Buoyancy Firmware  1.0
Buoyancy Vehicle Firmware Documentation
mission.h File Reference
#include "main.h"
#include "timers.h"
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Data Structures

struct  pidData_t
 structure for holding PID related data More...
 
struct  measuredData_t
 structure for holding measured data values More...
 
struct  missiondata_t
 structure for holding mission specific data More...
 
struct  mission_t
 structure for mission related structures and data values More...
 
struct  logFile_t
 structure for log file related data More...
 
struct  missionLog_t
 structure for data values written to log file More...
 

Macros

#define PID_kP   0.04
 Default Kp term. More...
 
#define PID_kI   0.0015
 Default Ki term. More...
 
#define PID_kD   0.05
 Default Kd term. More...
 
#define PID_kI_THRESHOLD   1.0
 Default Ki threshold - When measured depth is further away than threshold Ki term is not part of pid calculation. More...
 
#define PID_LIMIT_MIN   0
 PID min limit = minimum piston position of 0.0 cm - End limit switches will stop motor at 0.0xx cm. More...
 
#define PID_LIMIT_MAX   0.055
 PID max limit = maximum piston position of 5.5 cm - End limit switches will stop motor at 5.1xx cm. More...
 
#define MAX_DEPTH   50.0
 Maximum allowable depth [m]. More...
 
#define MIN_DEPTH   0.0
 minimum allowable depth [m] More...
 
#define PSI_RANGE   100.0
 Differential sensor range: 14,7 psi to 114,7 psi. More...
 
#define MEASURED_OFFSET   0.19
 A measured pressure offset of ~ 0.19 psi. More...
 
#define PSI_WEATHER_OFFSET   0.123
 current offset barometric pressure in PSI. More...
 
#define PSI_1ATM_PRESSURE   14.7
 Standard barometric pressure in PSI. More...
 
#define BAR_RANGE   5.89475728
 Differential sensor range: 1 bar to 6,89475728 bar. More...
 
#define SAADC_MAX   16320.0
 
#define SAADC_MIN   1730
 
#define PSI_TO_MH2O   0.703070
 Convert PSI to Water column (MeterH2O) More...
 
#define PSI_TO_PASCAL   6894.76
 Convert PSI to pascal. More...
 
#define SAADC_VOLTAGE_ERROR   0.022
 Average error from calculated SAADC value to actual SAADC value. More...
 
#define PASCAL_MAX   790828.66
 Maximum pressure value in pascal. More...
 
#define PASCAL_MIN   101352.90
 Minimum pressure value in pascal. More...
 
#define PRESSURE_VOLTAGE_MAX   4.5
 Maximum pressure value in volts. More...
 
#define PRESSURE_VOLTAGE_MIN   0.5
 Minimum pressure value in volts. More...
 
#define PRESSURE_VOLTAGE_RANGE   4.0
 Pressure sensor voltage output range. More...
 
#define MAX_NR_OF_MISSIONS   4
 The maximum number of missions to be configured. More...
 
#define DEFAULT_M1_DEPTH   1.5
 Default mission1 depth in meter. More...
 
#define DEFAULT_M1_TIME   180
 Default mission1 time in seconds. More...
 
#define DEFAULT_M2_DEPTH   1.0
 Default mission2 depth in meter. More...
 
#define DEFAULT_M2_TIME   180
 Default mission1 depth in seconds. More...
 
#define EMA_alpha   0.1
 Exponential Moving Average 'alpha' Coefficient. More...
 

Functions

void prepareMission ()
 
More...
 
void missionInit (void)
 Initialize mission module. More...
 
void runMission ()
 
More...
 
void CalcPressureAndDepth (void)
 
More...
 
void missionLogInit ()
 
More...
 
void updateMissionLog ()
 
More...
 

Variables

mission_t mission
 mission structure instance More...