if(current_state == FB_EXIT) { log_loop=true; log_function(); keeprunning=0; // and this will force exit to the main while() loop. } } // end if(read_ticker) { } // end while(keeprunning) mbedLogger().appendLogFile(current_state, 1); sprintf(buf, "exiting out of the leg loop via FB_EXIT\n\n\r"); mbedLogger().appendDiagFile(buf,0); wait(25); mbedLogger().appendLogFile(current_state, 1); mbedLogger().appendLogFile(current_state, 0); sprintf(buf, "wait 25 more seconds? out of the leg loop via FB_EXIT\n\n\r"); mbedLogger().appendDiagFile(buf,0); exit(0); } // end main()