update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp
- Committer:
- tnhnrl
- Date:
- 2017-12-21
- Revision:
- 39:58375ca6b6ff
- Parent:
- 38:83d06c294807
- Child:
- 43:891baf306e0a
File content as of revision 39:58375ca6b6ff:
/* Modified 2017-12-19 revA by Troy - Fixed OpenLog printing to include states and variable names. Currently logs to LOG#####.TXT files 1) Note: The OpenLog only starts a new log when it is power-cycled (with the MBED) Modified 2017-12-20 revA by Troy - Modified code to log every 1 second in current iteration Modified 2017-12-20 revB by Troy - Fixed bug where Dive depth was resetting to rise depth Modified 2017-12-21 revA by Troy - 2 minute timeout default - Added system time to MBED logger and OpenLog - Fixed bug where it was recording random keyboard presses (other FSM states) - Added the ability to save the batt and BCE PID config files - Fixed bug with FIND_NEUTRAL sub-FSM (command was not updating with each timer cycle) */ #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 2017-12-21 revA\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 a local file system local(); // 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) //create the MBED log file (current log file) //mbedLogger().openFile(); } 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 //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). current_state = stateMachine().runStateMachine(); loop = false; // wait until the loop rate timer fires again } // log loop runs at 1 hz if (log_loop) { led3() = !led3(); // blink led 3 //when the state machine is not in SIT_IDLE state (or a random keyboard press) if(current_state != 0) { //pc().printf("\n\rDEBUG: trying to record data \n\r"); //if the log file is not open, open it if (!file_opened) { mbedLogger().openFile(); //open MBED file once file_opened = true; //stops it from continuing to open it pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); } //record to OpenLog hardware OpenLog().recordData(current_state); //start recording //record to Mbed file system mbedLogger().saveDataToFile(current_state,stateMachine().dataArray()); } //when the current FSM state is zero, reset the file else { //this can only happen once if (file_opened) { mbedLogger().closeFile(); file_opened = false; pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); } } log_loop = false; // wait until the loop rate timer fires again } } }