update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp@43:891baf306e0a, 2018-02-14 (annotated)
- Committer:
- tnhnrl
- Date:
- Wed Feb 14 21:54:03 2018 +0000
- Revision:
- 43:891baf306e0a
- Parent:
- 39:58375ca6b6ff
- Child:
- 45:16b8162188ca
added new configfileIO
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
danstrider | 10:085ab7328054 | 1 | /* |
tnhnrl | 32:f2f8ae34aadc | 2 | Modified 2017-12-19 revA by Troy |
tnhnrl | 32:f2f8ae34aadc | 3 | - Fixed OpenLog printing to include states and variable names. Currently logs to LOG#####.TXT files |
tnhnrl | 32:f2f8ae34aadc | 4 | 1) Note: The OpenLog only starts a new log when it is power-cycled (with the MBED) |
tnhnrl | 34:9b66c5188051 | 5 | Modified 2017-12-20 revA by Troy |
tnhnrl | 32:f2f8ae34aadc | 6 | - Modified code to log every 1 second in current iteration |
tnhnrl | 34:9b66c5188051 | 7 | Modified 2017-12-20 revB by Troy |
tnhnrl | 34:9b66c5188051 | 8 | - Fixed bug where Dive depth was resetting to rise depth |
tnhnrl | 37:357e98a929cc | 9 | Modified 2017-12-21 revA by Troy |
tnhnrl | 37:357e98a929cc | 10 | - 2 minute timeout default |
tnhnrl | 39:58375ca6b6ff | 11 | - Added system time to MBED logger and OpenLog |
tnhnrl | 37:357e98a929cc | 12 | - Fixed bug where it was recording random keyboard presses (other FSM states) |
tnhnrl | 38:83d06c294807 | 13 | - Added the ability to save the batt and BCE PID config files |
tnhnrl | 39:58375ca6b6ff | 14 | - Fixed bug with FIND_NEUTRAL sub-FSM (command was not updating with each timer cycle) |
danstrider | 10:085ab7328054 | 15 | */ |
tnhnrl | 20:8987a9ae2bc7 | 16 | |
tzyoung | 0:ea293bbf9717 | 17 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 18 | #include "StaticDefs.hpp" |
tnhnrl | 20:8987a9ae2bc7 | 19 | |
tnhnrl | 32:f2f8ae34aadc | 20 | // loop rate used to determine how fast events trigger in the while loop |
tnhnrl | 20:8987a9ae2bc7 | 21 | Ticker loop_rate_ticker; |
tnhnrl | 34:9b66c5188051 | 22 | Ticker log_loop_rate_ticker; |
tnhnrl | 32:f2f8ae34aadc | 23 | |
tnhnrl | 32:f2f8ae34aadc | 24 | 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 | 25 | 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 | 26 | |
tnhnrl | 32:f2f8ae34aadc | 27 | void loop_trigger() { loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 28 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 29 | |
danstrider | 10:085ab7328054 | 30 | void setup() { |
danstrider | 11:3b241ecb75ed | 31 | pc().baud(57600); |
tnhnrl | 39:58375ca6b6ff | 32 | pc().printf("\n\n\rFSG POOL TEST 2017-12-21 revA\n\n\r"); |
tnhnrl | 32:f2f8ae34aadc | 33 | |
tnhnrl | 32:f2f8ae34aadc | 34 | //setup data logger baud rate and write the start of the program (every time you reset) |
tnhnrl | 32:f2f8ae34aadc | 35 | datalogger().baud(57600); |
tnhnrl | 39:58375ca6b6ff | 36 | datalogger().printf("SYSTEM, RESET\n"); |
tnhnrl | 20:8987a9ae2bc7 | 37 | |
danstrider | 10:085ab7328054 | 38 | // start up the system timer |
tzyoung | 0:ea293bbf9717 | 39 | systemTime().start(); |
tnhnrl | 20:8987a9ae2bc7 | 40 | |
danstrider | 10:085ab7328054 | 41 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
tzyoung | 0:ea293bbf9717 | 42 | adc().initialize(); |
tzyoung | 0:ea293bbf9717 | 43 | adc().start(); |
