megan gimple / Mbed 2 deprecated OCE360_Final_Project

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Dependencies:   mbed MMA8452Q MS5837 SDFileSystem SCI_SENSOR

main.cpp@17:e72c4ac9a39e, 2021-12-02 (annotated)

Committer:
mgimple
Date:
Thu Dec 02 15:12:59 2021 +0000
Revision:
17:e72c4ac9a39e
Parent:
16:6cc2ad084c2d
Child:
18:b5f58a274570
Part Two: untested

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elizabethtaylor 11:fc58334fd36b 1 //OCE 360 Final Project
elizabethtaylor 11:fc58334fd36b 2 //Annaliese Nardi, Eliza Taylor, Mackenzie Fraser, Megan Gimple
elizabethtaylor 11:fc58334fd36b 3 //Updated Code by Stephen Licht
elizabethtaylor 11:fc58334fd36b 4 //Description:
elizabethtaylor 11:fc58334fd36b 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
mgimple 17:e72c4ac9a39e 42 float vessel_lenth=1;
slicht_instructor 0:6e97f9a6aca0 43
slicht_instructor 0:6e97f9a6aca0 44 //functions
slicht_instructor 0:6e97f9a6aca0 45 void welcome();
slicht_instructor 0:6e97f9a6aca0 46 void log_data();
mgimple 4:d87b1e40d419 47
slicht_instructor 0:6e97f9a6aca0 48 //IMU related
slicht_instructor 0:6e97f9a6aca0 49 void accel_update(); //update accelerometer related variables. we use imu_ticker to call this function
mgimple 5:17f2b3e61112 50
mgimple 9:e4e1d5db0c04 51 //Control Parameters
mgimple 9:e4e1d5db0c04 52 float tim =5; //define thruster on time
mgimple 14:ed172dec4022 53 float percent = 1.5; //user defined percent of thrust power
mgimple 9:e4e1d5db0c04 54
slicht_instructor 0:6e97f9a6aca0 55 //Control related functions
slicht_instructor 0:6e97f9a6aca0 56 void thrust_on(float pw, float on_time); //input is pulse width
mgimple 10:b2fe6d1dee81 57 //void thrust_off(float pw, float on_time); // turn off pulse width
mgimple 9:e4e1d5db0c04 58
mgimple 5:17f2b3e61112 59
elizabethtaylor 11:fc58334fd36b 60 //global variables
elizabethtaylor 11:fc58334fd36b 61
elizabethtaylor 11:fc58334fd36b 62
slicht_instructor 0:6e97f9a6aca0 63 //-------------Main functions-----------------------------------------------------------------------------------------
slicht_instructor 0:6e97f9a6aca0 64 int main()
slicht_instructor 0:6e97f9a6aca0 65 {
slicht_instructor 0:6e97f9a6aca0 66 //-----Initialization realted code-------//
slicht_instructor 0:6e97f9a6aca0 67 //inital set the thruster esc to 1ms duty cycle
slicht_instructor 0:6e97f9a6aca0 68 thruster.period(0.002); // 2 ms period
slicht_instructor 0:6e97f9a6aca0 69 thruster.pulsewidth(1.0/1000.000);
mgimple 4:d87b1e40d419 70
slicht_instructor 0:6e97f9a6aca0 71 //Initialize accelerometer:
slicht_instructor 0:6e97f9a6aca0 72 accel.init();
slicht_instructor 0:6e97f9a6aca0 73 led1=1;
mgimple 4:d87b1e40d419 74
slicht_instructor 0:6e97f9a6aca0 75 //initialize pressure sensor
slicht_instructor 0:6e97f9a6aca0 76 pc.printf("setting the pressure sensor\r\n");
slicht_instructor 0:6e97f9a6aca0 77 p_sensor.MS5837Reset();
slicht_instructor 0:6e97f9a6aca0 78 p_sensor.MS5837Init();
mgimple 6:5f55105701ac 79 pc.printf("setting the tickers\r\n");
slicht_instructor 0:6e97f9a6aca0 80 t.start();
slicht_instructor 0:6e97f9a6aca0 81 led2=1;
slicht_instructor 0:6e97f9a6aca0 82 welcome();
mgimple 4:d87b1e40d419 83
slicht_instructor 0:6e97f9a6aca0 84 //-----setup ticker-------//
slicht_instructor 0:6e97f9a6aca0 85 //setup ticker to separate log and IMU data update.
