Mark Schwarzer / Mbed 2 deprecated Project_OCE360

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Dependencies:   mbed

main.cpp@7:b3cc3dd22f55, 2020-12-03 (annotated)

Committer:
markschwarzer
Date:
Thu Dec 03 14:50:58 2020 +0000
Revision:
7:b3cc3dd22f55
Parent:
6:f8535633c551
Child:
8:7f970fcf1a16
updated thruster test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
markschwarzer 3:a87f5671ea8b 1 //OCE Project Demo
markschwarzer 3:a87f5671ea8b 2 //Kelsey Rose
markschwarzer 3:a87f5671ea8b 3 //Mark Schwarzer
markschwarzer 3:a87f5671ea8b 4 //Jason Schaedler
markschwarzer 3:a87f5671ea8b 5
markschwarzer 0:852fb667f2d6 6 #include "mbed.h"
markschwarzer 0:852fb667f2d6 7 #include "LSM9DS1.h" //IMU library
markschwarzer 0:852fb667f2d6 8 #include "MS5837.h" //pressure sensor library
markschwarzer 0:852fb667f2d6 9 #include "SCI_SENSOR.h" //science sensor
markschwarzer 0:852fb667f2d6 10 #include "SDFileSystem.h" // SD card
markschwarzer 0:852fb667f2d6 11
markschwarzer 0:852fb667f2d6 12 DigitalOut myled(LED1);
markschwarzer 0:852fb667f2d6 13 Serial pc(USBTX, USBRX); //initial serial
markschwarzer 0:852fb667f2d6 14 Serial BLE(p13,p14); //Bluetooth
markschwarzer 0:852fb667f2d6 15 LSM9DS1 IMU(p28, p27, 0xD6, 0x3C); //initial IMU
markschwarzer 0:852fb667f2d6 16 LM19 temp(p19);
markschwarzer 0:852fb667f2d6 17 PhotoCell light(p20);
markschwarzer 0:852fb667f2d6 18 MS5837 p_sensor(p9, p10, ms5837_addr_no_CS); //pressure sensor
markschwarzer 0:852fb667f2d6 19 PwmOut thruster(p21); //set PWM pin //max 1.3ms min 1.1ms
markschwarzer 0:852fb667f2d6 20 PwmOut thruster2(p22); //set PWM pin
markschwarzer 0:852fb667f2d6 21 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
markschwarzer 0:852fb667f2d6 22
markschwarzer 0:852fb667f2d6 23 //global ticker
markschwarzer 0:852fb667f2d6 24 Ticker log_ticker;
markschwarzer 0:852fb667f2d6 25 Ticker imu_ticker;
markschwarzer 0:852fb667f2d6 26 // global timer
markschwarzer 0:852fb667f2d6 27 Timer t;
markschwarzer 0:852fb667f2d6 28 //MS5837 p_sensor(p9, p10, ms5837_addr_no_CS);
markschwarzer 2:5ee1cbcf8e04 29 ///File
markschwarzer 0:852fb667f2d6 30 FILE *fp;
markschwarzer 0:852fb667f2d6 31 char fname[100];
markschwarzer 0:852fb667f2d6 32 float PI = 3.14159265358979323846f;
markschwarzer 0:852fb667f2d6 33
markschwarzer 0:852fb667f2d6 34 //float operation parameters
markschwarzer 0:852fb667f2d6 35 float target_depth=0; //global target depth default 0
markschwarzer 0:852fb667f2d6 36 int yo_num=0; //global yo_num default 0
markschwarzer 0:852fb667f2d6 37 float thrust_on_time=0; //global thrust_on time default 0
markschwarzer 0:852fb667f2d6 38 float accel[3], mag[3], gyro[3], euler[3]; //global IMU data
markschwarzer 0:852fb667f2d6 39
markschwarzer 0:852fb667f2d6 40 //functions
markschwarzer 0:852fb667f2d6 41 void welcome();
markschwarzer 0:852fb667f2d6 42 void log_data();
markschwarzer 0:852fb667f2d6 43 //IMU related
markschwarzer 0:852fb667f2d6 44 void IMU_update(); //update IMU related varibles. we use imu_ticker to call this function
markschwarzer 0:852fb667f2d6 45 void mag_correction(float mx, float my, float mz, float mag_c[3]); //raw mag -> mag[3], mag_c[3] calibrated
markschwarzer 0:852fb667f2d6 46 void pose_estimate(float euler[3], float accel[3], float gyro[3], float mag[3]); //pose estimation function
markschwarzer 0:852fb667f2d6 47 //Control related functions
markschwarzer 0:852fb667f2d6 48 void thrust_on(float pw, float on_time); //input is pulse width
