19 #define PID_kI_THRESHOLD 1.0 21 #define PID_LIMIT_MIN 0 22 #define PID_LIMIT_MAX 0.055 24 #define MAX_DEPTH 50.0 27 #define PSI_RANGE 100.0 28 #define MEASURED_OFFSET 0.19 29 #define PSI_WEATHER_OFFSET 0.123 30 #define PSI_1ATM_PRESSURE 14.7 31 #define BAR_RANGE 5.89475728 32 #define SAADC_MAX 16320.0 33 #define SAADC_MIN 1730 34 #define PSI_TO_MH2O 0.703070 35 #define PSI_TO_PASCAL 6894.76 36 #define SAADC_VOLTAGE_ERROR 0.022 37 #define PASCAL_MAX 790828.66 38 #define PASCAL_MIN 101352.90 39 #define PRESSURE_VOLTAGE_MAX 4.5 40 #define PRESSURE_VOLTAGE_MIN 0.5 41 #define PRESSURE_VOLTAGE_RANGE 4.0 43 #define MAX_NR_OF_MISSIONS 4 44 #define DEFAULT_M1_DEPTH 1.5 45 #define DEFAULT_M1_TIME 180 46 #define DEFAULT_M2_DEPTH 1.0 47 #define DEFAULT_M2_TIME 180 172 #endif // _MISSION_H_ uint32_t latestLogFile
Previous added log file number on SD card.
Definition: mission.h:107
float measuredDepth
Pressure value measured in depth relative to water surface.
Definition: mission.h:74
float pascal
Pressure value measured in pascal.
Definition: mission.h:73
float PIDoutput
Last calculated PID output.
Definition: mission.h:118
mission_t mission
mission structure instance
Definition: main.c:76
unsigned char uint8_t
Definition: nrf_drv_uart_PP.c:22
structure for mission related structures and data values
Definition: mission.h:88
logFile_t file
Log file information.
Definition: mission.h:126
float output
PID output value.
Definition: mission.h:58
uint32_t battery
raw battery value from SAAADC
Definition: mission.h:68
float pressureVoltage
Pressure value in volts.
Definition: mission.h:71
structure for holding measured data values
Definition: mission.h:66
float motionData
9-axis motion data measured by ICM20948 motion sensor - Currently not configured
Definition: mission.h:125
float pistonPosition
Piston position as read from the motor position encoder.
Definition: mission.h:61
float batteryVoltage
Battery value in volts.
Definition: mission.h:69
float ki
Integral gain coefficient.
Definition: mission.h:56
void prepareMission()
Definition: mission.c:69
pidData_t pidData
PID data instance to hold pid related data.
Definition: mission.h:92
structure for data values written to log file
Definition: mission.h:112
void missionLogInit()
Definition: mission.c:223
float setpoint
Target depth of current mission.
Definition: mission.h:116
structure for holding mission specific data
Definition: mission.h:80
bool running
Flag to signal that mission is currently running.
Definition: mission.h:96
float pressureVoltage
Pressure measured in volts.
Definition: mission.h:119
float batteryVoltage
Battery measured in volts.
Definition: mission.h:123
float timeStamp
Timestamp to keep track of time during mission.
Definition: mission.h:114
measuredData_t MeasuredData
Measured data instance for holding measured data values.
Definition: mission.h:93
float temperature
Water temperature measured by TMP117 temperature sensor - Currently not configured.
Definition: mission.h:124
uint32_t filenr
Hold the filenumber used to write, read, or delete a specific log file.
Definition: mission.h:105
uint32_t nrOfLogfiles
Total number of log files on SD card.
Definition: mission.h:106
float pressureDepth
Pressure measured in meter with respect to surface.
Definition: mission.h:120
uint8_t nrOfMissions
Calculated number of missions based on configured mission data.
Definition: mission.h:94
float psi
Pressure value measured in psi.
Definition: mission.h:72
uint8_t missionFinished
counter to keep track of the number of missions that have finished during a dive
Definition: mission.h:95
uint8_t missionNr
Currently running mission id.
Definition: mission.h:115
float kp
Proportional gain coefficient.
Definition: mission.h:55
float kiThreshold
Ki threshold - When measured depth is further away than threshold Ki term is not part of pid calculat...
Definition: mission.h:59
float pistonPosition
current piston position
Definition: mission.h:117
structure for holding PID related data
Definition: mission.h:53
float pressurePsi
Pressure measured in psi.
Definition: mission.h:121
void missionInit()
Initialize mission module.
Definition: mission.c:31
void updateMissionLog()
Definition: mission.c:233
float pressurePascal
Pressure measured in pascal.
Definition: mission.h:122
structure for log file related data
Definition: mission.h:103
uint32_t time
in seconds.
Definition: mission.h:83
unsigned int uint32_t
Definition: nrf_drv_uart_PP.c:30
uint32_t timeStamp
Timestamp to keep track of mission duration.
Definition: mission.h:97
float atmosphericPressure
Atmospheric pressure to help pressure sensor compensate for high or low barometric pressure...
Definition: mission.h:60
void runMission()
Definition: mission.c:95
missiondata_t currentMission
mission data instance to hold the currently running mission data
Definition: mission.h:91
float outside_temperature
Temperature measured by TMP117, attached to pressure housing to measure water temperature.
Definition: mission.h:75
float depth
in meters from 0 to 50.
Definition: mission.h:82
float kd
Derivative gain coefficient.
Definition: mission.h:57
float pressure
raw pressure sensor value from SAAADC
Definition: mission.h:70
void CalcPressureAndDepth(void)
Definition: mission.c:201