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91 changes: 66 additions & 25 deletions static_test_driver/static_test_driver.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,17 @@ int accel_error = 0;
#define NUMBER_OF_TEMP_SENSORS 4
int temp_error[NUMBER_OF_TEMP_SENSORS] = {0,0};

// Igniter pin assignment
uint8_t IGNITER_PIN = 15;

// Valve pin assignment
#define FUEL_PRE_PIN 34;
#define FUEL_MAIN_PIN 33;
#define OX_PRE_PIN 32;
#define OX_MAIN_PIN 31;
#define N2_CHOKE_PIN 30;
#define N2_DRAIN_PIN 29;

// Pressure Setup
#define PRESSURE_FUEL A0
#define PRESSURE_OX A1
Expand All @@ -44,8 +55,15 @@ float pressure_zero_val[NUMBER_OF_PRESSURE_SENSORS] = {0,0,0,0};
int pressure_error[NUMBER_OF_PRESSURE_SENSORS] = {0,0,0,0};

// Load cell setup
#define LOAD_CELL_DOUT 2
#define LOAD_CELL_CLK 26
#define LOAD_CELL_1_DOUT 11
#define LOAD_CELL_1_CLK 7
#define LOAD_CELL_2_DOUT 10
#define LOAD_CELL_2_CLK 6
#define LOAD_CELL_3_DOUT 9
#define LOAD_CELL_3_CLK 5
#define LOAD_CELL_4_DOUT 8
#define LOAD_CELL_4_CLK 4

HX711 scale;
int force_error = 0;

Expand Down Expand Up @@ -76,10 +94,12 @@ typedef enum {
FUEL_PRE,
FUEL_MAIN,
OX_PRE,
OX_MAIN
OX_MAIN,
N2_CHOKE,
N2_DRAIN
} valve_t;

bool valve_status[] = {false, false, false, false};
bool valve_status[] = {false, false, false, false, false, false};

unsigned long last_heartbeat = 0;

Expand All @@ -104,27 +124,34 @@ void setup() {
Serial.println(F("Mk 2 static test driver"));
#endif
Serial.println(F("Initializing..."));

// wait for chips to stabilize
delay(500);

// Initialize Pressure Sensors
pinMode(PRESSURE_FUEL, INPUT);
pinMode(PRESSURE_OX, INPUT);
pinMode(PRESSURE_FUEL_INJECTOR, INPUT);
pinMode(PRESSURE_OX_INJECTOR, INPUT);

// Initialize Analog Temp Sensors
pinMode(INLET_TEMP, INPUT);
pinMode(OUTLET_TEMP, INPUT);

// Initialize load cell
init_force(scale);

pinMode(LOAD_CELL_1_DOUT, INPUT);
pinMode(LOAD_CELL_2_DOUT, INPUT);
pinMode(LOAD_CELL_3_DOUT, INPUT);
pinMode(LOAD_CELL_4_DOUT, INPUT);
init_force(LOAD_CELL_1_DOUT, LOAD_CELL_1_CLK);
init_force(LOAD_CELL_2_DOUT, LOAD_CELL_2_CLK);
init_force(LOAD_CELL_3_DOUT, LOAD_CELL_3_CLK);
init_force(LOAD_CELL_4_DOUT, LOAD_CELL_4_CLK);

// Initialize accelerometer
Wire.begin();
init_accelerometer(mma);

// Initialize thermocouples for Mk.2
#if CONFIGURATION == MK_2
char thermo_name[] = "chamber n";
Expand All @@ -135,51 +162,59 @@ void setup() {
}
#endif

// Initialize engine controls
init_engine();
// Initialize valves
init_valve(FUEL_PRE_PIN);
init_valve(FUEL_MAIN_PIN);
init_valve(OX_PRE_PIN);
init_valve(OX_MAIN_PIN);
init_valve(N2_CHOKE_PIN);
init_valve(N2_DRAIN_PIN);

// Initialize igniter
init_igniter(IGNITER_PIN);

// Set initial state
init_autosequence();

Serial.println("Setup Complete");
}

void loop() {
// Grab force data
force = read_force(scale, force_error); // Force is measured in lbs

// Grab pressure data
pressure_fuel = read_pressure(PRESSURE_FUEL, pressure_error[0], "fuel", "Fl");
pressure_ox = read_pressure(PRESSURE_OX, pressure_error[1], "oxygen", "Ox");
pressure_fuel_injector = read_pressure(PRESSURE_FUEL_INJECTOR, pressure_error[2], "injector fuel", "FlE");
pressure_ox_injector = read_pressure(PRESSURE_OX_INJECTOR, pressure_error[3], "injector oxygen", "OxE");

// Update pressure tare data
pressure_hist_vals[0][pressure_val_num] = pressure_fuel;
pressure_hist_vals[1][pressure_val_num] = pressure_ox;
pressure_hist_vals[2][pressure_val_num] = pressure_fuel_injector;
pressure_hist_vals[3][pressure_val_num] = pressure_ox_injector;

// Tare pressures
pressure_fuel -= pressure_zero_val[0];
pressure_ox -= pressure_zero_val[1];
pressure_fuel_injector -= pressure_zero_val[2];
pressure_ox_injector -= pressure_zero_val[3];

pressure_val_num++;
if (pressure_val_num >= PRESSURE_NUM_HIST_VALS) {
pressure_val_num = 0;
pressure_zero_ready = true;
}

// Grab analog temperature data
inlet_temp = read_temp(INLET_TEMP, temp_error[0], "inlet", "In");
outlet_temp = read_temp(OUTLET_TEMP, temp_error[1], "outlet", "Out");

// Grab accelerometer data (acceleration is measured in m/s^2)
sensors_vec_t accel = read_accelerometer(mma, accel_error);
x=accel.x; y=accel.y; z=accel.z;

// Grab thermocouple data for Mk.2
#if CONFIGURATION == MK_2
char thermo_name[] = "chamber n";
Expand All @@ -192,7 +227,7 @@ void loop() {

// Update sensor diagnostic message on LCD
update_sensor_errors();

// Run autonomous control
run_control();

Expand Down Expand Up @@ -220,13 +255,13 @@ void loop() {

// Read a command
bool valve_command;

BEGIN_READ
READ_FLAG(zero_force) {
Serial.println(F("Zeroing load cell"));
scale.tare(); // Load Cell, Assuming there is no weight on the scale, reset to 0
}

READ_FLAG(zero_pressure) {
if (pressure_zero_ready) {
Serial.println(F("Zeroing fuel pressure"));
Expand All @@ -240,7 +275,7 @@ void loop() {
Serial.println(F("Pressure zero values not ready"));
}
}

READ_FLAG(heartbeat) {
heartbeat();
}
Expand Down Expand Up @@ -270,6 +305,12 @@ void loop() {
READ_FIELD(ox_main_command, "%d", valve_command) {
set_valve(OX_MAIN, valve_command);
}
READ_FIELD(n2_choke_command, "%d", valve_command) {
set_valve(N2_CHOKE, valve_command);
}
READ_FIELD(n2_drain_command, "%d", valve_command) {
set_valve(N2_DRAIN, valve_command);
}
READ_DEFAULT(data_name, data) {
Serial.print(F("Invalid data field recieved: "));
Serial.print(data_name);
Expand Down