update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp@61:f7437daae608, 2018-06-18 (annotated)
- Committer:
- tnhnrl
- Date:
- Mon Jun 18 14:35:40 2018 +0000
- Revision:
- 61:f7437daae608
- Parent:
- 58:94b7fd55185e
- Child:
- 63:6cb0405fc6e6
chip only tests are good so far (checked through H bridge)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
danstrider | 10:085ab7328054 | 1 | /* |
tnhnrl | 58:94b7fd55185e | 2 | Modified FSG PCB V_1_1 |
tnhnrl | 52:f207567d3ea4 | 3 | - Freezes when doing a dive or any timed sequence (commented out SD card references) |
tnhnrl | 52:f207567d3ea4 | 4 | - commented out sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 52:f207567d3ea4 | 5 | - commented out sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 52:f207567d3ea4 | 6 | - commented out sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 52:f207567d3ea4 | 7 | - reduced timer to 20 seconds for bench testing |
tnhnrl | 52:f207567d3ea4 | 8 | - modified ConfigFileIO for rudder() |
tnhnrl | 52:f207567d3ea4 | 9 | - added in getFloatUserInput function from newer code |
tnhnrl | 53:c0586fe62b01 | 10 | - changed LinearActuator & batt() in StaticDefs to match new pinouts from Bob/Matt/Troy fixes |
tnhnrl | 53:c0586fe62b01 | 11 | - slowed down battery motor because it's silly fast at 30 volts (bench test) |
tnhnrl | 53:c0586fe62b01 | 12 | * BCE gain is proportional 0.1 now 0.01 |
tnhnrl | 53:c0586fe62b01 | 13 | - BATT was moving in the wrong direction, gain was P: 0.10, I: 0.0, D: 0.0 |
tnhnrl | 57:ec69651c8c21 | 14 | * change gain to P: -0.10 (gain was flipped, I think the old circuit board had the voltages flipped ? ?) |
tnhnrl | 53:c0586fe62b01 | 15 | - StateMachine changes for testing |
tnhnrl | 53:c0586fe62b01 | 16 | * added keyboard_menu_STREAM_STATUS(); |
tnhnrl | 53:c0586fe62b01 | 17 | * added keyboard_menu_RUDDER_SERVO_settings(); |
tnhnrl | 54:d4990fb68404 | 18 | - modified the zero on the battery position from 610 to 836 |
tnhnrl | 54:d4990fb68404 | 19 | - BMM (batt) slope may be incorrect, seems low, currently 0.12176 |
tnhnrl | 54:d4990fb68404 | 20 | - modified the zero on BCE from 253 to 460 |
tnhnrl | 54:d4990fb68404 | 21 | - Pressure readings are wrong |
tnhnrl | 54:d4990fb68404 | 22 | * added readADCCounts() to omegaPX209 class to see channel readings |
tnhnrl | 54:d4990fb68404 | 23 | * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4() |
tnhnrl | 54:d4990fb68404 | 24 | - fixed rudderLoop to headingLoop from newer code |
tnhnrl | 58:94b7fd55185e | 25 | Modified FSG PCB V_1_2 |
tnhnrl | 55:f4ec445c42fe | 26 | - added init headingLoop to main |
tnhnrl | 55:f4ec445c42fe | 27 | - added pitch and heading outputs to STREAM_STATUS |
tnhnrl | 54:d4990fb68404 | 28 | |
tnhnrl | 54:d4990fb68404 | 29 | NOTE: Flipped motor controller output on connector side with battery mass mover (BMM) |
tnhnrl | 54:d4990fb68404 | 30 | - Motor direction was opposite the BCE motor (because of gearing) |
tnhnrl | 54:d4990fb68404 | 31 | - BMM P gain is now positive 0.02 (from -0.10) |
tnhnrl | 54:d4990fb68404 | 32 | |
tnhnrl | 58:94b7fd55185e | 33 | Modified FSG PCB V_1_3 |
tnhnrl | 56:48a8a5a65b82 | 34 | - added timing code for interrupt that drives the rudder (testing with o-scope) |
tnhnrl | 58:94b7fd55185e | 35 | - PID controller replaced with newer version from 5/29 code branch |
tnhnrl | 58:94b7fd55185e | 36 | - StateMachine hanged style of variables to match convention in code |
tnhnrl | 56:48a8a5a65b82 | 37 | |
danstrider | 10:085ab7328054 | 38 | */ |
tnhnrl | 20:8987a9ae2bc7 | 39 | |
tzyoung | 0:ea293bbf9717 | 40 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 41 | #include "StaticDefs.hpp" |
