megan gimple / Mbed 2 deprecated OCE360_Final_Project

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Dependencies:   mbed MMA8452Q MS5837 SDFileSystem SCI_SENSOR

main.cpp@26:379bc50f5f23, 2021-12-08 (annotated)

Committer:
mgimple
Date:
Wed Dec 08 19:17:39 2021 +0000
Revision:
26:379bc50f5f23
Parent:
25:69027120c44f
Child:
27:e0943cb83251
hhh

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 25:69027120c44f 4 //Description: This code controls the movement of a UAV. Collects pressure, temperaure, light, and acceleration data and writes that to a file on an onboard SD card.
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;
mgimple 20:6fb55c833f9f 31 Timer timer2; //part two timer
slicht_instructor 0:6e97f9a6aca0 32
slicht_instructor 0:6e97f9a6aca0 33 ///File
slicht_instructor 0:6e97f9a6aca0 34 FILE *fp;
slicht_instructor 0:6e97f9a6aca0 35 char fname[100];
slicht_instructor 0:6e97f9a6aca0 36 float PI = 3.14159265358979323846f;
slicht_instructor 0:6e97f9a6aca0 37
slicht_instructor 0:6e97f9a6aca0 38 //float operation parameters
mgimple 1:e1a2b47c3098 39 float target_depth=0; //global target depth default 0
mgimple 1:e1a2b47c3098 40 int yo_num=0; //global yo_num default 0
mgimple 1:e1a2b47c3098 41 float thrust_on_time=0; //global thrust_on time default 0
mgimple 1:e1a2b47c3098 42 float accelData[3]; //global accel data
mgimple 20:6fb55c833f9f 43 float vessel_length=1;
slicht_instructor 0:6e97f9a6aca0 44
slicht_instructor 0:6e97f9a6aca0 45 //functions
slicht_instructor 0:6e97f9a6aca0 46 void welcome();
slicht_instructor 0:6e97f9a6aca0 47 void log_data();
mgimple 4:d87b1e40d419 48
slicht_instructor 0:6e97f9a6aca0 49 //IMU related
slicht_instructor 0:6e97f9a6aca0 50 void accel_update(); //update accelerometer related variables. we use imu_ticker to call this function
mgimple 5:17f2b3e61112 51
mgimple 9:e4e1d5db0c04 52 //Control Parameters
mgimple 9:e4e1d5db0c04 53 float tim =5; //define thruster on time
mgimple 14:ed172dec4022 54 float percent = 1.5; //user defined percent of thrust power
mgimple 9:e4e1d5db0c04 55
slicht_instructor 0:6e97f9a6aca0 56 //Control related functions
slicht_instructor 0:6e97f9a6aca0 57 void thrust_on(float pw, float on_time); //input is pulse width
mgimple 10:b2fe6d1dee81 58 //void thrust_off(float pw, float on_time); // turn off pulse width
mgimple 9:e4e1d5db0c04 59
mgimple 5:17f2b3e61112 60
elizabethtaylor 11:fc58334fd36b 61 //global variables
elizabethtaylor 11:fc58334fd36b 62
elizabethtaylor 11:fc58334fd36b 63
slicht_instructor 0:6e97f9a6aca0 64 //-------------Main functions-----------------------------------------------------------------------------------------
slicht_instructor 0:6e97f9a6aca0 65 int main()
slicht_instructor 0:6e97f9a6aca0 66 {
slicht_instructor 0:6e97f9a6aca0 67 //-----Initialization realted code-------//
mgimple 18:b5f58a274570 68 //inital set the thruster esc to 1ms duty cycle
slicht_instructor 0:6e97f9a6aca0 69 thruster.period(0.002); // 2 ms period
mgimple 18:b5f58a274570 70 thruster.pulsewidth(1.0/1000.000);
mgimple 18:b5f58a274570 71
slicht_instructor 0:6e97f9a6aca0 72 //Initialize accelerometer:
slicht_instructor 0:6e97f9a6aca0 73 accel.init();
slicht_instructor 0:6e97f9a6aca0 74 led1=1;
mgimple 18:b5f58a274570 75
slicht_instructor 0:6e97f9a6aca0 76 //initialize pressure sensor
slicht_instructor 0:6e97f9a6aca0 77 pc.printf("setting the pressure sensor\r\n");
slicht_instructor 0:6e97f9a6aca0 78 p_sensor.MS5837Reset();
slicht_instructor 0:6e97f9a6aca0 79 p_sensor.MS5837Init();
mgimple 6:5f55105701ac 80 pc.printf("setting the tickers\r\n");
slicht_instructor 0:6e97f9a6aca0 81 t.start();
slicht_instructor 0:6e97f9a6aca0 82 led2=1;
slicht_instructor 0:6e97f9a6aca0 83 welcome();
mgimple 18:b5f58a274570 84
slicht_instructor 0:6e97f9a6aca0 85 //-----setup ticker-------//
slicht_instructor 0:6e97f9a6aca0 86 //setup ticker to separate log and IMU data update.
