File content as of revision 1:90d5de35324c:

/*
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
        if (p_sensor.depth() < 2) {
            thruster.pulsewidth(1.4/1000);
            thruster.pulsewidth(1.4/1000);
            {
                else (p_sensor.depth() >=2) {
                    thruster.pulsewidth(1.0/1000);
                    thruster.pulsewidth(1.0/1000);
                }



            }

        }

//-------------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);

        }