tnhnrl | 20:8987a9ae2bc7 | 42 | |
tnhnrl | 32:f2f8ae34aadc | 43 | // loop rate used to determine how fast events trigger in the while loop |
tnhnrl | 20:8987a9ae2bc7 | 44 | Ticker loop_rate_ticker; |
tnhnrl | 34:9b66c5188051 | 45 | Ticker log_loop_rate_ticker; |
tnhnrl | 32:f2f8ae34aadc | 46 | |
tnhnrl | 32:f2f8ae34aadc | 47 | 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 | 48 | 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 | 49 | |
tnhnrl | 32:f2f8ae34aadc | 50 | void loop_trigger() { loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 51 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 52 | |
tnhnrl | 56:48a8a5a65b82 | 53 | /****************** for rudder servo ******************/ |
tnhnrl | 56:48a8a5a65b82 | 54 | Ticker systemTicker; |
tnhnrl | 56:48a8a5a65b82 | 55 | |
tnhnrl | 56:48a8a5a65b82 | 56 | volatile unsigned int timer_counter = 0; |
tnhnrl | 56:48a8a5a65b82 | 57 | |
tnhnrl | 56:48a8a5a65b82 | 58 | bool setup_complete = false; |
tnhnrl | 56:48a8a5a65b82 | 59 | |
tnhnrl | 56:48a8a5a65b82 | 60 | static void system_timer(void) { |
tnhnrl | 56:48a8a5a65b82 | 61 | timer_counter++; |
tnhnrl | 56:48a8a5a65b82 | 62 | |
tnhnrl | 56:48a8a5a65b82 | 63 | //only start these updates when everything is properly setup (through setup function) |
tnhnrl | 56:48a8a5a65b82 | 64 | if (setup_complete) { |
tnhnrl | 56:48a8a5a65b82 | 65 | if ( (timer_counter % 20) == 0 ) { // 0.02 second intervals |
tnhnrl | 56:48a8a5a65b82 | 66 | rudder().runServo(); |
tnhnrl | 56:48a8a5a65b82 | 67 | } |
tnhnrl | 56:48a8a5a65b82 | 68 | } |
tnhnrl | 56:48a8a5a65b82 | 69 | } |
tnhnrl | 56:48a8a5a65b82 | 70 | |
tnhnrl | 56:48a8a5a65b82 | 71 | /****************** for rudder servo ******************/ |
tnhnrl | 56:48a8a5a65b82 | 72 | |
danstrider | 10:085ab7328054 | 73 | void setup() { |
danstrider | 11:3b241ecb75ed | 74 | pc().baud(57600); |
tnhnrl | 61:f7437daae608 | 75 | pc().printf("\n\n\rFSG PCB V1.4 2018-06-18 \n\n\r"); |
mkelly10 | 51:c5c40272ecc3 | 76 | |
mkelly10 | 51:c5c40272ecc3 | 77 | /* //setup data logger baud rate and write the start of the program (every time you reset) |
tnhnrl | 32:f2f8ae34aadc | 78 | datalogger().baud(57600); |
tnhnrl | 39:58375ca6b6ff | 79 | datalogger().printf("SYSTEM, RESET\n"); |
mkelly10 | 51:c5c40272ecc3 | 80 | */ |
mkelly10 | 51:c5c40272ecc3 | 81 | |
danstrider | 10:085ab7328054 | 82 | // start up the system timer |
tzyoung | 0:ea293bbf9717 | 83 | systemTime().start(); |
tnhnrl | 20:8987a9ae2bc7 | 84 | |
danstrider | 10:085ab7328054 | 85 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
mkelly10 | 51:c5c40272ecc3 | 86 | adc().initialize(); |
tzyoung | 0:ea293bbf9717 | 87 | adc().start(); |
danstrider | 10:085ab7328054 | 88 | |
danstrider | 10:085ab7328054 | 89 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 90 | imu().initialize(); |
danstrider | 10:085ab7328054 | 91 | imu().start(); |
danstrider | 10:085ab7328054 | 92 | |
danstrider | 10:085ab7328054 | 93 | // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298 |
danstrider | 14:85b64a4d08e8 | 94 | depth().init(); |
danstrider | 14:85b64a4d08e8 | 95 | depth().tare(); |
danstrider | 10:085ab7328054 | 96 | |
tnhnrl | 48:20e681885161 | 97 | // construct the MBED local file system |
danstrider | 10:085ab7328054 | 98 | local(); |
tnhnrl | 48:20e681885161 | 99 | |
tnhnrl | 48:20e681885161 | 100 | // construct the SD card file system |
mkelly10 | 51:c5c40272ecc3 | 101 | // sd_card(); |
tnhnrl | 20:8987a9ae2bc7 | 102 | |
danstrider | 10:085ab7328054 | 103 | // load config data from files |
