Bender Robotics / Mbed 2 deprecated PLAUCI_full

posilani dat

Dependencies:   FatFileSystemCpp mbed PowerControl USBHostLite

main.cpp@26:5674b8978551, 2017-05-23 (annotated)

Committer:
PavelKumpan
Date:
Tue May 23 18:42:14 2017 +0000
Revision:
26:5674b8978551
Parent:
25:2f964ebcdfd8 
Recreated communication protocol.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
legwinskij 15:baa2672a9b38 1 /* BRIEF:
jkaderka 9:8839ecc02e0e 2 * Connects to wifi and listen on ip given by dhcp on port 2000
jkaderka 9:8839ecc02e0e 3 *
legwinskij 18:7acae34b518d 4 * Commands are send in for #X where X is from {S,E,T,B,R}, all commands are
jkaderka 9:8839ecc02e0e 5 * confirmed by mbed by sending #A
jkaderka 9:8839ecc02e0e 6 *
jkaderka 9:8839ecc02e0e 7 * Use #S to start saving data, #E to stop saving. This can be done repeatedly,
jkaderka 9:8839ecc02e0e 8 * mbed saves the data into separated files and generates new swimmer id
jkaderka 9:8839ecc02e0e 9 * At the end, use #T to start data transfer, the format of transmitted data is:
jkaderka 9:8839ecc02e0e 10 *
jkaderka 9:8839ecc02e0e 11 * Header for each swimmer:
jkaderka 9:8839ecc02e0e 12 * (int) -1 (int) -1 (int) swimmer_id
jkaderka 9:8839ecc02e0e 13 * Data itself
jkaderka 9:8839ecc02e0e 14 * (char) 0xAA (int) count 3*(short) acc 3*(float) gyro
jkaderka 9:8839ecc02e0e 15 * End of swimmer block
jkaderka 9:8839ecc02e0e 16 * (int) -1 (int) -1
jkaderka 9:8839ecc02e0e 17 *
jkaderka 9:8839ecc02e0e 18 * where count is number starting on 0, incremented on every packet
jkaderka 9:8839ecc02e0e 19 * 0xAA is a sync byte used to avoid confusion when some bytes are lost during
jkaderka 9:8839ecc02e0e 20 * transmission (UART on faster reates seems to be unstable)
legwinskij 15:baa2672a9b38 21 *
legwinskij 15:baa2672a9b38 22 * CHANGELOG 22/10/2015
legwinskij 15:baa2672a9b38 23 * - Refactored code
legwinskij 15:baa2672a9b38 24 * - Now using USB flash instead of SD card
legwinskij 15:baa2672a9b38 25 * - SIZE of packets to be saved at once changed to 32 (from 1000, saving took too much time, effectively loosing measurements)
legwinskij 15:baa2672a9b38 26 * - Using fwrite to write 32 packets at once (packet size = 16 bytes -> 32*16 = 512 bytes -> USB flash sector size is 512 bytes, thus maximizing fwrite effectivity
legwinskij 15:baa2672a9b38 27 * - Saving of 32 packets takes about 3,5 ms
legwinskij 15:baa2672a9b38 28 * KNOWN ISSUES:
legwinskij 15:baa2672a9b38 29 * - Opening USB disk takes some time, couple first measurements not valid (perhaps open next file right when saving stops ?)
