Madeline Kistler / Mbed 2 deprecated Final_Project

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Dependencies:   mbed MS5837_final LSM9DS1_final SDFileSystem_final SCI_SENSOR_final

main.cpp@1:88ebad269e60, 2020-12-01 (annotated)

Committer:
mkistler
Date:
Tue Dec 01 14:41:24 2020 +0000
Revision:
1:88ebad269e60
Parent:
0:187a5ea5239b
Child:
2:ba90f3e05798
Void log_data changes. Maddy

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mkistler 0:187a5ea5239b 1 /*
mkistler 0:187a5ea5239b 2 Author Mingxi Zhou
mkistler 0:187a5ea5239b 3 OCE360 underwater float template program
mkistler 0:187a5ea5239b 4 */
mkistler 0:187a5ea5239b 5 #include "mbed.h"
mkistler 0:187a5ea5239b 6 #include "LSM9DS1.h" //IMU library
mkistler 0:187a5ea5239b 7 #include "MS5837.h" //pressure sensor library
mkistler 0:187a5ea5239b 8 #include "SCI_SENSOR.h" //science sensor
mkistler 0:187a5ea5239b 9 #include "SDFileSystem.h" // SD card
mkistler 0:187a5ea5239b 10
mkistler 0:187a5ea5239b 11 DigitalOut myled(LED1);
mkistler 0:187a5ea5239b 12 Serial pc(USBTX, USBRX); //initial serial
mkistler 0:187a5ea5239b 13 Serial BLE(p13,p14); //Bluetooth
mkistler 0:187a5ea5239b 14 LSM9DS1 IMU(p28, p27, 0xD6, 0x3C); //initial IMU
mkistler 0:187a5ea5239b 15 LM19 temp(p19);
mkistler 0:187a5ea5239b 16 PhotoCell light(p20);
mkistler 0:187a5ea5239b 17 MS5837 p_sensor(p9, p10, ms5837_addr_no_CS); //pressure sensor
mkistler 0:187a5ea5239b 18 PwmOut thruster(p21); //set PWM pin //max 1.3ms min 1.1ms
mkistler 0:187a5ea5239b 19 PwmOut thruster2(p22); //set PWM pin
mkistler 0:187a5ea5239b 20 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
mkistler 0:187a5ea5239b 21
mkistler 0:187a5ea5239b 22 //global ticker
mkistler 0:187a5ea5239b 23 Ticker log_ticker;
mkistler 0:187a5ea5239b 24 Ticker imu_ticker;
mkistler 0:187a5ea5239b 25 // global timer
mkistler 0:187a5ea5239b 26 Timer t;
mkistler 0:187a5ea5239b 27 //MS5837 p_sensor(p9, p10, ms5837_addr_no_CS);
mkistler 0:187a5ea5239b 28 ///File
mkistler 0:187a5ea5239b 29 FILE *fp;
mkistler 0:187a5ea5239b 30 char fname[100];
mkistler 0:187a5ea5239b 31 float PI = 3.14159265358979323846f;
mkistler 0:187a5ea5239b 32
mkistler 0:187a5ea5239b 33 //float operation parameters
mkistler 0:187a5ea5239b 34 float target_depth=0; //global target depth default 0
mkistler 0:187a5ea5239b 35 int yo_num=0; //global yo_num default 0
mkistler 0:187a5ea5239b 36 float thrust_on_time=0; //global thrust_on time default 0
mkistler 0:187a5ea5239b 37 float accel[3], mag[3], gyro[3], euler[3]; //global IMU data
mkistler 0:187a5ea5239b 38
mkistler 0:187a5ea5239b 39 //functions
mkistler 0:187a5ea5239b 40 void welcome();
mkistler 0:187a5ea5239b 41 void log_data();
mkistler 0:187a5ea5239b 42 //IMU related
mkistler 0:187a5ea5239b 43 void IMU_update(); //update IMU related varibles. we use imu_ticker to call this function
mkistler 0:187a5ea5239b 44 void mag_correction(float mx, float my, float mz, float mag_c[3]); //raw mag -> mag[3], mag_c[3] calibrated
mkistler 0:187a5ea5239b 45 void pose_estimate(float euler[3], float accel[3], float gyro[3], float mag[3]); //pose estimation function
mkistler 0:187a5ea5239b 46 //Control related functions
mkistler 0:187a5ea5239b 47 void thrust_on(float pw, float on_time); //input is pulse width
mkistler 0:187a5ea5239b 48
mkistler 0:187a5ea5239b 49 //-------------Main functions-----------------------------------------------------------------------------------------
mkistler 0:187a5ea5239b 50 int main()
mkistler 0:187a5ea5239b 51 {
mkistler 0:187a5ea5239b 52 //-----Initialization realted code-------//
mkistler 1:88ebad269e60 53 //inital set the thruster esc to 1ms duty cycle
mkistler 0:187a5ea5239b 54 thruster.period(0.002); // 2 ms period
mkistler 0:187a5ea5239b 55 thruster.pulsewidth(1.0/1000.000); /////IMU initial and begin
mkistler 0:187a5ea5239b 56 thruster2.period(0.002); // 2 ms period