markschwarzer 0:852fb667f2d6 49
markschwarzer 0:852fb667f2d6 50 //-------------Main functions-----------------------------------------------------------------------------------------
markschwarzer 0:852fb667f2d6 51 int main()
markschwarzer 0:852fb667f2d6 52 {
markschwarzer 0:852fb667f2d6 53 //-----Initialization realted code-------//
markschwarzer 0:852fb667f2d6 54 //inital set the thruster esc to 1ms duty cycle
markschwarzer 0:852fb667f2d6 55 thruster.period(0.002); // 2 ms period
markschwarzer 0:852fb667f2d6 56 thruster.pulsewidth(1.0/1000.000); /////IMU initial and begin
markschwarzer 0:852fb667f2d6 57 thruster2.period(0.002); // 2 ms period
markschwarzer 0:852fb667f2d6 58 thruster2.pulsewidth(1.0/1000.000); /////IMU initial and begin
markschwarzer 0:852fb667f2d6 59 IMU.begin();
markschwarzer 0:852fb667f2d6 60 IMU.calibrate(true);
markschwarzer 0:852fb667f2d6 61 myled=1;
markschwarzer 0:852fb667f2d6 62 //initialize pressure sensor
markschwarzer 0:852fb667f2d6 63 pc.printf("setting the pressure sensor\r\n");
markschwarzer 0:852fb667f2d6 64 p_sensor.MS5837Reset();
markschwarzer 0:852fb667f2d6 65 p_sensor.MS5837Init();
markschwarzer 0:852fb667f2d6 66 pc.printf("settting the tickers\r\n");
markschwarzer 0:852fb667f2d6 67 t.start();
markschwarzer 0:852fb667f2d6 68 myled=0;
markschwarzer 0:852fb667f2d6 69 welcome();
markschwarzer 0:852fb667f2d6 70 //-----setup ticker-------//
markschwarzer 0:852fb667f2d6 71 //setup ticker to separate log and IMU data update.
markschwarzer 0:852fb667f2d6 72 //so we could have all our control code in the while loop
markschwarzer 0:852fb667f2d6 73 // //log at 2 Hz
markschwarzer 0:852fb667f2d6 74 imu_ticker.attach(&IMU_update,0.1); //10Hz
markschwarzer 0:852fb667f2d6 75 log_ticker.attach(&log_data,0.5);
markschwarzer 0:852fb667f2d6 76 wait(1);
markschwarzer 0:852fb667f2d6 77 while(1)
markschwarzer 1:558ab0afbbc5 78 {
markschwarzer 1:558ab0afbbc5 79 p_sensor.Barometer_MS5837();
markschwarzer 7:b3cc3dd22f55 80 //Depth Holding
markschwarzer 7:b3cc3dd22f55 81 if (p_sensor.depth()<2.0) {
markschwarzer 7:b3cc3dd22f55 82 thruster.pulsewidth(1.0/1000.00);
markschwarzer 7:b3cc3dd22f55 83 thruster2.pulsewidth(1.0/1000.00);
markschwarzer 7:b3cc3dd22f55 84 }
markschwarzer 7:b3cc3dd22f55 85 else if(p_sensor.depth()>2.0) {
markschwarzer 7:b3cc3dd22f55 86 thruster.pulsewidth(1.6/1000.00);
markschwarzer 7:b3cc3dd22f55 87 thruster2.pulsewidth(1.6/1000.00);
markschwarzer 7:b3cc3dd22f55 88 }
markschwarzer 7:b3cc3dd22f55 89 /*
markschwarzer 1:558ab0afbbc5 90 printf("Pressure: ");
markschwarzer 1:558ab0afbbc5 91 printf("%f",p_sensor.MS5837_Pressure());
markschwarzer 1:558ab0afbbc5 92 printf(" mbar");
markschwarzer 1:558ab0afbbc5 93
markschwarzer 1:558ab0afbbc5 94 printf("Temperature: ");
markschwarzer 1:558ab0afbbc5 95 printf("%f",p_sensor.MS5837_Temperature());
markschwarzer 1:558ab0afbbc5 96 printf(" deg C ");
markschwarzer 1:558ab0afbbc5 97
markschwarzer 1:558ab0afbbc5 98 printf("Depth: ");
markschwarzer 1:558ab0afbbc5 99 printf("%f",p_sensor.depth());
markschwarzer 1:558ab0afbbc5 100 printf(" m ");
markschwarzer 1:558ab0afbbc5 101
markschwarzer 1:558ab0afbbc5 102 printf("Altitude: ");
markschwarzer 1:558ab0afbbc5 103 printf("%f",p_sensor.altitude());
markschwarzer 1:558ab0afbbc5 104 printf(" m above mean sea level\r\n");
markschwarzer 7:b3cc3dd22f55 105 */
markschwarzer 1:558ab0afbbc5 106 myled=!myled;
