megan gimple / Mbed 2 deprecated OCE360_Final_Project

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Dependencies:   mbed MMA8452Q MS5837 SDFileSystem SCI_SENSOR

main.cpp@2:a3b55216ffbd, 2021-11-30 (annotated)

Committer:
elizabethtaylor
Date:
Tue Nov 30 14:34:04 2021 +0000
Revision:
2:a3b55216ffbd
Parent:
1:e1a2b47c3098
Child:
3:22a86bc49f44
Comment added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elizabethtaylor 2:a3b55216ffbd 1 //Eliza
slicht_instructor 0:6e97f9a6aca0 2 /*
slicht_instructor 0:6e97f9a6aca0 3 Author Mingxi Zhou
slicht_instructor 0:6e97f9a6aca0 4 OCE360 underwater float template program
slicht_instructor 0:6e97f9a6aca0 5 */
slicht_instructor 0:6e97f9a6aca0 6 #include "mbed.h"
slicht_instructor 0:6e97f9a6aca0 7 #include "MMA8452Q.h" //accelerometer library
slicht_instructor 0:6e97f9a6aca0 8 #include "MS5837.h" //pressure sensor library***
mgimple 1:e1a2b47c3098 9 #include "SCI_SENSOR.h" //science sensor library, photocell, temperature cell
slicht_instructor 0:6e97f9a6aca0 10 #include "SDFileSystem.h" // SD card library
slicht_instructor 0:6e97f9a6aca0 11
slicht_instructor 0:6e97f9a6aca0 12 DigitalOut led1(LED1);
slicht_instructor 0:6e97f9a6aca0 13 DigitalOut led2(LED2);
slicht_instructor 0:6e97f9a6aca0 14
mgimple 1:e1a2b47c3098 15 Serial pc(USBTX, USBRX); //initial serial
mgimple 1:e1a2b47c3098 16 Serial BLE(p13,p14); //Bluetooth
mgimple 1:e1a2b47c3098 17 MMA8452Q accel(p28,p27,0x1D); //initial accelerometer
mgimple 1:e1a2b47c3098 18 LM19 temp(p19); //temperature sensor
mgimple 1:e1a2b47c3098 19 PhotoCell light(p20); //photocell
slicht_instructor 0:6e97f9a6aca0 20 MS5837 p_sensor(p9, p10, ms5837_addr_no_CS); //pressure sensor
slicht_instructor 0:6e97f9a6aca0 21 PwmOut thruster(p21); //set PWM pin //max 1.3ms min 1.1ms
slicht_instructor 0:6e97f9a6aca0 22 PwmOut thruster2(p22); //set PWM pin
slicht_instructor 0:6e97f9a6aca0 23 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
slicht_instructor 0:6e97f9a6aca0 24
slicht_instructor 0:6e97f9a6aca0 25 //global ticker
slicht_instructor 0:6e97f9a6aca0 26 Ticker log_ticker;
slicht_instructor 0:6e97f9a6aca0 27 Ticker accel_ticker;
mgimple 1:e1a2b47c3098 28
slicht_instructor 0:6e97f9a6aca0 29 // global timer
slicht_instructor 0:6e97f9a6aca0 30 Timer t;
slicht_instructor 0:6e97f9a6aca0 31
slicht_instructor 0:6e97f9a6aca0 32 ///File
slicht_instructor 0:6e97f9a6aca0 33 FILE *fp;
slicht_instructor 0:6e97f9a6aca0 34 char fname[100];
slicht_instructor 0:6e97f9a6aca0 35 float PI = 3.14159265358979323846f;
slicht_instructor 0:6e97f9a6aca0 36
slicht_instructor 0:6e97f9a6aca0 37 //float operation parameters
mgimple 1:e1a2b47c3098 38 float target_depth=0; //global target depth default 0
mgimple 1:e1a2b47c3098 39 int yo_num=0; //global yo_num default 0
mgimple 1:e1a2b47c3098 40 float thrust_on_time=0; //global thrust_on time default 0
mgimple 1:e1a2b47c3098 41 float accelData[3]; //global accel data
slicht_instructor 0:6e97f9a6aca0 42
slicht_instructor 0:6e97f9a6aca0 43 //functions
slicht_instructor 0:6e97f9a6aca0 44 void welcome();
slicht_instructor 0:6e97f9a6aca0 45 void log_data();
slicht_instructor 0:6e97f9a6aca0 46 //IMU related
slicht_instructor 0:6e97f9a6aca0 47 void accel_update(); //update accelerometer related variables. we use imu_ticker to call this function
slicht_instructor 0:6e97f9a6aca0 48 //Control related functions
slicht_instructor 0:6e97f9a6aca0 49 void thrust_on(float pw, float on_time); //input is pulse width
slicht_instructor 0:6e97f9a6aca0 50
slicht_instructor 0:6e97f9a6aca0 51 //-------------Main functions-----------------------------------------------------------------------------------------
slicht_instructor 0:6e97f9a6aca0 52 int main()
slicht_instructor 0:6e97f9a6aca0 53 {
slicht_instructor 0:6e97f9a6aca0 54 //-----Initialization realted code-------//
slicht_instructor 0:6e97f9a6aca0 55 //inital set the thruster esc to 1ms duty cycle
slicht_instructor 0:6e97f9a6aca0 56 thruster.period(0.002); // 2 ms period
slicht_instructor 0:6e97f9a6aca0 57 thruster.pulsewidth(1.0/1000.000);
slicht_instructor 0:6e97f9a6aca0 58 //Initialize accelerometer:
slicht_instructor 0:6e97f9a6aca0 59 accel.init();
slicht_instructor 0:6e97f9a6aca0 60 led1=1;
slicht_instructor 0:6e97f9a6aca0 61 //initialize pressure sensor
slicht_instructor 0:6e97f9a6aca0 62 pc.printf("setting the pressure sensor\r\n");
slicht_instructor 0:6e97f9a6aca0 63 p_sensor.MS5837Reset();
slicht_instructor 0:6e97f9a6aca0 64 p_sensor.MS5837Init();
slicht_instructor 0:6e97f9a6aca0 65 pc.printf("settting the tickers\r\n");
slicht_instructor 0:6e97f9a6aca0 66 t.start();
slicht_instructor 0:6e97f9a6aca0 67 led2=1;
slicht_instructor 0:6e97f9a6aca0 68 welcome();
slicht_instructor 0:6e97f9a6aca0 69 //-----setup ticker-------//
slicht_instructor 0:6e97f9a6aca0 70 //setup ticker to separate log and IMU data update.