tnhnrl | 21:38c8544db6f4 | 104 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 21:38c8544db6f4 | 105 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 21:38c8544db6f4 | 106 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 21:38c8544db6f4 | 107 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 20:8987a9ae2bc7 | 108 | |
tnhnrl | 43:891baf306e0a | 109 | |
danstrider | 10:085ab7328054 | 110 | // set up the linear actuators. adc has to be running first. |
danstrider | 10:085ab7328054 | 111 | bce().init(); |
danstrider | 10:085ab7328054 | 112 | bce().start(); |
mkelly10 | 12:a0519d11d2b6 | 113 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 114 | |
danstrider | 10:085ab7328054 | 115 | batt().init(); |
tzyoung | 2:892b58e56712 | 116 | batt().start(); |
mkelly10 | 12:a0519d11d2b6 | 117 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 118 | |
danstrider | 10:085ab7328054 | 119 | // set up the depth and pitch outer loop controllers |
danstrider | 10:085ab7328054 | 120 | depthLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 121 | depthLoop().start(); |
tnhnrl | 16:3363b9f14913 | 122 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 123 | |
danstrider | 10:085ab7328054 | 124 | pitchLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 125 | pitchLoop().start(); |
tnhnrl | 16:3363b9f14913 | 126 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
tnhnrl | 55:f4ec445c42fe | 127 | |
tnhnrl | 55:f4ec445c42fe | 128 | //new 6/8/2018 for testing |
tnhnrl | 55:f4ec445c42fe | 129 | headingLoop().init(); |
tnhnrl | 55:f4ec445c42fe | 130 | headingLoop().setCommand(0.0); //setting heading to 0 for testing |
tnhnrl | 55:f4ec445c42fe | 131 | //new 6/8/2018 for testing |
tnhnrl | 20:8987a9ae2bc7 | 132 | |
tnhnrl | 20:8987a9ae2bc7 | 133 | // show that the PID gains are loading from the file |
tnhnrl | 38:83d06c294807 | 134 | 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 | 135 | 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 | 136 | 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 | 137 | 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 | 138 | pc().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 139 | |
tnhnrl | 17:7c16b5671d0e | 140 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 141 | sequenceController().loadSequence(); |
tnhnrl | 20:8987a9ae2bc7 | 142 | |
tnhnrl | 20:8987a9ae2bc7 | 143 | // establish the main loop rate |
tnhnrl | 20:8987a9ae2bc7 | 144 | loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate |
tnhnrl | 32:f2f8ae34aadc | 145 | |
tnhnrl | 32:f2f8ae34aadc | 146 | // setup the data logger rate |
tnhnrl | 34:9b66c5188051 | 147 | log_loop_rate_ticker.attach(&log_loop_trigger, 1.0); // fires the ticker at 1 Hz rate (every second) |
mkelly10 | 51:c5c40272ecc3 | 148 | |
tnhnrl | 47:fb3c7929d3f3 | 149 | //set time of logger (to current or close-to-current time) |
mkelly10 | 51:c5c40272ecc3 | 150 | mbedLogger().setLogTime(); |
mkelly10 | 51:c5c40272ecc3 | 151 | // sdLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 152 | |
tnhnrl | 47:fb3c7929d3f3 | 153 | //create log files if not present on file system |
tnhnrl | 47:fb3c7929d3f3 | 154 | mbedLogger().initializeLogFile(); |
mkelly10 | 51:c5c40272ecc3 | 155 | // sdLogger().initializeLogFile(); |
mkelly10 | 51:c5c40272ecc3 | 156 | |
tnhnrl | 58:94b7fd55185e | 157 | //tare the pressure sensor during setup |
tnhnrl | 58:94b7fd55185e | 158 | depth().tare(); |
tnhnrl | 58:94b7fd55185e | 159 | |
tnhnrl | 56:48a8a5a65b82 | 160 | setup_complete = true; //used for interrupt timing |
tnhnrl | 56:48a8a5a65b82 | 161 | |
tnhnrl | 21:38c8544db6f4 | 162 | } |
tnhnrl | 20:8987a9ae2bc7 | 163 | |