mkistler 0:187a5ea5239b 57 thruster2.pulsewidth(1.0/1000.000); /////IMU initial and begin
mkistler 0:187a5ea5239b 58 IMU.begin();
mkistler 0:187a5ea5239b 59 IMU.calibrate(true);
mkistler 0:187a5ea5239b 60 myled=1;
mkistler 0:187a5ea5239b 61 //initialize pressure sensor
mkistler 0:187a5ea5239b 62 pc.printf("setting the pressure sensor\r\n");
mkistler 0:187a5ea5239b 63 p_sensor.MS5837Reset();
mkistler 0:187a5ea5239b 64 p_sensor.MS5837Init();
mkistler 0:187a5ea5239b 65 pc.printf("settting the tickers\r\n");
mkistler 0:187a5ea5239b 66 t.start();
mkistler 0:187a5ea5239b 67 myled=0;
mkistler 0:187a5ea5239b 68 welcome();
mkistler 0:187a5ea5239b 69 //-----setup ticker-------//
mkistler 0:187a5ea5239b 70 //setup ticker to separate log and IMU data update.
mkistler 0:187a5ea5239b 71 //so we could have all our control code in the while loop
mkistler 0:187a5ea5239b 72 // //log at 2 Hz
mkistler 0:187a5ea5239b 73 imu_ticker.attach(&IMU_update,0.1); //10Hz
mkistler 0:187a5ea5239b 74 log_ticker.attach(&log_data,0.5);
mkistler 0:187a5ea5239b 75 wait(1);
mkistler 1:88ebad269e60 76 while(1) {
mkistler 1:88ebad269e60 77 // put your main control code here
mkistler 0:187a5ea5239b 78 }
mkistler 0:187a5ea5239b 79
mkistler 0:187a5ea5239b 80 }
mkistler 0:187a5ea5239b 81
mkistler 0:187a5ea5239b 82 //-------------Customized functions---------------------------------------------//----------------------------------------
mkistler 0:187a5ea5239b 83 ///-----------Welcome menu---------------------///
mkistler 0:187a5ea5239b 84 void welcome()
mkistler 0:187a5ea5239b 85 {
mkistler 1:88ebad269e60 86 char buffer[100]= {0};
mkistler 0:187a5ea5239b 87 int flag=1;
mkistler 0:187a5ea5239b 88 //Flush the port
mkistler 1:88ebad269e60 89 while(BLE.readable()) {
mkistler 1:88ebad269e60 90 BLE.getc();
mkistler 0:187a5ea5239b 91 }
mkistler 1:88ebad269e60 92 while(flag) {
mkistler 0:187a5ea5239b 93 BLE.printf("### I am alive\r\n");
mkistler 0:187a5ea5239b 94 BLE.printf("### Please enter the log file name you want\r\n");
mkistler 1:88ebad269e60 95 if(BLE.readable()) {
mkistler 0:187a5ea5239b 96 BLE.scanf("%s",buffer);
mkistler 0:187a5ea5239b 97 sprintf(fname,"/sd/mydir/%s.txt",buffer); //make file name
mkistler 0:187a5ea5239b 98
mkistler 0:187a5ea5239b 99 flag = 0; //set the flag to 0 to break the while
mkistler 0:187a5ea5239b 100 }
mkistler 0:187a5ea5239b 101 myled=!myled;
mkistler 0:187a5ea5239b 102 wait(1);
mkistler 0:187a5ea5239b 103 }
mkistler 0:187a5ea5239b 104 //print name
mkistler 0:187a5ea5239b 105 BLE.printf("### name received\r\n");
mkistler 0:187a5ea5239b 106 BLE.printf("### file name and directory is: \r\n %s\r\n",fname); //file name and location
mkistler 0:187a5ea5239b 107 //open file test
mkistler 0:187a5ea5239b 108 mkdir("/sd/mydir",0777); //keep 0777, this is magic #
mkistler 0:187a5ea5239b 109 fp = fopen(fname, "a");
mkistler 1:88ebad269e60 110 if(fp == NULL) {
mkistler 0:187a5ea5239b 111 BLE.printf("Could not open file for write\n");
mkistler 1:88ebad269e60 112 } else {
mkistler 0:187a5ea5239b 113 BLE.printf("##file open good \n"); //open file and tell if open
mkistler 0:187a5ea5239b 114 fprintf(fp, "Hello\r\n");
mkistler 0:187a5ea5239b 115 fclose(fp);
mkistler 0:187a5ea5239b 116 }
mkistler 0:187a5ea5239b 117
mkistler 0:187a5ea5239b 118 BLE.printf("### The main program will start in 10 seconds\r\n");
mkistler 0:187a5ea5239b 119 wait(5);
mkistler 0:187a5ea5239b 120 }
mkistler 0:187a5ea5239b 121
mkistler 0:187a5ea5239b 122 ///-----------log functions---------------------///
mkistler 0:187a5ea5239b 123 void log_data()
mkistler 0:187a5ea5239b 124 {
mkistler 1:88ebad269e60 125 IMU_update();
mkistler 1:88ebad269e60 126 fp = fopen(fname, "a");
mkistler 1:88ebad269e60 127
mkistler 1:88ebad269e60 128 if(fp == NULL) { // If the file didn't open we'd want to know.