slicht_instructor 0:6e97f9a6aca0 71 //so we could have all our control code in the while loop
slicht_instructor 0:6e97f9a6aca0 72 // //log at 2 Hz
slicht_instructor 0:6e97f9a6aca0 73 accel_ticker.attach(&accel_update,0.1); //10Hz
slicht_instructor 0:6e97f9a6aca0 74 log_ticker.attach(&log_data,0.5);
slicht_instructor 0:6e97f9a6aca0 75 wait(1);
slicht_instructor 0:6e97f9a6aca0 76 while(1)
slicht_instructor 0:6e97f9a6aca0 77 {
slicht_instructor 0:6e97f9a6aca0 78 // put your main control code here
slicht_instructor 0:6e97f9a6aca0 79 }
slicht_instructor 0:6e97f9a6aca0 80
slicht_instructor 0:6e97f9a6aca0 81 }
slicht_instructor 0:6e97f9a6aca0 82
slicht_instructor 0:6e97f9a6aca0 83 //-------------Customized functions---------------------------------------------//----------------------------------------
slicht_instructor 0:6e97f9a6aca0 84 ///-----------Welcome menu---------------------///
slicht_instructor 0:6e97f9a6aca0 85 void welcome()
slicht_instructor 0:6e97f9a6aca0 86 {
slicht_instructor 0:6e97f9a6aca0 87 char buffer[100]={0};
slicht_instructor 0:6e97f9a6aca0 88 int flag=1;
slicht_instructor 0:6e97f9a6aca0 89 //Flush the port
slicht_instructor 0:6e97f9a6aca0 90 while(BLE.readable())
slicht_instructor 0:6e97f9a6aca0 91 {
slicht_instructor 0:6e97f9a6aca0 92 BLE.getc();
slicht_instructor 0:6e97f9a6aca0 93 }
slicht_instructor 0:6e97f9a6aca0 94 while(flag)
slicht_instructor 0:6e97f9a6aca0 95 {
slicht_instructor 0:6e97f9a6aca0 96 BLE.printf("### I am alive\r\n");
slicht_instructor 0:6e97f9a6aca0 97 BLE.printf("### Please enter the log file name you want\r\n");
slicht_instructor 0:6e97f9a6aca0 98 if(BLE.readable())
slicht_instructor 0:6e97f9a6aca0 99 {
slicht_instructor 0:6e97f9a6aca0 100 BLE.scanf("%s",buffer);
slicht_instructor 0:6e97f9a6aca0 101 sprintf(fname,"/sd/mydir/%s.txt",buffer); //make file name
slicht_instructor 0:6e97f9a6aca0 102
slicht_instructor 0:6e97f9a6aca0 103 flag = 0; //set the flag to 0 to break the while
slicht_instructor 0:6e97f9a6aca0 104 }
slicht_instructor 0:6e97f9a6aca0 105 wait(1);
slicht_instructor 0:6e97f9a6aca0 106 }
slicht_instructor 0:6e97f9a6aca0 107 //print name
slicht_instructor 0:6e97f9a6aca0 108 BLE.printf("### name received\r\n");
slicht_instructor 0:6e97f9a6aca0 109 BLE.printf("### file name and directory is: \r\n %s\r\n",fname); //file name and location
slicht_instructor 0:6e97f9a6aca0 110 //open file test
slicht_instructor 0:6e97f9a6aca0 111 mkdir("/sd/mydir",0777); //keep 0777, this is magic #
slicht_instructor 0:6e97f9a6aca0 112 fp = fopen(fname, "a");
slicht_instructor 0:6e97f9a6aca0 113 if(fp == NULL){
slicht_instructor 0:6e97f9a6aca0 114 BLE.printf("Could not open file for write\n");
slicht_instructor 0:6e97f9a6aca0 115 }
slicht_instructor 0:6e97f9a6aca0 116 else
slicht_instructor 0:6e97f9a6aca0 117 {
slicht_instructor 0:6e97f9a6aca0 118 BLE.printf("##file open good \n"); //open file and tell if open
slicht_instructor 0:6e97f9a6aca0 119 fprintf(fp, "Hello\r\n");
slicht_instructor 0:6e97f9a6aca0 120 fclose(fp);
slicht_instructor 0:6e97f9a6aca0 121 }
slicht_instructor 0:6e97f9a6aca0 122