legwinskij 18:7acae34b518d 30 *
legwinskij 18:7acae34b518d 31 * CHANGELOG 13/11/2015
legwinskij 18:7acae34b518d 32 * - Focused on data acquisition
legwinskij 18:7acae34b518d 33 * - #T commands now requires one byte after ACK to pick which swimmer data to send
legwinskij 18:7acae34b518d 34 * - When board resets, it deletes all files on root, to make sure old data won't get send
legwinskij 18:7acae34b518d 35 * - Added new command #B which represents begining of unified scope of data and should be sent right after connecting (clears all files and resets swimmerid)
legwinskij 18:7acae34b518d 36 *
legwinskij 18:7acae34b518d 37 * CHANGELOG 7/1/2016
legwinskij 18:7acae34b518d 38 * - Integrated MPU6000 IMU library
legwinskij 18:7acae34b518d 39 * - Rewritten data acquisition to support new IMU
legwinskij 18:7acae34b518d 40 * - Edited usbhost library to support sandisk flash disk
legwinskij 18:7acae34b518d 41 *
legwinskij 18:7acae34b518d 42 * CHANGELOG 12/1/2016
legwinskij 18:7acae34b518d 43 * - Added delay after chipselect deselection between device bursts (solved gyro data inconsistency)
legwinskij 18:7acae34b518d 44 *
legwinskij 19:c2476c0ea3e0 45 * CHANGELOG 6/5/2016
legwinskij 19:c2476c0ea3e0 46 * - Moved to first real HW (rev 1.0)
legwinskij 19:c2476c0ea3e0 47 * - Added multipurpose button functionality
legwinskij 19:c2476c0ea3e0 48 *
legwinskij 20:66ecb2f0e307 49 * CHANGELOG 19/10/2016
legwinskij 20:66ecb2f0e307 50 * - Added status message
legwinskij 20:66ecb2f0e307 51 * - Changed button behaviour
legwinskij 20:66ecb2f0e307 52 * - Added background battery monitoring
legwinskij 20:66ecb2f0e307 53 * - Added background filesystem monitoring
legwinskij 20:66ecb2f0e307 54 *
legwinskij 20:66ecb2f0e307 55 * CHANGELOG 22/10/2016
legwinskij 20:66ecb2f0e307 56 * - Slightly adjusted wifly communication (added timeouts)
legwinskij 20:66ecb2f0e307 57 * - Disabled TCP autoretransmission on wifly
legwinskij 20:66ecb2f0e307 58 * - Added send log feature
legwinskij 20:66ecb2f0e307 59 *
legwinskij 20:66ecb2f0e307 60 * CHANGELOG 05/03/2017
legwinskij 20:66ecb2f0e307 61 * - Added define switch for new revision of hardware
legwinskij 20:66ecb2f0e307 62 * - HW v1r2 only supports single MPU
legwinskij 20:66ecb2f0e307 63 *
PavelKumpan 22:69621e10dd26 64 * CHANGELOG 10/03/2017
PavelKumpan 21:d1569911500a 65 * - Added swimmer index to the status message.
PavelKumpan 21:d1569911500a 66 * - Added record file for records, function appendRecord, sendRecords
PavelKumpan 21:d1569911500a 67 * - Added clear root command
PavelKumpan 22:69621e10dd26 68 *
PavelKumpan 22:69621e10dd26 69 * CHANGELOG 13/03/2017
PavelKumpan 22:69621e10dd26 70 * - Removed clearRoot() call from init.
PavelKumpan 23:bb76f8ad9557 71 * - Change representation of the records file to binary.
PavelKumpan 25:2f964ebcdfd8 72 * - Add Prepare command - first send prepare, wait for a file open and then send Start.
PavelKumpan 26:5674b8978551 73 *
PavelKumpan 26:5674b8978551 74 * CHANGELOG 20/05/2017
PavelKumpan 26:5674b8978551 75 * - Changed communication protocol - each message have header with its size.
jkaderka 9:8839ecc02e0e 76 */
legwinskij 15:baa2672a9b38 77
legwinskij 15:baa2672a9b38 78 // Includes ====================================================================
legwinskij 15:baa2672a9b38 79
jkaderka 0:16fd37cf4a7c 80 #include "mbed.h"
legwinskij 18:7acae34b518d 81 #include "EthernetPowerControl.h"