mkistler 1:88ebad269e60 129 error("Could not open file for write\n");
mkistler 1:88ebad269e60 130
mkistler 1:88ebad269e60 131 }
mkistler 1:88ebad269e60 132 fprintf(fp, "$NEMA,1,3,%.3f,%.3f,%.3f;", t.read(), //log system time t.read()
mkistler 1:88ebad269e60 133 p_sensor.depth(), p_sensor.MS5837_Temperature(), // log pressure sensor data.
mkistler 1:88ebad269e60 134 pw, // log pulse width
mkistler 1:88ebad269e60 135 IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), // log imu data, log sciene data
mkistler 1:88ebad269e60 136 IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz),
mkistler 1:88ebad269e60 137 euler[0],euler[1],euler[2], //IMU sensor
mkistler 1:88ebad269e60 138 temp.temp(), light.light()); //science sensor: temp.temp(), light.light()
mkistler 1:88ebad269e60 139
mkistler 1:88ebad269e60 140 fclose();
mkistler 0:187a5ea5239b 141
mkistler 0:187a5ea5239b 142 }
mkistler 0:187a5ea5239b 143
mkistler 0:187a5ea5239b 144 ///-----------IMU related functions---------------------///
mkistler 0:187a5ea5239b 145 void IMU_update()
mkistler 0:187a5ea5239b 146 {
mkistler 0:187a5ea5239b 147 IMU.readMag();
mkistler 0:187a5ea5239b 148 IMU.readGyro();
mkistler 0:187a5ea5239b 149 IMU.readAccel();
mkistler 0:187a5ea5239b 150 accel[0] = IMU.calcAccel(IMU.ax);
mkistler 0:187a5ea5239b 151 accel[1] = IMU.calcAccel(IMU.ay);
mkistler 0:187a5ea5239b 152 accel[2] = -IMU.calcAccel(IMU.az);
mkistler 0:187a5ea5239b 153 gyro[0] = IMU.calcGyro(IMU.gx);
mkistler 0:187a5ea5239b 154 gyro[1] = IMU.calcGyro(IMU.gy);
mkistler 0:187a5ea5239b 155 gyro[2] = -IMU.calcGyro(IMU.gz);
mkistler 0:187a5ea5239b 156 mag_correction(IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz), mag); //mag correction
mkistler 0:187a5ea5239b 157 mag[2] = - mag[2];
mkistler 0:187a5ea5239b 158 pose_estimate(euler, accel, gyro, mag); //pose update
mkistler 0:187a5ea5239b 159 }
mkistler 0:187a5ea5239b 160
mkistler 0:187a5ea5239b 161 void mag_correction(float mx, float my, float mz, float mag_c[3])
mkistler 0:187a5ea5239b 162 {
mkistler 0:187a5ea5239b 163 float bias[3] = {0.0793,0.0357,0.2333};
mkistler 0:187a5ea5239b 164 float scale[3][3] = {{1.0070, 0.0705, 0.0368},
mkistler 1:88ebad269e60 165 {0.0705, 1.0807, 0.0265},
mkistler 1:88ebad269e60 166 {0.0368, 0.0265, 0.9250}
mkistler 1:88ebad269e60 167 };
mkistler 0:187a5ea5239b 168 //mag_c = (mag-bias)*scale
mkistler 0:187a5ea5239b 169
mkistler 0:187a5ea5239b 170 mag_c[0] = (mx - bias[0]) *scale[0][0] + (my - bias[1]) *scale[1][0] + (mz - bias[2]) *scale[2][0];
mkistler 0:187a5ea5239b 171 mag_c[1] = (mx - bias[0]) *scale[0][1] + (my - bias[1]) *scale[1][1] + (mz - bias[2]) *scale[2][1];
mkistler 0:187a5ea5239b 172 mag_c[2] = (mx - bias[0]) *scale[0][2] + (my - bias[1]) *scale[1][2] + (mz - bias[2]) *scale[2][2];
mkistler 0:187a5ea5239b 173 }
mkistler 0:187a5ea5239b 174