slicht_instructor 0:6e97f9a6aca0 87 //so we could have all our control code in the while loop
slicht_instructor 0:6e97f9a6aca0 88 // //log at 2 Hz
slicht_instructor 0:6e97f9a6aca0 89 accel_ticker.attach(&accel_update,0.1); //10Hz
slicht_instructor 0:6e97f9a6aca0 90 log_ticker.attach(&log_data,0.5);
slicht_instructor 0:6e97f9a6aca0 91 wait(1);
mgimple 18:b5f58a274570 92
mgimple 17:e72c4ac9a39e 93 //Part One
elizabethtaylor 25:69027120c44f 94 int count=0;
elizabethtaylor 25:69027120c44f 95 while(count<3) {
mgimple 20:6fb55c833f9f 96 count=count+1;
mgimple 20:6fb55c833f9f 97 float pw= percent;
mgimple 20:6fb55c833f9f 98 float on_time =tim;
mgimple 20:6fb55c833f9f 99 thrust_on(pw, on_time); //turn thruster on for 5 seconds
mgimple 21:1a9fe2de6e4f 100 wait(1);
mgimple 19:c78d3e8353c4 101 }
mgimple 18:b5f58a274570 102
mgimple 17:e72c4ac9a39e 103 //Part Two
mgimple 21:1a9fe2de6e4f 104 timer2.start();
mgimple 18:b5f58a274570 105 while(1) {
mgimple 20:6fb55c833f9f 106
mgimple 17:e72c4ac9a39e 107 float current_depth=p_sensor.depth();
mgimple 17:e72c4ac9a39e 108 float pw=percent;
mgimple 17:e72c4ac9a39e 109 float on_time=3;
mgimple 18:b5f58a274570 110
mgimple 18:b5f58a274570 111 if (current_depth-vessel_length<2) {
mgimple 17:e72c4ac9a39e 112 thrust_on(pw,on_time);
mgimple 18:b5f58a274570 113 }
mgimple 21:1a9fe2de6e4f 114 if (timer2.read()>10){ //60 because counting in seconds?
mgimple 17:e72c4ac9a39e 115 return 0;
mgimple 17:e72c4ac9a39e 116 }
mgimple 18:b5f58a274570 117 }
mgimple 21:1a9fe2de6e4f 118
mgimple 18:b5f58a274570 119
mgimple 19:c78d3e8353c4 120 /*Part Three
mgimple 18:b5f58a274570 121 while(1) {
mgimple 18:b5f58a274570 122 error_deep = 2.5; //deep end of error band 2.5m ?
mgimple 18:b5f58a274570 123 error_shallow = 1.5; //shallow end of error band 1.5m?