slicht_instructor 0:6e97f9a6aca0 86 //so we could have all our control code in the while loop
slicht_instructor 0:6e97f9a6aca0 87 // //log at 2 Hz
slicht_instructor 0:6e97f9a6aca0 88 accel_ticker.attach(&accel_update,0.1); //10Hz
slicht_instructor 0:6e97f9a6aca0 89 log_ticker.attach(&log_data,0.5);
slicht_instructor 0:6e97f9a6aca0 90 wait(1);
mgimple 9:e4e1d5db0c04 91
mgimple 17:e72c4ac9a39e 92 //Part One
mgimple 17:e72c4ac9a39e 93 /*int count=0;
slicht_instructor 0:6e97f9a6aca0 94 while(1)
slicht_instructor 0:6e97f9a6aca0 95 {
mgimple 14:ed172dec4022 96 count=count+1;
mgimple 10:b2fe6d1dee81 97 float pw= percent;
mgimple 10:b2fe6d1dee81 98 float on_time =tim;
mgimple 10:b2fe6d1dee81 99 thrust_on(pw, on_time); //turn thruster on for 5 seconds
mgimple 14:ed172dec4022 100 wait(10);
mgimple 14:ed172dec4022 101 if count==3{
mgimple 14:ed172dec4022 102 return 0;
mgimple 14:ed172dec4022 103 }
mgimple 17:e72c4ac9a39e 104 }*/
mgimple 17:e72c4ac9a39e 105
mgimple 17:e72c4ac9a39e 106 //Part Two
mgimple 17:e72c4ac9a39e 107 while(1){
mgimple 17:e72c4ac9a39e 108 float current_depth=p_sensor.depth();
mgimple 17:e72c4ac9a39e 109 float pw=percent;
mgimple 17:e72c4ac9a39e 110 float on_time=3;
mgimple 17:e72c4ac9a39e 111
mgimple 17:e72c4ac9a39e 112 if (current_depth-vessel_length<2){
mgimple 17:e72c4ac9a39e 113 thrust_on(pw,on_time);
mgimple 17:e72c4ac9a39e 114 }
mgimple 17:e72c4ac9a39e 115 if t.read()>1{
mgimple 17:e72c4ac9a39e 116 return 0;
mgimple 17:e72c4ac9a39e 117 }
mgimple 17:e72c4ac9a39e 118 }
mgimple 17:e72c4ac9a39e 119
mgimple 17:e72c4ac9a39e 120
mgimple 17:e72c4ac9a39e 121
slicht_instructor 0:6e97f9a6aca0 122
slicht_instructor 0:6e97f9a6aca0 123 }
slicht_instructor 0:6e97f9a6aca0 124
slicht_instructor 0:6e97f9a6aca0 125 //-------------Customized functions---------------------------------------------//----------------------------------------
slicht_instructor 0:6e97f9a6aca0 126 ///-----------Welcome menu---------------------///
slicht_instructor 0:6e97f9a6aca0 127 void welcome()
slicht_instructor 0:6e97f9a6aca0 128 {
slicht_instructor 0:6e97f9a6aca0 129 char buffer[100]={0};
slicht_instructor 0:6e97f9a6aca0 130 int flag=1;
slicht_instructor 0:6e97f9a6aca0 131 //Flush the port
slicht_instructor 0:6e97f9a6aca0 132 while(BLE.readable())
slicht_instructor 0:6e97f9a6aca0 133 {
slicht_instructor 0:6e97f9a6aca0 134 BLE.getc();
slicht_instructor 0:6e97f9a6aca0 135 }
slicht_instructor 0:6e97f9a6aca0 136 while(flag)
slicht_instructor 0:6e97f9a6aca0 137 {
slicht_instructor 0:6e97f9a6aca0 138 BLE.printf("### I am alive\r\n");
slicht_instructor 0:6e97f9a6aca0 139 BLE.printf("### Please enter the log file name you want\r\n");
slicht_instructor 0:6e97f9a6aca0 140 if(BLE.readable())
slicht_instructor 0:6e97f9a6aca0 141 {
slicht_instructor 0:6e97f9a6aca0 142 BLE.scanf("%s",buffer);
slicht_instructor 0:6e97f9a6aca0 143 sprintf(fname,"/sd/mydir/%s.txt",buffer); //make file name