mkistler 0:187a5ea5239b 175 void pose_estimate(float euler[3], float accel[3], float gyro[3], float mag[3]) //pose estimation function
mkistler 0:187a5ea5239b 176 {
mkistler 1:88ebad269e60 177 euler[0] = atan2 (accel[1], accel[2]/abs(accel[2])*(sqrt ((accel[0] * accel[0]) + (accel[2] * accel[2]))));
mkistler 1:88ebad269e60 178 euler[1] = - atan2( -accel[0],( sqrt((accel[1] * accel[1]) + (accel[2] * accel[2]))));
mkistler 1:88ebad269e60 179 float Yh = (mag[1] * cos(euler[0])) - (mag[2] * sin(euler[0]));
mkistler 1:88ebad269e60 180 float Xh = (mag[0] * cos(euler[1]))+(mag[1] * sin(euler[0])*sin(euler[1]))
mkistler 1:88ebad269e60 181 + (mag[2] * cos(euler[0]) * sin(euler[1]));
mkistler 1:88ebad269e60 182 euler[2] = atan2(Yh, Xh);
mkistler 1:88ebad269e60 183 //convert into degrees
mkistler 1:88ebad269e60 184 euler[0] *= 180.0f / PI;
mkistler 1:88ebad269e60 185 euler[1] *= 180.0f / PI;
mkistler 1:88ebad269e60 186 euler[2] *= 180.0f / PI;
mkistler 1:88ebad269e60 187 //wrap the values to be within 0 to 360.
mkistler 1:88ebad269e60 188 for (int i=0; i<3; i++) {
mkistler 1:88ebad269e60 189 if(euler[i]<=0) {
mkistler 1:88ebad269e60 190 euler[i]=euler[i]+360;
mkistler 0:187a5ea5239b 191 }
mkistler 1:88ebad269e60 192 if(euler[i]>360) {
mkistler 1:88ebad269e60 193 euler[i]=euler[i]-360;
mkistler 1:88ebad269e60 194 }
mkistler 1:88ebad269e60 195 }
mkistler 0:187a5ea5239b 196
mkistler 0:187a5ea5239b 197 }
mkistler 0:187a5ea5239b 198
mkistler 0:187a5ea5239b 199 ///-----------Control related functions---------------------///
mkistler 0:187a5ea5239b 200 ////Thruster on control, pw->pulse width in milli-second//
mkistler 0:187a5ea5239b 201 //// pw range between 1 to 1.5//
mkistler 0:187a5ea5239b 202 //// on_time-> thruster on time.
mkistler 0:187a5ea5239b 203 void thrust_on(float pw, float on_time) //input is pulse width
mkistler 0:187a5ea5239b 204 {
mkistler 0:187a5ea5239b 205 float pw_max=2.0;
mkistler 1:88ebad269e60 206 if(pw>pw_max) {
mkistler 0:187a5ea5239b 207 pw=pw_max; //hard limitation
mkistler 0:187a5ea5239b 208 }
mkistler 0:187a5ea5239b 209 Timer tt;
mkistler 0:187a5ea5239b 210 tt.reset();
mkistler 0:187a5ea5239b 211 tt.start();
mkistler 0:187a5ea5239b 212 // lets set the pulse width
mkistler 0:187a5ea5239b 213 //thruster.period(20.0/1000.00); // 20 ms period
mkistler 0:187a5ea5239b 214 thruster.pulsewidth(pw/1000.00);
mkistler 0:187a5ea5239b 215 thruster2.pulsewidth(pw/1000.00);
mkistler 0:187a5ea5239b 216 //PWM will be kept until time out
mkistler 1:88ebad269e60 217 while(tt.read()<=on_time) {
mkistler 0:187a5ea5239b 218 }
mkistler 0:187a5ea5239b 219 //stop the timer
mkistler 0:187a5ea5239b 220 tt.stop();
mkistler 0:187a5ea5239b 221 //turn off the thruster
mkistler 0:187a5ea5239b 222 thruster.pulsewidth(1.0/1000.00);
mkistler 0:187a5ea5239b 223 thruster2.pulsewidth(1.0/1000.00);
mkistler 0:187a5ea5239b 224
mkistler 0:187a5ea5239b 225 }