slicht_instructor 0:6e97f9a6aca0 124
mgimple 18:b5f58a274570 125 if (current_depth <= error_shallow) { //if float is less than 1.5meters deep
mgimple 18:b5f58a274570 126 thrust_on(pw,on_time); // turn on thruster at set pw and ontime
mgimple 18:b5f58a274570 127 else if (current_depth >= error_deep) //if float is more than 2.5 meters deep
mgimple 18:b5f58a274570 128 wait(1); // do nothing for 1 sec.. float will go up for 1 sec
mgimple 20:6fb55c833f9f 129 else
mgimple 18:b5f58a274570 130 pw = ; //very low thruster percentage
mgimple 20:6fb55c833f9f 131 thrust_on(pw,on_time); //run thruster at very low percentage to maintain depth
mgimple 18:b5f58a274570 132 }
mgimple 19:c78d3e8353c4 133 */
mgimple 20:6fb55c833f9f 134 }
slicht_instructor 0:6e97f9a6aca0 135
slicht_instructor 0:6e97f9a6aca0 136 //-------------Customized functions---------------------------------------------//----------------------------------------
slicht_instructor 0:6e97f9a6aca0 137 ///-----------Welcome menu---------------------///
mgimple 20:6fb55c833f9f 138 void welcome() {
mgimple 20:6fb55c833f9f 139 char buffer[100]= {0};
mgimple 20:6fb55c833f9f 140 int flag=1;
mgimple 20:6fb55c833f9f 141 //Flush the port
mgimple 20:6fb55c833f9f 142 while(BLE.readable()) {
mgimple 20:6fb55c833f9f 143 BLE.getc();
mgimple 20:6fb55c833f9f 144 }
mgimple 20:6fb55c833f9f 145 while(flag) {
mgimple 20:6fb55c833f9f 146 BLE.printf("### I am alive\r\n");
mgimple 20:6fb55c833f9f 147 BLE.printf("### Please enter the log file name you want\r\n");
mgimple 20:6fb55c833f9f 148 if(BLE.readable()) {
mgimple 20:6fb55c833f9f 149 BLE.scanf("%s",buffer);
mgimple 20:6fb55c833f9f 150 sprintf(fname,"/sd/mydir/%s.txt",buffer); //make file name
slicht_instructor 0:6e97f9a6aca0 151
mgimple 20:6fb55c833f9f 152 flag = 0; //set the flag to 0 to break the while
mgimple 18:b5f58a274570 153 }
mgimple 20:6fb55c833f9f 154 wait(1);
mgimple 20:6fb55c833f9f 155 }
mgimple 20:6fb55c833f9f 156 //print name
mgimple 20:6fb55c833f9f 157 BLE.printf("### name received\r\n");
mgimple 20:6fb55c833f9f 158 BLE.printf("### file name and directory is: \r\n %s\r\n",fname); //file name and location
mgimple 20:6fb55c833f9f 159 //open file test
mgimple 20:6fb55c833f9f 160 mkdir("/sd/mydir",0777); //keep 0777, this is magic #
mgimple 20:6fb55c833f9f 161 fp = fopen(fname, "a");
mgimple 20:6fb55c833f9f 162 if(fp == NULL) {
mgimple 20:6fb55c833f9f 163 BLE.printf("Could not open file for write\n");
mgimple 20:6fb55c833f9f 164 } else {
mgimple 20:6fb55c833f9f 165 BLE.printf("##file open good \n"); //open file and tell if open
mgimple 20:6fb55c833f9f 166 fprintf(fp, "Hello\r\n");
elizabethtaylor 25:69027120c44f 167 fclose(fp);
slicht_instructor 0:6e97f9a6aca0 168 }
slicht_instructor 0:6e97f9a6aca0 169
mgimple 20:6fb55c833f9f 170 BLE.printf("### The main program will start in 5 seconds\r\n");
mgimple 20:6fb55c833f9f 171 wait(5);
mgimple 20:6fb55c833f9f 172 }
mgimple 20:6fb55c833f9f 173
slicht_instructor 0:6e97f9a6aca0 174 ///-----------log functions---------------------///
mgimple 20:6fb55c833f9f 175 void log_data() {
elizabethtaylor 22:2a49efff8839 176
mgimple 20:6fb55c833f9f 177 p_sensor.Barometer_MS5837();
elizabethtaylor 22:2a49efff8839 178
elizabethtaylor 22:2a49efff8839 179 //Code from Licht
elizabethtaylor 22:2a49efff8839 180 //Sample code shows how to read temperature and light data:
elizabethtaylor 22:2a49efff8839 181 BLE.printf("Temperature: %f Light: %f\r\n",temp.temp(), light.light());
elizabethtaylor 22:2a49efff8839 182
elizabethtaylor 22:2a49efff8839 183 //Sample code shows how to read pressure sensor
elizabethtaylor 22:2a49efff8839 184 BLE.printf("Depth: %f Pressure: %f Temperature: %f\r\n", p_sensor.depth(), p_sensor.MS5837_Pressure(), p_sensor.MS5837_Temperature());
elizabethtaylor 22:2a49efff8839 185 p_sensor.Barometer_MS5837(); //NOTE: this function prompts the pressure sensor to collect the next data point, so it must be included!