slicht_instructor 0:6e97f9a6aca0 144
slicht_instructor 0:6e97f9a6aca0 145 flag = 0; //set the flag to 0 to break the while
slicht_instructor 0:6e97f9a6aca0 146 }
slicht_instructor 0:6e97f9a6aca0 147 wait(1);
slicht_instructor 0:6e97f9a6aca0 148 }
slicht_instructor 0:6e97f9a6aca0 149 //print name
slicht_instructor 0:6e97f9a6aca0 150 BLE.printf("### name received\r\n");
slicht_instructor 0:6e97f9a6aca0 151 BLE.printf("### file name and directory is: \r\n %s\r\n",fname); //file name and location
slicht_instructor 0:6e97f9a6aca0 152 //open file test
slicht_instructor 0:6e97f9a6aca0 153 mkdir("/sd/mydir",0777); //keep 0777, this is magic #
slicht_instructor 0:6e97f9a6aca0 154 fp = fopen(fname, "a");
slicht_instructor 0:6e97f9a6aca0 155 if(fp == NULL){
slicht_instructor 0:6e97f9a6aca0 156 BLE.printf("Could not open file for write\n");
slicht_instructor 0:6e97f9a6aca0 157 }
slicht_instructor 0:6e97f9a6aca0 158 else
slicht_instructor 0:6e97f9a6aca0 159 {
slicht_instructor 0:6e97f9a6aca0 160 BLE.printf("##file open good \n"); //open file and tell if open
slicht_instructor 0:6e97f9a6aca0 161 fprintf(fp, "Hello\r\n");
slicht_instructor 0:6e97f9a6aca0 162 fclose(fp);
slicht_instructor 0:6e97f9a6aca0 163 }
slicht_instructor 0:6e97f9a6aca0 164
mgimple 16:6cc2ad084c2d 165 BLE.printf("### The main program will start in 5 seconds\r\n");
slicht_instructor 0:6e97f9a6aca0 166 wait(5);
slicht_instructor 0:6e97f9a6aca0 167 }
slicht_instructor 0:6e97f9a6aca0 168
slicht_instructor 0:6e97f9a6aca0 169 ///-----------log functions---------------------///
slicht_instructor 0:6e97f9a6aca0 170 void log_data()
slicht_instructor 0:6e97f9a6aca0 171 {
elizabethtaylor 11:fc58334fd36b 172 float current_time=t.read();
elizabethtaylor 11:fc58334fd36b 173 float current_pressure=p_sensor.MS5837_Pressure();
elizabethtaylor 11:fc58334fd36b 174 float current_depth=p_sensor.depth();
elizabethtaylor 11:fc58334fd36b 175 float current_pw=percent;
elizabethtaylor 11:fc58334fd36b 176 float current_Xaccel=accelData[0];
elizabethtaylor 11:fc58334fd36b 177 float current_Yaccel=accelData[1];
elizabethtaylor 11:fc58334fd36b 178 float current_Zaccel=accelData[2];
elizabethtaylor 11:fc58334fd36b 179 float current_temp=temp.temp();
elizabethtaylor 11:fc58334fd36b 180 float current_light=light.light();
elizabethtaylor 11:fc58334fd36b 181
elizabethtaylor 13:c886dcc0ea41 182 fprintf(fp, "$DATA, %f, %f, %f, %f, %f, %f, %f, %f, %f\r\n", current_time,current_pressure,current_depth,current_Xaccel,current_Yaccel,current_Zaccel,current_temp,current_light,current_pw);
elizabethtaylor 11:fc58334fd36b 183
elizabethtaylor 11:fc58334fd36b 184 // log system time t.read()
slicht_instructor 0:6e97f9a6aca0 185 // log imu data, log science data
slicht_instructor 0:6e97f9a6aca0 186 // log pulse width
slicht_instructor 0:6e97f9a6aca0 187 // log pressure sensor data.
