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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... | |