legwinskij 18:7acae34b518d 82 #include "MSCFileSystem.h"
legwinskij 14:6bd7d1fff6af 83 #include "PowerControl.h"
legwinskij 18:7acae34b518d 84 #include "DirHandle.h"
legwinskij 18:7acae34b518d 85 #include "mpu6000.h"
jkaderka 0:16fd37cf4a7c 86 #include "stdint.h"
legwinskij 18:7acae34b518d 87 #include "stdio.h"
jkaderka 2:f623d1815dc4 88 #include "utils.h"
jkaderka 4:030c7726c7dc 89 #include "wifi.h"
legwinskij 18:7acae34b518d 90 #include "math.h"
legwinskij 18:7acae34b518d 91
legwinskij 20:66ecb2f0e307 92 // Revision ====================================================================
legwinskij 20:66ecb2f0e307 93
legwinskij 20:66ecb2f0e307 94 // Revision define, it's important to select proper version! (pinmuxes differ)
PavelKumpan 25:2f964ebcdfd8 95 #define REVISION 1
legwinskij 20:66ecb2f0e307 96
legwinskij 15:baa2672a9b38 97 // Defines =====================================================================
legwinskij 15:baa2672a9b38 98
legwinskij 19:c2476c0ea3e0 99 /* Data acquisition related stuff */
legwinskij 18:7acae34b518d 100 //#define SAMPLE_RATE 700000 // Sample rate for ADC conversion
legwinskij 18:7acae34b518d 101 #define SAMPLE_RATE 10000
legwinskij 19:c2476c0ea3e0 102 #define SAMPLE_PERIOD 0.01 // Setting the period of measuring, 0.01 means 100 times per second
legwinskij 15:baa2672a9b38 103 #define SIZE 32 // Setting number of instance in array - for saving to SD card
legwinskij 15:baa2672a9b38 104 #define BUFFER_SIZE (sizeof(int) + sizeof(short)*6) //size of one data block
jkaderka 2:f623d1815dc4 105
legwinskij 19:c2476c0ea3e0 106 /* Battery related defines */
legwinskij 19:c2476c0ea3e0 107 #define UVLO_THRESHOLD 140U // Battery low threshold
legwinskij 19:c2476c0ea3e0 108 #define BATTERY_PERIOD 30U // How often to measure voltage in seconds
legwinskij 19:c2476c0ea3e0 109
legwinskij 19:c2476c0ea3e0 110 /* Button press defines */
legwinskij 19:c2476c0ea3e0 111 #define PRESS_PERIOD_SHUTDOWN 2000U
legwinskij 20:66ecb2f0e307 112 #define PRESS_PERIOD_LOW 250U
legwinskij 20:66ecb2f0e307 113 #define PRESS_PERIOD_HIGH 450U
legwinskij 19:c2476c0ea3e0 114
legwinskij 19:c2476c0ea3e0 115 /* Mass storage realted stuff */
legwinskij 15:baa2672a9b38 116 #define FSNAME "usb"
legwinskij 20:66ecb2f0e307 117 #define LOG_FILE "/usb/log.txt"
PavelKumpan 21:d1569911500a 118 #define RECORDS_FILE "/usb/records.txt"
legwinskij 19:c2476c0ea3e0 119 #define SPACE_LOW_THRESHOLD 100 // USB Flash disk free threshold
legwinskij 19:c2476c0ea3e0 120 #define SPACE_PERIOD 300U // How often to measure free space in seconds
jkaderka 1:3ec5f7df2410 121
legwinskij 19:c2476c0ea3e0 122 /* Commands swimfly understands */
PavelKumpan 25:2f964ebcdfd8 123 #define PREPARE_SAVING 'P'
legwinskij 15:baa2672a9b38 124 #define SAVING_START 'S'
legwinskij 15:baa2672a9b38 125 #define SAVING_STOP 'E'
legwinskij 18:7acae34b518d 126 #define TRANSFER_REQUEST 'T'
legwinskij 18:7acae34b518d 127 #define SCOPE_BEGIN 'B'
legwinskij 15:baa2672a9b38 128 #define CHECK_READY 'R'
legwinskij 20:66ecb2f0e307 129 #define SEND_LOG 'L'
PavelKumpan 21:d1569911500a 130 #define SEND_RECORDS 'D'
legwinskij 20:66ecb2f0e307 131 #define HALT 'H'
legwinskij 15:baa2672a9b38 132
legwinskij 19:c2476c0ea3e0 133 /* Comm stuff */
legwinskij 19:c2476c0ea3e0 134 #define SOH 0x01
legwinskij 19:c2476c0ea3e0 135
legwinskij 19:c2476c0ea3e0 136 /* Test mode define (undefine to disable) */
