update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp
- Committer:
- tnhnrl
- Date:
- 2018-02-15
- Revision:
- 50:1d59ea7c7a1c
- Parent:
- 49:47ffa4feb6db
- Child:
- 51:c5c40272ecc3
File content as of revision 50:1d59ea7c7a1c:
/* Modified 2018-02-01 revA by Troy - Fixed bugs with file opening and closing - Made a directory printing function in the MbedLogger class that does not use the Directory List library (removed) Modified 2018-02-02 revA by Troy - Placed mbed file transmitter functionality into MbedLogger class - created a macro for printing out files to PC and serial port simultaneously (placed in main) Modified 2018-02-07 revA by Troy - SDFileSystem class added to code along with sd card file system in System "StaticDefs" - Had to fix bug with SDFileSystem, the imported version uses a buggy FATFileSystem class - Update came from https://os.mbed.com/teams/mbed-official/code/FATFileSystem/ (not the library importer tool) - Modified MbedLogger constructor to include string for file system, e.g. "/sd/" and "/local/" - Modified MbedLogger class to use local or sd card - Created SD card file system using reader on pins p11, p12, p13, p14 (SPI interface) Modified 2018-02-08 revA by Troy - Test code without ADC running to check behavior (timing issue) - Modified sequence to use sequence.txt and fixed warnings - Fixed CRC issue with file reception (the command that the MBED sends out) - Issue with IMU data on p27, need to check wiring and or MAX232 Modified 2018-02-14 revA by Troy - IMU tested and working correctly - Data logging on SD card and MBED working simultaneously - State Machine is being used to transmit data over Xbee instead of a separate ticker - Servo driver tested separately in FSG_servo_test program (verified servo works separately) - Electrical issue with PWM signal interfering with motor driver signal (disabled servo for now) - Ability to erase MBED (only the MBED) log file through keyboard console Modified 2018-02-15 revA by Troy - Made minor changes including cleaning up some functions Modified 2018-02-15 revB by Troy - Modified StateMachine class to include manual motor-driving mode and FSM-driven battery and buoyancy engine motor inner loops (CHECK_TUNING) - Fixed some on-screen printouts in the StateMachine class - Added CHECK_TUNING state to MbedLogger printouts to MBED and SD card - Pool tested code worked with several dives. Neutral was BCE: 162 mm, BATT: 36 mm with CHECK_TUNING state; FIND_NEUTRAL (auto-tune) produced 161.0 and 34 mm */ #include "mbed.h" #include "StaticDefs.hpp" // loop rate used to determine how fast events trigger in the while loop Ticker loop_rate_ticker; Ticker log_loop_rate_ticker; volatile bool 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() { loop = true;} // loop trigger (used in while loop) void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) void setup() { pc().baud(57600); pc().printf("\n\n\rFSG POOL TEST 2017-02-15 revB\n\n\r"); //setup data logger baud rate and write the start of the program (every time you reset) datalogger().baud(57600); datalogger().printf("SYSTEM, RESET\n"); // start up the system timer systemTime().start(); // set up and start the adc. This runs on a fixed interval and is interrupt driven adc().initialize(); adc().start(); // 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) // set up the linear actuators. adc has to be running first. bce().init(); bce().start(); bce().pause(); // start by not moving batt().init(); batt().start(); batt().pause(); // start by not moving // set up the depth and pitch outer loop controllers depthLoop().init(); depthLoop().start(); depthLoop().setCommand(stateMachine().getDepthCommand()); pitchLoop().init(); pitchLoop().start(); pitchLoop().setCommand(stateMachine().getPitchCommand()); // 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("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("\n\r"); //load sequence from file sequenceController().loadSequence(); // establish the main loop rate loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate // setup the data logger rate log_loop_rate_ticker.attach(&log_loop_trigger, 1.0); // fires the ticker at 1 Hz rate (every second) //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(); } int main() { setup(); while(1) { static int current_state = 0; static bool file_opened = false; // FSM loop runs at 10 hz if(loop) { led1() = !led1(); // blink led 1 current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). loop = false; // wait until the loop rate timer fires again } // 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_LOG or current_state == RECEIVE_SEQUENCE) { //main_loop_rate_ticker.detach(); //log_loop_rate_ticker.detach(); ; //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 mbedLogger().appendLogFile(current_state, 1); //writing data sdLogger().appendLogFile(current_state, 1); //writing data } //when the current FSM state is zero, reset 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"); } } log_loop = false; // wait until the loop rate timer fires again } //END OF LOG LOOP } }