slicht_instructor 0:6e97f9a6aca0 123 BLE.printf("### The main program will start in 10 seconds\r\n");
slicht_instructor 0:6e97f9a6aca0 124 wait(5);
slicht_instructor 0:6e97f9a6aca0 125 }
slicht_instructor 0:6e97f9a6aca0 126
slicht_instructor 0:6e97f9a6aca0 127 ///-----------log functions---------------------///
slicht_instructor 0:6e97f9a6aca0 128 void log_data()
slicht_instructor 0:6e97f9a6aca0 129 {
slicht_instructor 0:6e97f9a6aca0 130 //log system time t.read()
slicht_instructor 0:6e97f9a6aca0 131 // log imu data, log science data
slicht_instructor 0:6e97f9a6aca0 132 // log pulse width
slicht_instructor 0:6e97f9a6aca0 133 // log pressure sensor data.
slicht_instructor 0:6e97f9a6aca0 134 //science sensor: temp.temp(), light.light()
slicht_instructor 0:6e97f9a6aca0 135 //IMU sensor
slicht_instructor 0:6e97f9a6aca0 136
slicht_instructor 0:6e97f9a6aca0 137 }
slicht_instructor 0:6e97f9a6aca0 138
slicht_instructor 0:6e97f9a6aca0 139 ///-----------acceleromter related functions---------------------///
slicht_instructor 0:6e97f9a6aca0 140 void accel_update()
slicht_instructor 0:6e97f9a6aca0 141 {
slicht_instructor 0:6e97f9a6aca0 142 accelData[0] = accel.readX();
slicht_instructor 0:6e97f9a6aca0 143 accelData[1] = accel.readY();
slicht_instructor 0:6e97f9a6aca0 144 accelData[2] = accel.readZ();
slicht_instructor 0:6e97f9a6aca0 145 }
slicht_instructor 0:6e97f9a6aca0 146
slicht_instructor 0:6e97f9a6aca0 147 ///-----------Control related functions---------------------///
slicht_instructor 0:6e97f9a6aca0 148 ////Thruster on control, pw->pulse width in milli-second//
slicht_instructor 0:6e97f9a6aca0 149 //// pw range between 1 to 1.5//
slicht_instructor 0:6e97f9a6aca0 150 //// on_time-> thruster on time.
slicht_instructor 0:6e97f9a6aca0 151 void thrust_on(float pw, float on_time) //input is pulse width
slicht_instructor 0:6e97f9a6aca0 152 {
slicht_instructor 0:6e97f9a6aca0 153 float pw_max=2.0;
slicht_instructor 0:6e97f9a6aca0 154 if(pw>pw_max)
slicht_instructor 0:6e97f9a6aca0 155 {
slicht_instructor 0:6e97f9a6aca0 156 pw=pw_max; //hard limitation
slicht_instructor 0:6e97f9a6aca0 157 }
slicht_instructor 0:6e97f9a6aca0 158 Timer tt;
slicht_instructor 0:6e97f9a6aca0 159 tt.reset();
slicht_instructor 0:6e97f9a6aca0 160 tt.start();
slicht_instructor 0:6e97f9a6aca0 161 // lets set the pulse width
slicht_instructor 0:6e97f9a6aca0 162 //thruster.period(20.0/1000.00); // 20 ms period
slicht_instructor 0:6e97f9a6aca0 163 thruster.pulsewidth(pw/1000.00);
slicht_instructor 0:6e97f9a6aca0 164 thruster2.pulsewidth(pw/1000.00);
slicht_instructor 0:6e97f9a6aca0 165 //PWM will be kept until time out
slicht_instructor 0:6e97f9a6aca0 166 while(tt.read()<=on_time)
slicht_instructor 0:6e97f9a6aca0 167 {
slicht_instructor 0:6e97f9a6aca0 168 }
slicht_instructor 0:6e97f9a6aca0 169 //stop the timer
slicht_instructor 0:6e97f9a6aca0 170 tt.stop();
slicht_instructor 0:6e97f9a6aca0 171 //turn off the thruster
slicht_instructor 0:6e97f9a6aca0 172 thruster.pulsewidth(1.0/1000.00);
slicht_instructor 0:6e97f9a6aca0 173 thruster2.pulsewidth(1.0/1000.00);
slicht_instructor 0:6e97f9a6aca0 174
slicht_instructor 0:6e97f9a6aca0 175 }
slicht_instructor 0:6e97f9a6aca0 176