danstrider | 10:085ab7328054 | 164 | int main() { |
danstrider | 10:085ab7328054 | 165 | setup(); |
tnhnrl | 56:48a8a5a65b82 | 166 | |
tnhnrl | 56:48a8a5a65b82 | 167 | //this is used to control timing on the rudder servo, it's based on the new timing model in the 5/29/18 code with one interrupt running everything...may or may not work here |
tnhnrl | 56:48a8a5a65b82 | 168 | |
tnhnrl | 56:48a8a5a65b82 | 169 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
mkelly10 | 51:c5c40272ecc3 | 170 | |
danstrider | 10:085ab7328054 | 171 | while(1) { |
tnhnrl | 34:9b66c5188051 | 172 | static int current_state = 0; |
tnhnrl | 36:966a86937e17 | 173 | |
tnhnrl | 36:966a86937e17 | 174 | static bool file_opened = false; |
tnhnrl | 36:966a86937e17 | 175 | |
tnhnrl | 39:58375ca6b6ff | 176 | // FSM loop runs at 10 hz |
tnhnrl | 20:8987a9ae2bc7 | 177 | if(loop) { |
tnhnrl | 32:f2f8ae34aadc | 178 | led1() = !led1(); // blink led 1 |
tnhnrl | 45:16b8162188ca | 179 | current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 20:8987a9ae2bc7 | 180 | loop = false; // wait until the loop rate timer fires again |
tnhnrl | 17:7c16b5671d0e | 181 | } |
tnhnrl | 32:f2f8ae34aadc | 182 | |
tnhnrl | 39:58375ca6b6ff | 183 | // log loop runs at 1 hz |
tnhnrl | 34:9b66c5188051 | 184 | if (log_loop) { |
tnhnrl | 45:16b8162188ca | 185 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 45:16b8162188ca | 186 | if (current_state == TRANSMIT_LOG or current_state == RECEIVE_SEQUENCE) { |
tnhnrl | 45:16b8162188ca | 187 | //main_loop_rate_ticker.detach(); |
tnhnrl | 45:16b8162188ca | 188 | //log_loop_rate_ticker.detach(); |
tnhnrl | 45:16b8162188ca | 189 | |
tnhnrl | 45:16b8162188ca | 190 | ; //pass |
tnhnrl | 45:16b8162188ca | 191 | } |
tnhnrl | 34:9b66c5188051 | 192 | |
tnhnrl | 45:16b8162188ca | 193 | else if(current_state != 0) { |
tnhnrl | 45:16b8162188ca | 194 | if (!file_opened) { //if the log file is not open, open it |
tnhnrl | 45:16b8162188ca | 195 | mbedLogger().appendLogFile(current_state, 0); //open MBED file once |
tnhnrl | 52:f207567d3ea4 | 196 | // sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 45:16b8162188ca | 197 | |
tnhnrl | 45:16b8162188ca | 198 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 37:357e98a929cc | 199 | |
tnhnrl | 36:966a86937e17 | 200 | pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 201 | } |
tnhnrl | 36:966a86937e17 | 202 | |
tnhnrl | 45:16b8162188ca | 203 | //record to Mbed file system |
tnhnrl | 45:16b8162188ca | 204 | mbedLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 52:f207567d3ea4 | 205 | // sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 36:966a86937e17 | 206 | } |
tnhnrl | 36:966a86937e17 | 207 | |
tnhnrl | 39:58375ca6b6ff | 208 | //when the current FSM state is zero, reset the file |
tnhnrl | 36:966a86937e17 | 209 | else { |
tnhnrl | 36:966a86937e17 | 210 | //this can only happen once |
tnhnrl | 36:966a86937e17 | 211 | if (file_opened) { |
tnhnrl | 45:16b8162188ca | 212 | mbedLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 52:f207567d3ea4 | 213 | // sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 45:16b8162188ca | 214 | |
tnhnrl | 36:966a86937e17 | 215 | file_opened = false; |
tnhnrl | 37:357e98a929cc | 216 | |
tnhnrl | 37:357e98a929cc | 217 | pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 218 | } |
tnhnrl | 34:9b66c5188051 | 219 | } |
tnhnrl | 34:9b66c5188051 | 220 | |
tnhnrl | 34:9b66c5188051 | 221 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 45:16b8162188ca | 222 | } //END OF LOG LOOP |
danstrider | 10:085ab7328054 | 223 | } |
mkelly10 | 51:c5c40272ecc3 | 224 | |
danstrider | 10:085ab7328054 | 225 | } |