slicht_instructor 0:6e97f9a6aca0 186
elizabethtaylor 22:2a49efff8839 187 //Sample code indicates how to read accelerometer data:
elizabethtaylor 22:2a49efff8839 188 BLE.printf("Acceleration: %f %f %f\r\n",accelData[0],accelData[1],accelData[2]);
elizabethtaylor 22:2a49efff8839 189 //end of code from Licht
elizabethtaylor 25:69027120c44f 190
mgimple 26:379bc50f5f23 191 fp = fopen(fname, "a");
elizabethtaylor 22:2a49efff8839 192 fprintf(fp, "$DATA, %f, %f, %f, %f, %f, %f, %f, %f, %f\r\n", t.read(),p_sensor.MS5837_Pressure(),p_sensor.depth(),accelData[0],accelData[1],accelData[2],temp.temp(),light.light(),percent);
elizabethtaylor 25:69027120c44f 193 fclose(fp);
mgimple 20:6fb55c833f9f 194 }
slicht_instructor 0:6e97f9a6aca0 195
slicht_instructor 0:6e97f9a6aca0 196 ///-----------acceleromter related functions---------------------///
mgimple 20:6fb55c833f9f 197 void accel_update() {
mgimple 20:6fb55c833f9f 198 accelData[0] = accel.readX();
mgimple 20:6fb55c833f9f 199 accelData[1] = accel.readY();
mgimple 20:6fb55c833f9f 200 accelData[2] = accel.readZ();
mgimple 20:6fb55c833f9f 201 }
slicht_instructor 0:6e97f9a6aca0 202
slicht_instructor 0:6e97f9a6aca0 203 ///-----------Control related functions---------------------///
slicht_instructor 0:6e97f9a6aca0 204 ////Thruster on control, pw->pulse width in milli-second//
slicht_instructor 0:6e97f9a6aca0 205 //// pw range between 1 to 1.5//
slicht_instructor 0:6e97f9a6aca0 206 //// on_time-> thruster on time.
mgimple 20:6fb55c833f9f 207 void thrust_on(float pw, float on_time) { //input is pulse width
slicht_instructor 0:6e97f9a6aca0 208
mgimple 20:6fb55c833f9f 209 float pw_max=2.0;
mgimple 20:6fb55c833f9f 210 if(pw>pw_max) {
mgimple 20:6fb55c833f9f 211 pw=pw_max; //hard limitation
mgimple 20:6fb55c833f9f 212 }
mgimple 20:6fb55c833f9f 213 Timer tt;
mgimple 20:6fb55c833f9f 214 tt.reset();
mgimple 20:6fb55c833f9f 215 tt.start();
mgimple 20:6fb55c833f9f 216 // lets set the pulse width
mgimple 20:6fb55c833f9f 217 //thruster.period(20.0/1000.00); // 20 ms period
mgimple 20:6fb55c833f9f 218 thruster.pulsewidth(pw/1000.00);
mgimple 20:6fb55c833f9f 219 thruster2.pulsewidth(pw/1000.00);
mgimple 20:6fb55c833f9f 220 //PWM will be kept until time out
mgimple 20:6fb55c833f9f 221 while(tt.read()<=on_time) {
mgimple 18:b5f58a274570 222
mgimple 20:6fb55c833f9f 223 pc.printf("thruster on?...mack is cool\r\n"); //print check
mgimple 20:6fb55c833f9f 224 }
mgimple 20:6fb55c833f9f 225 //stop the timer
mgimple 20:6fb55c833f9f 226 tt.stop();
mgimple 20:6fb55c833f9f 227 //turn off the thruster
mgimple 20:6fb55c833f9f 228 thruster.pulsewidth(1.0/1000.00);
mgimple 20:6fb55c833f9f 229 thruster2.pulsewidth(1.0/1000.00);
mgimple 18:b5f58a274570 230
mgimple 20:6fb55c833f9f 231 }
slicht_instructor 0:6e97f9a6aca0 232
mgimple 10:b2fe6d1dee81 233 ///void thrust_off(float pw, float on_time) //input is pulse width
mgimple 10:b2fe6d1dee81 234 //