Diff: main.cpp

Revision:

0:6e97f9a6aca0

Child:

1:e1a2b47c3098

diff -r 000000000000 -r 6e97f9a6aca0 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Nov 28 15:38:48 2021 +0000
@@ -0,0 +1,174 @@
+/*
+Author Mingxi Zhou
+OCE360 underwater float template program
+*/
+#include "mbed.h"
+#include "MMA8452Q.h"  //accelerometer library
+#include "MS5837.h"     //pressure sensor library***
+#include "SCI_SENSOR.h"     //science sensor library***
+#include "SDFileSystem.h"   // SD card library
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+Serial pc(USBTX, USBRX);    //initial serial
+Serial BLE(p13,p14);        //Bluetooth
+MMA8452Q accel(p28,p27,0x1D);  //initial accelerometer
+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 accel_ticker;
+// global timer
+Timer t;
+
+///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 accelData[3];  //global accel data
+
+//functions
+void welcome();
+void log_data();
+//IMU related
+void accel_update(); //update accelerometer related variables. we use imu_ticker to call this 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);   
+    //Initialize accelerometer:
+    accel.init();
+    led1=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();
+    led2=1;
+    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
+    accel_ticker.attach(&accel_update,0.1);  //10Hz
+    log_ticker.attach(&log_data,0.5);
+    wait(1);
+    while(1)
+    {
+      // put your main control code here
+    }
+
+}
+
+//-------------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
+        }
+        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 science data
+    // log pulse width
+    // log pressure sensor data.
+    //science sensor: temp.temp(), light.light()
+    //IMU sensor
+
+}
+
+///-----------acceleromter related functions---------------------///
+void accel_update()
+{
+    accelData[0] = accel.readX();
+    accelData[1] = accel.readY();
+    accelData[2] = accel.readZ(); 
+}
+
+///-----------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);
+
+}
+