danstrider | 10:085ab7328054 | 44 | |
danstrider | 10:085ab7328054 | 45 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 46 | imu().initialize(); |
danstrider | 10:085ab7328054 | 47 | imu().start(); |
danstrider | 10:085ab7328054 | 48 | |
danstrider | 10:085ab7328054 | 49 | // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298 |
danstrider | 14:85b64a4d08e8 | 50 | depth().init(); |
danstrider | 14:85b64a4d08e8 | 51 | depth().tare(); |
danstrider | 10:085ab7328054 | 52 | |
danstrider | 10:085ab7328054 | 53 | // construct a local file system |
danstrider | 10:085ab7328054 | 54 | local(); |
tnhnrl | 20:8987a9ae2bc7 | 55 | |
danstrider | 10:085ab7328054 | 56 | // load config data from files |
tnhnrl | 21:38c8544db6f4 | 57 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 21:38c8544db6f4 | 58 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 21:38c8544db6f4 | 59 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 21:38c8544db6f4 | 60 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 20:8987a9ae2bc7 | 61 | |
tnhnrl | 43:891baf306e0a | 62 | |
danstrider | 10:085ab7328054 | 63 | // set up the linear actuators. adc has to be running first. |
danstrider | 10:085ab7328054 | 64 | bce().init(); |
danstrider | 10:085ab7328054 | 65 | bce().start(); |
mkelly10 | 12:a0519d11d2b6 | 66 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 67 | |
danstrider | 10:085ab7328054 | 68 | batt().init(); |
tzyoung | 2:892b58e56712 | 69 | batt().start(); |
mkelly10 | 12:a0519d11d2b6 | 70 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 71 | |
danstrider | 10:085ab7328054 | 72 | // set up the depth and pitch outer loop controllers |
danstrider | 10:085ab7328054 | 73 | depthLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 74 | depthLoop().start(); |
tnhnrl | 16:3363b9f14913 | 75 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 76 | |
danstrider | 10:085ab7328054 | 77 | pitchLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 78 | pitchLoop().start(); |
tnhnrl | 16:3363b9f14913 | 79 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 80 | |
tnhnrl | 20:8987a9ae2bc7 | 81 | // show that the PID gains are loading from the file |
tnhnrl | 38:83d06c294807 | 82 | 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 | 83 | 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 | 84 | 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 | 85 | 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 | 86 | pc().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 87 | |
tnhnrl | 17:7c16b5671d0e | 88 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 89 | sequenceController().loadSequence(); |
tnhnrl | 20:8987a9ae2bc7 | 90 | |
tnhnrl | 20:8987a9ae2bc7 | 91 | // establish the main loop rate |
tnhnrl | 20:8987a9ae2bc7 | 92 | loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate |
tnhnrl | 32:f2f8ae34aadc | 93 | |
tnhnrl | 32:f2f8ae34aadc | 94 | // setup the data logger rate |
tnhnrl | 34:9b66c5188051 | 95 | log_loop_rate_ticker.attach(&log_loop_trigger, 1.0); // fires the ticker at 1 Hz rate (every second) |
tnhnrl | 32:f2f8ae34aadc | 96 | |
tnhnrl | 35:2f66ea4863d5 | 97 | //create the MBED log file (current log file) |
