update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
Diff: main.cpp
- Revision:
- 65:2ac186553959
- Parent:
- 63:6cb0405fc6e6
- Child:
- 66:0f20870117b7
diff -r a8939bc127ab -r 2ac186553959 main.cpp --- a/main.cpp Mon Jun 18 21:04:09 2018 +0000 +++ b/main.cpp Tue Jun 19 18:10:50 2018 +0000 @@ -37,60 +37,163 @@ 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 loop_rate_ticker; -Ticker log_loop_rate_ticker; +//Ticker main_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 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() { loop = true;} // loop trigger (used in while loop) +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) -/****************** for rudder servo ******************/ -Ticker systemTicker; +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 -volatile unsigned int timer_counter = 0; + 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 +} -bool setup_complete = false; - -static void system_timer(void) { +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 % 20) == 0 ) { // 0.02 second intervals - rudder().runServo(); - } + 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(); + } } } -/****************** for rudder servo ******************/ - void setup() { pc().baud(57600); - pc().printf("\n\n\rFSG PCB V1.4 2018-06-18 \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"); -*/ - + pc().printf("\n\n\r 2018_03_28_wireless (FSG bench test)\n\n\r"); + // start up the system timer - systemTime().start(); + //systemTimer().start(); // set up and start the adc. This runs on a fixed interval and is interrupt driven - adc().initialize(); - adc().start(); + 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(); + //imu().start(); // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298 depth().init(); @@ -100,128 +203,97 @@ local(); // construct the SD card file system -// sd_card(); + //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_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(); + //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().start(); + batt().runLinearActuator(); // _init = true; + //batt().start();//removed start, it's handled by the interrupt batt().pause(); // start by not moving - // set up the depth and pitch outer loop controllers + // set up the depth, pitch, and rudder outer loop controllers depthLoop().init(); - depthLoop().start(); + //removed start, it's handled by the interrupt depthLoop().setCommand(stateMachine().getDepthCommand()); pitchLoop().init(); - pitchLoop().start(); + //removed start, it's handled by the interrupt 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 + //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("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("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(); - - // 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(); + mbedLogger().setLogTime(); + //sdLogger().setLogTime(); //create log files if not present on file system mbedLogger().initializeLogFile(); -// sdLogger().initializeLogFile(); - - //tare the pressure sensor during setup - depth().tare(); + //sdLogger().initializeLogFile(); + + setup_complete = true; +} - setup_complete = true; //used for interrupt timing - -} - int main() { setup(); - //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 + 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 + { + ++tNow; - 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_MBED_LOG or current_state == RECEIVE_SEQUENCE) { - //main_loop_rate_ticker.detach(); - //log_loop_rate_ticker.detach(); - - ; //pass + if ( (tNow % 10) == 0 ) { // 0.001 second intervals //if ( (tNow % 100) == 0 ) { // 0.01 second intervals + fsm_loop = true; + FSM(); } - 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 +// if ( (tNow % 1000) == 0 ) { // 1.0 second intervals +// log_loop = true; +// log_function(); +// } + } } - } \ No newline at end of file