markschwarzer 1:558ab0afbbc5 107 wait(1);
markschwarzer 0:852fb667f2d6 108 }
markschwarzer 0:852fb667f2d6 109
markschwarzer 1:558ab0afbbc5 110 }
markschwarzer 0:852fb667f2d6 111
markschwarzer 0:852fb667f2d6 112 //-------------Customized functions---------------------------------------------//----------------------------------------
markschwarzer 0:852fb667f2d6 113 ///-----------Welcome menu---------------------///
markschwarzer 0:852fb667f2d6 114 void welcome()
markschwarzer 0:852fb667f2d6 115 {
markschwarzer 0:852fb667f2d6 116 char buffer[100]={0};
markschwarzer 0:852fb667f2d6 117 int flag=1;
markschwarzer 0:852fb667f2d6 118 //Flush the port
markschwarzer 0:852fb667f2d6 119 while(BLE.readable())
markschwarzer 0:852fb667f2d6 120 {
markschwarzer 0:852fb667f2d6 121 BLE.getc();
markschwarzer 0:852fb667f2d6 122 }
markschwarzer 0:852fb667f2d6 123 while(flag)
markschwarzer 0:852fb667f2d6 124 {
markschwarzer 0:852fb667f2d6 125 BLE.printf("### I am alive\r\n");
markschwarzer 0:852fb667f2d6 126 BLE.printf("### Please enter the log file name you want\r\n");
markschwarzer 0:852fb667f2d6 127 if(BLE.readable())
markschwarzer 0:852fb667f2d6 128 {
markschwarzer 0:852fb667f2d6 129 BLE.scanf("%s",buffer);
markschwarzer 0:852fb667f2d6 130 sprintf(fname,"/sd/mydir/%s.txt",buffer); //make file name
markschwarzer 0:852fb667f2d6 131
markschwarzer 0:852fb667f2d6 132 flag = 0; //set the flag to 0 to break the while
markschwarzer 0:852fb667f2d6 133 }
markschwarzer 0:852fb667f2d6 134 myled=!myled;
markschwarzer 0:852fb667f2d6 135 wait(1);
markschwarzer 0:852fb667f2d6 136 }
markschwarzer 0:852fb667f2d6 137 //print name
markschwarzer 0:852fb667f2d6 138 BLE.printf("### name received\r\n");
markschwarzer 0:852fb667f2d6 139 BLE.printf("### file name and directory is: \r\n %s\r\n",fname); //file name and location
markschwarzer 0:852fb667f2d6 140 //open file test
markschwarzer 0:852fb667f2d6 141 mkdir("/sd/mydir",0777); //keep 0777, this is magic #
markschwarzer 0:852fb667f2d6 142 fp = fopen(fname, "a");
markschwarzer 0:852fb667f2d6 143 if(fp == NULL){
markschwarzer 0:852fb667f2d6 144 BLE.printf("Could not open file for write\n");
markschwarzer 0:852fb667f2d6 145 }
markschwarzer 0:852fb667f2d6 146 else
markschwarzer 0:852fb667f2d6 147 {
markschwarzer 0:852fb667f2d6 148 BLE.printf("##file open good \n"); //open file and tell if open
markschwarzer 0:852fb667f2d6 149 fprintf(fp, "Hello\r\n");
markschwarzer 0:852fb667f2d6 150 fclose(fp);
markschwarzer 0:852fb667f2d6 151 }
markschwarzer 0:852fb667f2d6 152
markschwarzer 0:852fb667f2d6 153 BLE.printf("### The main program will start in 10 seconds\r\n");
markschwarzer 0:852fb667f2d6 154 wait(5);
markschwarzer 0:852fb667f2d6 155 }
markschwarzer 0:852fb667f2d6 156
markschwarzer 0:852fb667f2d6 157 ///-----------log functions---------------------///
markschwarzer 0:852fb667f2d6 158 void log_data()
markschwarzer 0:852fb667f2d6 159 {
markschwarzer 2:5ee1cbcf8e04 160 fp= fopen(fname, "a");
markschwarzer 2:5ee1cbcf8e04 161 fprintf(fp, "$IMU,3,10, %f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f;\r\n",t.read(),accel[0],accel[1],accel[2],gyro[0],gyro[1],gyro[2],euler[0],euler[1],euler[2]);
markschwarzer 2:5ee1cbcf8e04 162 fclose(fp);
markschwarzer 0:852fb667f2d6 163 //log system time t.read()
markschwarzer 0:852fb667f2d6 164 // log imu data, log sciene data
markschwarzer 0:852fb667f2d6 165 // log pulse width
markschwarzer 0:852fb667f2d6 166 // log pressure sensor data.