legwinskij 19:c2476c0ea3e0 137 //#define LOG_TEST_MODE
legwinskij 19:c2476c0ea3e0 138
legwinskij 15:baa2672a9b38 139 /* Function like macros for leds (bleh) */
jkaderka 1:3ec5f7df2410 140 #define leds_off() { led_measuring = led_sending = led_working = led_saving = 0; }
jkaderka 1:3ec5f7df2410 141 #define leds_error() { led_measuring = led_sending = led_working = led_saving = 1; }
jkaderka 0:16fd37cf4a7c 142
legwinskij 19:c2476c0ea3e0 143 // Function to power down magic USB interface chip with new firmware
legwinskij 19:c2476c0ea3e0 144 #define USR_POWERDOWN (0x104)
legwinskij 19:c2476c0ea3e0 145 int semihost_powerdown() {
legwinskij 19:c2476c0ea3e0 146 uint32_t arg;
legwinskij 19:c2476c0ea3e0 147 return __semihost(USR_POWERDOWN, &arg);
legwinskij 19:c2476c0ea3e0 148 }
legwinskij 19:c2476c0ea3e0 149
legwinskij 20:66ecb2f0e307 150 // Function prototypes =========================================================
legwinskij 20:66ecb2f0e307 151
legwinskij 20:66ecb2f0e307 152 /* File handling */
legwinskij 20:66ecb2f0e307 153 void clearRoot(void);
legwinskij 20:66ecb2f0e307 154 void appendLog(char textToAppend[]);
PavelKumpan 23:bb76f8ad9557 155 void appendRecord(void);
legwinskij 20:66ecb2f0e307 156 bool doesFileExist(const char *filename);
legwinskij 20:66ecb2f0e307 157 void spaceMeas(void);
PavelKumpan 23:bb76f8ad9557 158 void readSwimmerID(void);
legwinskij 20:66ecb2f0e307 159
legwinskij 20:66ecb2f0e307 160 /* Button handlers */
legwinskij 20:66ecb2f0e307 161 void btnPressCallback(void);
legwinskij 20:66ecb2f0e307 162 void btnReleaseCallback(void);
legwinskij 20:66ecb2f0e307 163
legwinskij 20:66ecb2f0e307 164 /* Power management */
legwinskij 20:66ecb2f0e307 165 void pllInit(void);
legwinskij 20:66ecb2f0e307 166 void battMeas(void);
legwinskij 20:66ecb2f0e307 167 void shutdownHandler(void);
legwinskij 20:66ecb2f0e307 168
legwinskij 20:66ecb2f0e307 169 /* Init */
legwinskij 20:66ecb2f0e307 170 void boardInit(void);
legwinskij 20:66ecb2f0e307 171
legwinskij 20:66ecb2f0e307 172 /* Measurement */
legwinskij 20:66ecb2f0e307 173 void measure(void);
legwinskij 20:66ecb2f0e307 174 void setMeasuringFlag(void);
legwinskij 20:66ecb2f0e307 175
legwinskij 20:66ecb2f0e307 176 /* Command functions */
PavelKumpan 25:2f964ebcdfd8 177 void prepareSaving(void);
legwinskij 20:66ecb2f0e307 178 void startSaving(void);
legwinskij 20:66ecb2f0e307 179 void stopSaving(void);
legwinskij 20:66ecb2f0e307 180 void transfer(void);
PavelKumpan 26:5674b8978551 181 void sendFile(char* name);
legwinskij 20:66ecb2f0e307 182 void halt(void);
legwinskij 20:66ecb2f0e307 183 void beginScope(void);
legwinskij 20:66ecb2f0e307 184 void sendStatus(void);
legwinskij 20:66ecb2f0e307 185
legwinskij 20:66ecb2f0e307 186 /* Generic functions */
legwinskij 20:66ecb2f0e307 187 void blink(void);
legwinskij 20:66ecb2f0e307 188
legwinskij 15:baa2672a9b38 189 // Watchdog class ==============================================================
jkaderka 0:16fd37cf4a7c 190
jkaderka 0:16fd37cf4a7c 191 class Watchdog {
jkaderka 0:16fd37cf4a7c 192 public:
legwinskij 15:baa2672a9b38 193 /* Kick the watchdog with time period setting */
legwinskij 19:c2476c0ea3e0 194 void setKick(float s) {
legwinskij 15:baa2672a9b38 195 LPC_WDT->WDCLKSEL = 0x1; // Set CLK src to PCLK
legwinskij 15:baa2672a9b38 196 uint32_t clk = SystemCoreClock / 16; // WD has a fixed /4 prescaler, PCLK default is /4
