Diff: main.cpp

Revision:

0:47a98d724c30

Child:

1:90d5de35324c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Dec 01 15:02:30 2020 +0000
@@ -0,0 +1,219 @@
+/*
+Author Mingxi Zhou
+OCE360 underwater float template program
+*/
+#include "mbed.h"
+#include "LSM9DS1.h"  //IMU library
+#include "MS5837.h"     //pressure sensor library
+#include "SCI_SENSOR.h"     //science sensor
+#include "SDFileSystem.h"   // SD card
+
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);    //initial serial
+Serial BLE(p13,p14);        //Bluetooth
+LSM9DS1 IMU(p28, p27, 0xD6, 0x3C);  //initial IMU
+LM19 temp(p19);
+PhotoCell light(p20);
+MS5837 p_sensor(p9, p10, ms5837_addr_no_CS);  //pressure sensor
+PwmOut thruster(p21);  //set PWM pin    //max 1.3ms min 1.1ms
+PwmOut thruster2(p22); //set PWM pin
+SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
+
+//global ticker
+Ticker log_ticker;
+Ticker imu_ticker;
+// global timer
+Timer t;
+//MS5837 p_sensor(p9, p10, ms5837_addr_no_CS);
+///File
+FILE *fp;
+char fname[100];
+float PI = 3.14159265358979323846f;
+
+//float operation parameters
+float target_depth=0;   //global target depth default 0
+int yo_num=0;           //global yo_num default 0
+float thrust_on_time=0; //global thrust_on time default 0
+float accel[3], mag[3], gyro[3], euler[3];  //global IMU data
+
+//functions
+void welcome();
+void log_data();
+//IMU related
+void IMU_update(); //update IMU related varibles. we use imu_ticker to call this function
+void mag_correction(float mx, float my, float mz, float mag_c[3]); //raw mag -> mag[3], mag_c[3] calibrated
+void pose_estimate(float euler[3], float accel[3], float gyro[3], float mag[3]);  //pose estimation function
+//Control related functions
+void thrust_on(float pw, float on_time);  //input is pulse width
+
+//-------------Main functions-----------------------------------------------------------------------------------------
+int main()
+{
+//-----Initialization realted code-------//
+    //inital set the thruster esc to 1ms duty cycle
+    thruster.period(0.002);      // 2 ms period
+    thruster.pulsewidth(1.0/1000.000);    /////IMU initial and begin
+    thruster2.period(0.002);      // 2 ms period
+    thruster2.pulsewidth(1.0/1000.000);    /////IMU initial and begin
+    IMU.begin();
+    IMU.calibrate(true);
+    myled=1;
+    //initialize pressure sensor
+    pc.printf("setting the pressure sensor\r\n");
+    p_sensor.MS5837Reset();
+    p_sensor.MS5837Init();
+    pc.printf("settting the tickers\r\n");
+    t.start();
+    myled=0;
+    welcome();
+    //-----setup ticker-------//
+    //setup ticker to separate log and IMU data update.
+    //so we could have all our control code in the while loop
+    //   //log at 2 Hz
+    imu_ticker.attach(&IMU_update,0.1);  //10Hz
+    log_ticker.attach(&log_data,0.5);
+    wait(1);
+    while(1) {
+        // put your main control code here
+
+
+
+
+    }
+
+}
+
+//-------------Customized functions---------------------------------------------//----------------------------------------
+///-----------Welcome menu---------------------///
+void welcome()
+{
+    char buffer[100]= {0};
+    int flag=1;
+    //Flush the port
+    while(BLE.readable()) {
+        BLE.getc();
+    }
+    while(flag) {
+        BLE.printf("### I am alive\r\n");
+        BLE.printf("### Please enter the log file name you want\r\n");
+        if(BLE.readable()) {
+            BLE.scanf("%s",buffer);
+            sprintf(fname,"/sd/mydir/%s.txt",buffer); //make file name
+
+            flag = 0; //set the flag to 0 to break the while
+        }
+        myled=!myled;
+        wait(1);
+    }
+    //print name
+    BLE.printf("### name received\r\n");