markschwarzer 0:852fb667f2d6 167 //science sensor: temp.temp(), light.light()
markschwarzer 0:852fb667f2d6 168 //IMU sensor
markschwarzer 0:852fb667f2d6 169
markschwarzer 0:852fb667f2d6 170 }
markschwarzer 0:852fb667f2d6 171
markschwarzer 0:852fb667f2d6 172 ///-----------IMU related functions---------------------///
markschwarzer 0:852fb667f2d6 173 void IMU_update()
markschwarzer 0:852fb667f2d6 174 {
markschwarzer 0:852fb667f2d6 175 IMU.readMag();
markschwarzer 0:852fb667f2d6 176 IMU.readGyro();
markschwarzer 0:852fb667f2d6 177 IMU.readAccel();
markschwarzer 0:852fb667f2d6 178 accel[0] = IMU.calcAccel(IMU.ax);
markschwarzer 0:852fb667f2d6 179 accel[1] = IMU.calcAccel(IMU.ay);
markschwarzer 0:852fb667f2d6 180 accel[2] = -IMU.calcAccel(IMU.az);
markschwarzer 0:852fb667f2d6 181 gyro[0] = IMU.calcGyro(IMU.gx);
markschwarzer 0:852fb667f2d6 182 gyro[1] = IMU.calcGyro(IMU.gy);
markschwarzer 0:852fb667f2d6 183 gyro[2] = -IMU.calcGyro(IMU.gz);
markschwarzer 0:852fb667f2d6 184 mag_correction(IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz), mag); //mag correction
markschwarzer 0:852fb667f2d6 185 mag[2] = - mag[2];
markschwarzer 0:852fb667f2d6 186 pose_estimate(euler, accel, gyro, mag); //pose update
markschwarzer 0:852fb667f2d6 187 }
markschwarzer 0:852fb667f2d6 188
markschwarzer 0:852fb667f2d6 189 void mag_correction(float mx, float my, float mz, float mag_c[3])
markschwarzer 0:852fb667f2d6 190 {
markschwarzer 0:852fb667f2d6 191 float bias[3] = {0.0793,0.0357,0.2333};
markschwarzer 0:852fb667f2d6 192 float scale[3][3] = {{1.0070, 0.0705, 0.0368},
markschwarzer 0:852fb667f2d6 193 {0.0705, 1.0807, 0.0265},
markschwarzer 0:852fb667f2d6 194 {0.0368, 0.0265, 0.9250}};
markschwarzer 0:852fb667f2d6 195 //mag_c = (mag-bias)*scale
markschwarzer 0:852fb667f2d6 196
markschwarzer 0:852fb667f2d6 197 mag_c[0] = (mx - bias[0]) *scale[0][0] + (my - bias[1]) *scale[1][0] + (mz - bias[2]) *scale[2][0];
markschwarzer 0:852fb667f2d6 198 mag_c[1] = (mx - bias[0]) *scale[0][1] + (my - bias[1]) *scale[1][1] + (mz - bias[2]) *scale[2][1];
markschwarzer 0:852fb667f2d6 199 mag_c[2] = (mx - bias[0]) *scale[0][2] + (my - bias[1]) *scale[1][2] + (mz - bias[2]) *scale[2][2];
markschwarzer 0:852fb667f2d6 200 }
markschwarzer 0:852fb667f2d6 201
markschwarzer 0:852fb667f2d6 202 void pose_estimate(float euler[3], float accel[3], float gyro[3], float mag[3]) //pose estimation function
markschwarzer 0:852fb667f2d6 203 {
markschwarzer 0:852fb667f2d6 204 euler[0] = atan2 (accel[1] , accel[2]/abs(accel[2])*(sqrt ((accel[0] * accel[0]) + (accel[2] * accel[2]))));
markschwarzer 0:852fb667f2d6 205 euler[1] = - atan2( -accel[0] ,( sqrt((accel[1] * accel[1]) + (accel[2] * accel[2]))));
markschwarzer 0:852fb667f2d6 206 float Yh = (mag[1] * cos(euler[0])) - (mag[2] * sin(euler[0]));
markschwarzer 0:852fb667f2d6 207 float Xh = (mag[0] * cos(euler[1]))+(mag[1] * sin(euler[0])*sin(euler[1]))
markschwarzer 0:852fb667f2d6 208 + (mag[2] * cos(euler[0]) * sin(euler[1]));
markschwarzer 0:852fb667f2d6 209 euler[2] = atan2(Yh, Xh);
markschwarzer 0:852fb667f2d6 210 //convert into degrees
markschwarzer 0:852fb667f2d6 211 euler[0] *= 180.0f / PI;
markschwarzer 0:852fb667f2d6 212 euler[1] *= 180.0f / PI;
markschwarzer 0:852fb667f2d6 213 euler[2] *= 180.0f / PI;
markschwarzer 0:852fb667f2d6 214 //wrap the values to be within 0 to 360.