legwinskij 15:baa2672a9b38 197 LPC_WDT->WDTC = s * (float)clk;
legwinskij 15:baa2672a9b38 198 LPC_WDT->WDMOD = 0x3; // Enabled and Reset
jkaderka 0:16fd37cf4a7c 199 kick();
jkaderka 0:16fd37cf4a7c 200 }
legwinskij 15:baa2672a9b38 201
legwinskij 15:baa2672a9b38 202 /* Kick the watchdog */
jkaderka 0:16fd37cf4a7c 203 void kick() {
jkaderka 0:16fd37cf4a7c 204 LPC_WDT->WDFEED = 0xAA;
jkaderka 0:16fd37cf4a7c 205 LPC_WDT->WDFEED = 0x55;
jkaderka 0:16fd37cf4a7c 206 }
jkaderka 0:16fd37cf4a7c 207 };
jkaderka 0:16fd37cf4a7c 208
legwinskij 15:baa2672a9b38 209 // Objects & vars ==============================================================
legwinskij 15:baa2672a9b38 210
legwinskij 20:66ecb2f0e307 211 /* Objects */
legwinskij 19:c2476c0ea3e0 212 Watchdog wdt; // Initialize watchdog
legwinskij 19:c2476c0ea3e0 213 Ticker Saving_Ticker; // Ticker for interrupts on measuring
legwinskij 19:c2476c0ea3e0 214 Ticker Battery_Ticker; // Ticker for voltage measurement
legwinskij 19:c2476c0ea3e0 215 Ticker Space_Ticker; // Ticker for free space measurement
legwinskij 20:66ecb2f0e307 216 Wifi wifi(p13, p14, p12, p23); // Wifly module
legwinskij 18:7acae34b518d 217 SPI spi(p5, p6, p7); // NEW MPU6000 SPI connection
legwinskij 19:c2476c0ea3e0 218 MPU6000 mpu(spi, p8); // NEW MPU6000
legwinskij 19:c2476c0ea3e0 219 Timer button_timer; // Button press time counter
legwinskij 20:66ecb2f0e307 220 Serial pc(USBTX, USBRX); // USB Serial port
jkaderka 0:16fd37cf4a7c 221
legwinskij 15:baa2672a9b38 222 /* LED indicators */
legwinskij 20:66ecb2f0e307 223 #if REVISION == 1
legwinskij 20:66ecb2f0e307 224 DigitalOut led_system(p30);
legwinskij 20:66ecb2f0e307 225 #elif REVISION == 2
legwinskij 20:66ecb2f0e307 226 DigitalOut led_system(p27);
legwinskij 20:66ecb2f0e307 227 DigitalOut cs_2(p26);
legwinskij 20:66ecb2f0e307 228 #endif
legwinskij 15:baa2672a9b38 229 DigitalOut led_measuring(LED1);
legwinskij 15:baa2672a9b38 230 DigitalOut led_sending(LED2);
legwinskij 15:baa2672a9b38 231 DigitalOut led_working(LED3);
legwinskij 15:baa2672a9b38 232 DigitalOut led_saving(LED4);
jkaderka 0:16fd37cf4a7c 233
legwinskij 19:c2476c0ea3e0 234 /* System LED notification patterns */
legwinskij 19:c2476c0ea3e0 235 //typedef enum {USER_BOOT, UVLO, DISK_FULL, AOK} blink_t;
legwinskij 19:c2476c0ea3e0 236
legwinskij 19:c2476c0ea3e0 237 /* Power related stuff */
legwinskij 19:c2476c0ea3e0 238 DigitalOut wifly_enable_n(p9);
legwinskij 19:c2476c0ea3e0 239 DigitalOut flash_enable_n(p10);
legwinskij 19:c2476c0ea3e0 240 DigitalOut btn_latch_n(p28);
legwinskij 19:c2476c0ea3e0 241 InterruptIn btn_input(p29);
legwinskij 19:c2476c0ea3e0 242 AnalogIn batt_vol(p15);
legwinskij 19:c2476c0ea3e0 243 volatile uint8_t systemRequest = 0;
legwinskij 19:c2476c0ea3e0 244 volatile bool userShutdownFlag = 0;
legwinskij 19:c2476c0ea3e0 245 volatile bool UVLOShutdownFlag = 0;
legwinskij 19:c2476c0ea3e0 246 volatile uint8_t battLevel = 150U; // Batt level between 136U/3.4816V and 165U/4.2240V (High byte of 16bit voltage measurement)
legwinskij 19:c2476c0ea3e0 247 volatile uint32_t curTime = 0;
legwinskij 19:c2476c0ea3e0 248 volatile uint32_t oldTime = 0;
legwinskij 19:c2476c0ea3e0 249
legwinskij 19:c2476c0ea3e0 250 /* Added for test purposes */
legwinskij 19:c2476c0ea3e0 251 #ifdef LOG_TEST_MODE
legwinskij 20:66ecb2f0e307 252 DigitalOut flagSetNotify(p19);
legwinskij 20:66ecb2f0e307 253 DigitalOut measureNotify(p20);