tnhnrl | 36:966a86937e17 | 98 | //mbedLogger().openFile(); |
tnhnrl | 21:38c8544db6f4 | 99 | } |
tnhnrl | 20:8987a9ae2bc7 | 100 | |
danstrider | 10:085ab7328054 | 101 | int main() { |
danstrider | 10:085ab7328054 | 102 | setup(); |
tnhnrl | 16:3363b9f14913 | 103 | |
danstrider | 10:085ab7328054 | 104 | while(1) { |
tnhnrl | 34:9b66c5188051 | 105 | static int current_state = 0; |
tnhnrl | 36:966a86937e17 | 106 | |
tnhnrl | 36:966a86937e17 | 107 | static bool file_opened = false; |
tnhnrl | 36:966a86937e17 | 108 | |
tnhnrl | 39:58375ca6b6ff | 109 | // FSM loop runs at 10 hz |
tnhnrl | 20:8987a9ae2bc7 | 110 | if(loop) { |
tnhnrl | 32:f2f8ae34aadc | 111 | led1() = !led1(); // blink led 1 |
tnhnrl | 34:9b66c5188051 | 112 | |
tnhnrl | 39:58375ca6b6ff | 113 | //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 34:9b66c5188051 | 114 | current_state = stateMachine().runStateMachine(); |
tnhnrl | 34:9b66c5188051 | 115 | |
tnhnrl | 20:8987a9ae2bc7 | 116 | loop = false; // wait until the loop rate timer fires again |
tnhnrl | 17:7c16b5671d0e | 117 | } |
tnhnrl | 32:f2f8ae34aadc | 118 | |
tnhnrl | 39:58375ca6b6ff | 119 | // log loop runs at 1 hz |
tnhnrl | 34:9b66c5188051 | 120 | if (log_loop) { |
tnhnrl | 34:9b66c5188051 | 121 | led3() = !led3(); // blink led 3 |
tnhnrl | 34:9b66c5188051 | 122 | |
tnhnrl | 37:357e98a929cc | 123 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 34:9b66c5188051 | 124 | if(current_state != 0) { |
tnhnrl | 36:966a86937e17 | 125 | //pc().printf("\n\rDEBUG: trying to record data \n\r"); |
tnhnrl | 36:966a86937e17 | 126 | |
tnhnrl | 37:357e98a929cc | 127 | //if the log file is not open, open it |
tnhnrl | 36:966a86937e17 | 128 | if (!file_opened) { |
tnhnrl | 36:966a86937e17 | 129 | mbedLogger().openFile(); //open MBED file once |
tnhnrl | 36:966a86937e17 | 130 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 37:357e98a929cc | 131 | |
tnhnrl | 36:966a86937e17 | 132 | pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 133 | } |
tnhnrl | 36:966a86937e17 | 134 | |
tnhnrl | 36:966a86937e17 | 135 | //record to OpenLog hardware |
tnhnrl | 36:966a86937e17 | 136 | OpenLog().recordData(current_state); //start recording |
tnhnrl | 36:966a86937e17 | 137 | |
tnhnrl | 39:58375ca6b6ff | 138 | //record to Mbed file system |
tnhnrl | 36:966a86937e17 | 139 | mbedLogger().saveDataToFile(current_state,stateMachine().dataArray()); |
tnhnrl | 36:966a86937e17 | 140 | } |
tnhnrl | 36:966a86937e17 | 141 | |
tnhnrl | 39:58375ca6b6ff | 142 | //when the current FSM state is zero, reset the file |
tnhnrl | 36:966a86937e17 | 143 | else { |
tnhnrl | 36:966a86937e17 | 144 | //this can only happen once |
tnhnrl | 36:966a86937e17 | 145 | if (file_opened) { |
tnhnrl | 36:966a86937e17 | 146 | mbedLogger().closeFile(); |
tnhnrl | 36:966a86937e17 | 147 | file_opened = false; |
tnhnrl | 37:357e98a929cc | 148 | |
tnhnrl | 37:357e98a929cc | 149 | pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 150 | } |
tnhnrl | 34:9b66c5188051 | 151 | } |
tnhnrl | 34:9b66c5188051 | 152 | |
tnhnrl | 34:9b66c5188051 | 153 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 34:9b66c5188051 | 154 | } |
danstrider | 10:085ab7328054 | 155 | } |
danstrider | 10:085ab7328054 | 156 | } |