elizabethtaylor 11:fc58334fd36b 188 // science sensor: temp.temp(), light.light()
elizabethtaylor 11:fc58334fd36b 189 // IMU sensor
slicht_instructor 0:6e97f9a6aca0 190
slicht_instructor 0:6e97f9a6aca0 191 }
slicht_instructor 0:6e97f9a6aca0 192
slicht_instructor 0:6e97f9a6aca0 193 ///-----------acceleromter related functions---------------------///
slicht_instructor 0:6e97f9a6aca0 194 void accel_update()
slicht_instructor 0:6e97f9a6aca0 195 {
slicht_instructor 0:6e97f9a6aca0 196 accelData[0] = accel.readX();
slicht_instructor 0:6e97f9a6aca0 197 accelData[1] = accel.readY();
slicht_instructor 0:6e97f9a6aca0 198 accelData[2] = accel.readZ();
slicht_instructor 0:6e97f9a6aca0 199 }
slicht_instructor 0:6e97f9a6aca0 200
slicht_instructor 0:6e97f9a6aca0 201 ///-----------Control related functions---------------------///
slicht_instructor 0:6e97f9a6aca0 202 ////Thruster on control, pw->pulse width in milli-second//
slicht_instructor 0:6e97f9a6aca0 203 //// pw range between 1 to 1.5//
slicht_instructor 0:6e97f9a6aca0 204 //// on_time-> thruster on time.
slicht_instructor 0:6e97f9a6aca0 205 void thrust_on(float pw, float on_time) //input is pulse width
slicht_instructor 0:6e97f9a6aca0 206 {
mgimple 10:b2fe6d1dee81 207
slicht_instructor 0:6e97f9a6aca0 208 float pw_max=2.0;
slicht_instructor 0:6e97f9a6aca0 209 if(pw>pw_max)
slicht_instructor 0:6e97f9a6aca0 210 {
slicht_instructor 0:6e97f9a6aca0 211 pw=pw_max; //hard limitation
slicht_instructor 0:6e97f9a6aca0 212 }
slicht_instructor 0:6e97f9a6aca0 213 Timer tt;
slicht_instructor 0:6e97f9a6aca0 214 tt.reset();
slicht_instructor 0:6e97f9a6aca0 215 tt.start();
slicht_instructor 0:6e97f9a6aca0 216 // lets set the pulse width
slicht_instructor 0:6e97f9a6aca0 217 //thruster.period(20.0/1000.00); // 20 ms period
slicht_instructor 0:6e97f9a6aca0 218 thruster.pulsewidth(pw/1000.00);
slicht_instructor 0:6e97f9a6aca0 219 thruster2.pulsewidth(pw/1000.00);
slicht_instructor 0:6e97f9a6aca0 220 //PWM will be kept until time out
slicht_instructor 0:6e97f9a6aca0 221 while(tt.read()<=on_time)
slicht_instructor 0:6e97f9a6aca0 222 {
mgimple 10:b2fe6d1dee81 223
mgimple 6:5f55105701ac 224 pc.printf("thruster on?...mack is cool\r\n"); //print check
slicht_instructor 0:6e97f9a6aca0 225 }
slicht_instructor 0:6e97f9a6aca0 226 //stop the timer
slicht_instructor 0:6e97f9a6aca0 227 tt.stop();
slicht_instructor 0:6e97f9a6aca0 228 //turn off the thruster
slicht_instructor 0:6e97f9a6aca0 229 thruster.pulsewidth(1.0/1000.00);
slicht_instructor 0:6e97f9a6aca0 230 thruster2.pulsewidth(1.0/1000.00);
slicht_instructor 0:6e97f9a6aca0 231
slicht_instructor 0:6e97f9a6aca0 232 }
slicht_instructor 0:6e97f9a6aca0 233
mgimple 10:b2fe6d1dee81 234 ///void thrust_off(float pw, float on_time) //input is pulse width
mgimple 10:b2fe6d1dee81 235 //