update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp
- Committer:
- tnhnrl
- Date:
- 2018-06-19
- Revision:
- 66:0f20870117b7
- Parent:
- 65:2ac186553959
- Child:
- 67:c86a4b464682
File content as of revision 66:0f20870117b7:
/* Modified FSG PCB V_1_1 - Freezes when doing a dive or any timed sequence (commented out SD card references) - commented out sdLogger().appendLogFile(current_state, 0); //open SD file once - commented out sdLogger().appendLogFile(current_state, 1); //writing data - commented out sdLogger().appendLogFile(current_state, 0); //close log file - reduced timer to 20 seconds for bench testing - modified ConfigFileIO for rudder() - added in getFloatUserInput function from newer code - changed LinearActuator & batt() in StaticDefs to match new pinouts from Bob/Matt/Troy fixes - slowed down battery motor because it's silly fast at 30 volts (bench test) * BCE gain is proportional 0.1 now 0.01 - BATT was moving in the wrong direction, gain was P: 0.10, I: 0.0, D: 0.0 * change gain to P: -0.10 (gain was flipped, I think the old circuit board had the voltages flipped ? ?) - StateMachine changes for testing * added keyboard_menu_STREAM_STATUS(); * added keyboard_menu_RUDDER_SERVO_settings(); - modified the zero on the battery position from 610 to 836 - BMM (batt) slope may be incorrect, seems low, currently 0.12176 - modified the zero on BCE from 253 to 460 - Pressure readings are wrong * added readADCCounts() to omegaPX209 class to see channel readings * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4() - fixed rudderLoop to headingLoop from newer code Modified FSG PCB V_1_2 - added init headingLoop to main - added pitch and heading outputs to STREAM_STATUS NOTE: Flipped motor controller output on connector side with battery mass mover (BMM) - Motor direction was opposite the BCE motor (because of gearing) - BMM P gain is now positive 0.02 (from -0.10) Modified FSG PCB V_1_3 - 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 Modified FSG PCB V_1_5 - IMU update */ /* removed unused variables */ #include "mbed.h" #include "StaticDefs.hpp" #ifndef lround #define lround(var) (long)(var+0.5f) #endif ////////////////////////////////////////////////////////////////// NEW TICKER Ticker systemTicker; bool setup_complete = false; volatile unsigned int bTick = 0; volatile unsigned int timer_counter = 0; char hex[9]; char * conversion(float input_float) { int integer_number = lround(100.0 * input_float); //convert floating point input to integer to broadcast over serial (reduce precision) memset(hex, 0, sizeof(hex) ); // void* memset( void* dest, int ch, size_t count ); // CLEAR IT (need null at end of string) sprintf(hex, "%8x", integer_number); //generates spaces 0x20 return hex; } 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 // loop rate used to determine how fast events trigger in the while loop //Ticker main_loop_rate_ticker; //Ticker log_loop_rate_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 bool file_opened = false; void FSM() { // FSM loop runs at 100 hz if(fsm_loop) { 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) { //when the state machine is not in SIT_IDLE state (or a random keyboard press) if (current_state == TRANSMIT_MBED_LOG or current_state == RECEIVE_SEQUENCE) { ; //pass } else if(current_state != 0) { if (!file_opened) { //if the log file is not open, open it mbedLogger().appendLogFile(current_state, 0); //open MBED file once //sdLogger().appendLogFile(current_state, 0); //open SD file once file_opened = true; //stops it from continuing to open it pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); } //record to Mbed file system led4() = !led4(); mbedLogger().appendLogFile(current_state, 1); //writing data //sdLogger().appendLogFile(current_state, 1); //writing data } //when the current FSM state is zero (SIT_IDLE), close the file else { //this can only happen once if (file_opened) { mbedLogger().appendLogFile(current_state, 0); //close log file //sdLogger().appendLogFile(current_state, 0); //close log file file_opened = false; pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); } } } //END OF LOG LOOP log_loop = false; // wait until the loop rate timer fires again } 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 % 1) == 0) { //this runs at 0.001 second intervals (1000 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(); led2() = !led2(); } 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 % 500) == 0) { // 500,000 microseconds = 0.5 second intervals //serialComms().getDepthPitchHeading(); log_loop = true; log_function(); } } } void setup() { pc().baud(57600); pc().printf("\n\n\r FSG PCB Bench Test V1.5)\n\n\r"); // 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(); //adc().start(); // setup and run the rudder(servo) pwm signal (start the ticker) //rudder().init(); pc().printf("Rudder servo initialized!\n\r"); // set up and start the imu. This polls in the background 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(); // construct the SD card file system //sd_card(); // load config data from files 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().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 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()); 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()); pc().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()); 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()); 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()); pc().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()); pc().printf("\n\r"); //load sequence from file sequenceController().loadSequence(); //set time of logger (to current or close-to-current time) mbedLogger().setLogTime(); //sdLogger().setLogTime(); //create log files if not present on file system mbedLogger().initializeLogFile(); //sdLogger().initializeLogFile(); setup_complete = true; } int main() { setup(); 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"); systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) while (1) { if( read_ticker() ) // read_ticker runs at the speed of 10 kHz (adc timing) { ++tNow; //run finite state machine fast when transmitting data if (current_state == TRANSMIT_MBED_LOG or current_state == RECEIVE_SEQUENCE) { if ( (tNow % 10) == 0 ) { // 0.001 second intervals (1000 Hz) fsm_loop = true; FSM(); } if ( (tNow % 1000) == 0 ) { // 1.0 second intervals log_loop = true; log_function(); } } else { if ( (tNow % 100) == 0 ) { // 0.1 second intervals (10 Hz) fsm_loop = true; FSM(); } if ( (tNow % 1000) == 0 ) { // 1.0 second intervals log_loop = true; log_function(); } } } } }