update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp
- Committer:
- tnhnrl
- Date:
- 2018-06-12
- Revision:
- 55:f4ec445c42fe
- Parent:
- 54:d4990fb68404
- Child:
- 56:48a8a5a65b82
File content as of revision 55:f4ec445c42fe:
/* Modified FSG PCB V1_5 - 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 V2 - 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) */ #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 PCB V1.5 2018-06-06 \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()); //new 6/8/2018 for testing headingLoop().init(); headingLoop().setCommand(0.0); //setting heading to 0 for testing //new 6/8/2018 for testing // 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 } }