+    BLE.printf("### file name and directory is: \r\n %s\r\n",fname); //file name and location
+    //open file test
+    mkdir("/sd/mydir",0777); //keep 0777, this is magic #
+    fp = fopen(fname, "a");
+    if(fp == NULL) {
+        BLE.printf("Could not open file for write\n");
+    } else {
+        BLE.printf("##file open good \n"); //open file and tell if open
+        fprintf(fp, "Hello\r\n");
+        fclose(fp);
+    }
+
+    BLE.printf("### The main program will start in 10 seconds\r\n");
+    wait(5);
+}
+
+///-----------log functions---------------------///
+void log_data()
+{
+    //log system time t.read()
+    // log imu data, log sciene data
+    // log pulse width
+    // log pressure sensor data.
+    //science sensor: temp.temp(), light.light()
+    //IMU sensor
+
+}
+
+///-----------IMU related functions---------------------///
+void IMU_update()
+{
+    IMU.readMag();
+    IMU.readGyro();
+    IMU.readAccel();
+    accel[0] = IMU.calcAccel(IMU.ax);
+    accel[1] = IMU.calcAccel(IMU.ay);
+    accel[2] = -IMU.calcAccel(IMU.az);
+    gyro[0]  = IMU.calcGyro(IMU.gx);
+    gyro[1]  = IMU.calcGyro(IMU.gy);
+    gyro[2]  = -IMU.calcGyro(IMU.gz);
+    mag_correction(IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz), mag);  //mag correction
+    mag[2]   = - mag[2];
+    pose_estimate(euler, accel, gyro, mag);  //pose update
+}
+
+void mag_correction(float mx, float my, float mz, float mag_c[3])
+{
+    float bias[3] = {0.0793,0.0357,0.2333};
+    float scale[3][3] = {{1.0070, 0.0705, 0.0368},
+        {0.0705, 1.0807, 0.0265},
+        {0.0368, 0.0265, 0.9250}
+    };
+    //mag_c = (mag-bias)*scale
+
+    mag_c[0] = (mx - bias[0]) *scale[0][0] + (my - bias[1]) *scale[1][0] + (mz - bias[2]) *scale[2][0];
+    mag_c[1] = (mx - bias[0]) *scale[0][1] + (my - bias[1]) *scale[1][1] + (mz - bias[2]) *scale[2][1];
+    mag_c[2] = (mx - bias[0]) *scale[0][2] + (my - bias[1]) *scale[1][2] + (mz - bias[2]) *scale[2][2];
+}
+
+void pose_estimate(float euler[3], float accel[3], float gyro[3], float mag[3])   //pose estimation function
+{
+    euler[0] =  atan2 (accel[1], accel[2]/abs(accel[2])*(sqrt ((accel[0] * accel[0]) + (accel[2] * accel[2]))));
+    euler[1] = - atan2( -accel[0],( sqrt((accel[1] * accel[1]) + (accel[2] * accel[2]))));
+    float Yh = (mag[1] * cos(euler[0])) - (mag[2] * sin(euler[0]));
+    float Xh = (mag[0] * cos(euler[1]))+(mag[1] * sin(euler[0])*sin(euler[1]))
+               + (mag[2] * cos(euler[0]) * sin(euler[1]));
+    euler[2] = atan2(Yh, Xh);
+    //convert into degrees
+    euler[0] *= 180.0f / PI;
+    euler[1] *= 180.0f / PI;
+    euler[2] *= 180.0f / PI;
+    //wrap the values to be within 0 to 360.
+    for (int i=0; i<3; i++) {
+        if(euler[i]<=0) {
+            euler[i]=euler[i]+360;
+        }
+        if(euler[i]>360) {
+            euler[i]=euler[i]-360;
+        }
+    }
+
+}
+
+///-----------Control related functions---------------------///
+////Thruster on control, pw->pulse width in milli-second//
+////                        pw range between 1 to 1.5//
+////                       on_time-> thruster on time.
+void thrust_on(float pw, float on_time)   //input is pulse width
+{
+    float pw_max=2.0;
+    if(pw>pw_max) {
+        pw=pw_max; //hard limitation
+    }
+    Timer tt;
+    tt.reset();
+    tt.start();
+    // lets set the pulse width
+    //thruster.period(20.0/1000.00);      // 20 ms period
+    thruster.pulsewidth(pw/1000.00);
+    thruster2.pulsewidth(pw/1000.00);
+    //PWM will be kept until time out
+    while(tt.read()<=on_time) {
+    }
+    //stop the timer
+    tt.stop();
+    //turn off the thruster
+    thruster.pulsewidth(1.0/1000.00);
+    thruster2.pulsewidth(1.0/1000.00);
+
+}