markschwarzer 0:852fb667f2d6 215 for (int i=0;i<3;i++)
markschwarzer 0:852fb667f2d6 216 {
markschwarzer 0:852fb667f2d6 217 if(euler[i]<=0)
markschwarzer 0:852fb667f2d6 218 {
markschwarzer 0:852fb667f2d6 219 euler[i]=euler[i]+360;
markschwarzer 0:852fb667f2d6 220 }
markschwarzer 0:852fb667f2d6 221 if(euler[i]>360)
markschwarzer 0:852fb667f2d6 222 {
markschwarzer 0:852fb667f2d6 223 euler[i]=euler[i]-360;
markschwarzer 0:852fb667f2d6 224 }
markschwarzer 0:852fb667f2d6 225 }
markschwarzer 0:852fb667f2d6 226
markschwarzer 0:852fb667f2d6 227 }
markschwarzer 0:852fb667f2d6 228
markschwarzer 0:852fb667f2d6 229 ///-----------Control related functions---------------------///
markschwarzer 0:852fb667f2d6 230 ////Thruster on control, pw->pulse width in milli-second//
markschwarzer 0:852fb667f2d6 231 //// pw range between 1 to 1.5//
markschwarzer 0:852fb667f2d6 232 //// on_time-> thruster on time.
markschwarzer 0:852fb667f2d6 233 void thrust_on(float pw, float on_time) //input is pulse width
markschwarzer 0:852fb667f2d6 234 {
markschwarzer 0:852fb667f2d6 235 float pw_max=2.0;
markschwarzer 0:852fb667f2d6 236 if(pw>pw_max)
markschwarzer 0:852fb667f2d6 237 {
markschwarzer 0:852fb667f2d6 238 pw=pw_max; //hard limitation
markschwarzer 0:852fb667f2d6 239 }
markschwarzer 0:852fb667f2d6 240 Timer tt;
markschwarzer 0:852fb667f2d6 241 tt.reset();
markschwarzer 0:852fb667f2d6 242 tt.start();
markschwarzer 0:852fb667f2d6 243 // lets set the pulse width
markschwarzer 4:574998b40bde 244 thruster.period(20.0/1000.00); // 20 ms period
markschwarzer 0:852fb667f2d6 245 thruster.pulsewidth(pw/1000.00);
markschwarzer 0:852fb667f2d6 246 thruster2.pulsewidth(pw/1000.00);
markschwarzer 0:852fb667f2d6 247 //PWM will be kept until time out
markschwarzer 0:852fb667f2d6 248 while(tt.read()<=on_time)
markschwarzer 0:852fb667f2d6 249 {
markschwarzer 0:852fb667f2d6 250 }
markschwarzer 0:852fb667f2d6 251 //stop the timer
markschwarzer 0:852fb667f2d6 252 tt.stop();
markschwarzer 0:852fb667f2d6 253 //turn off the thruster
markschwarzer 0:852fb667f2d6 254 thruster.pulsewidth(1.0/1000.00);
markschwarzer 0:852fb667f2d6 255 thruster2.pulsewidth(1.0/1000.00);
markschwarzer 0:852fb667f2d6 256
markschwarzer 0:852fb667f2d6 257 }