legwinskij 19:c2476c0ea3e0 254 #endif
legwinskij 15:baa2672a9b38 255
legwinskij 18:7acae34b518d 256 /* USB && saving related stuffs */
legwinskij 15:baa2672a9b38 257 FILE *gfp; // Global file pointer
legwinskij 15:baa2672a9b38 258 MSCFileSystem logger(FSNAME); // Initialize USB flash disk
legwinskij 15:baa2672a9b38 259 char fname[40]; // Variable for name of Text file saved on USB flash disk
PavelKumpan 24:f9809529d3ce 260 uint8_t timestamp[8]; // Variable for name of Text file saved on USB flash disk
legwinskij 19:c2476c0ea3e0 261 static volatile uint64_t absolute = 0; // Variable for numbering saved data
legwinskij 19:c2476c0ea3e0 262 volatile int relative = 0; // Relative packtets saved number
PavelKumpan 23:bb76f8ad9557 263 volatile uint8_t swimmer_id = 0; // Global swimmer ID
legwinskij 19:c2476c0ea3e0 264 volatile bool measuringFlag = 0; // Flag that is set with interrupt and indicates measurement is to be done
legwinskij 19:c2476c0ea3e0 265 volatile bool savingFlag = 0; // Flag that is set and indicates data is being saved periodically
legwinskij 19:c2476c0ea3e0 266 volatile bool lowSpaceFlag = 0; // Flag that is set when below SPACE_THRESHOLD MB's remain free
legwinskij 19:c2476c0ea3e0 267 volatile uint16_t mbFree = 0; // Variable to store remaining space on USB flash disk
legwinskij 19:c2476c0ea3e0 268
legwinskij 15:baa2672a9b38 269 /* Accelerometer buffers */
jkaderka 5:83f69916e571 270 short int acc_x[SIZE];
jkaderka 5:83f69916e571 271 short int acc_y[SIZE];
jkaderka 5:83f69916e571 272 short int acc_z[SIZE];
jkaderka 0:16fd37cf4a7c 273
legwinskij 15:baa2672a9b38 274 /* Gyroscope buffers */
jkaderka 13:d00c8a6a2e8c 275 short int gyro_x[SIZE];
jkaderka 13:d00c8a6a2e8c 276 short int gyro_y[SIZE];
jkaderka 13:d00c8a6a2e8c 277 short int gyro_z[SIZE];
jkaderka 0:16fd37cf4a7c 278
PavelKumpan 26:5674b8978551 279 /* Command buffers */
PavelKumpan 26:5674b8978551 280 char cmd_header[FRAME_HEADER_LEN];
PavelKumpan 26:5674b8978551 281 char cmd_data[256];
PavelKumpan 26:5674b8978551 282 int cmd_len;
PavelKumpan 26:5674b8978551 283
legwinskij 18:7acae34b518d 284 // Functions -> File handling ==================================================
legwinskij 15:baa2672a9b38 285
legwinskij 18:7acae34b518d 286 /* Clear all files in root directory */
legwinskij 18:7acae34b518d 287 void clearRoot(void)
legwinskij 15:baa2672a9b38 288 {
legwinskij 18:7acae34b518d 289 char buf[40]; // Buffer for string building
legwinskij 18:7acae34b518d 290
legwinskij 18:7acae34b518d 291 /* Dir related structs & vars */
legwinskij 18:7acae34b518d 292 DIR *dir; // Prepare directory handle
legwinskij 18:7acae34b518d 293 struct dirent *file; // Directory entry structure
legwinskij 18:7acae34b518d 294 dir = opendir("/usb"); // Open root of usb flash disk
legwinskij 18:7acae34b518d 295
legwinskij 18:7acae34b518d 296 /* Iterate all files beside log file in root directory and delete them */
legwinskij 18:7acae34b518d 297 while((file = readdir(dir)) != NULL) // Incrementally points to next files, until NULL is reached
legwinskij 18:7acae34b518d 298 {
legwinskij 18:7acae34b518d 299 if (strcmp(file->d_name, "log.txt") != 0) // Only dele non-log files
legwinskij 18:7acae34b518d 300 {
legwinskij 18:7acae34b518d 301 sprintf(buf, "/usb/");
legwinskij 18:7acae34b518d 302 sprintf(buf+5, file->d_name);
legwinskij 18:7acae34b518d 303 remove(buf); // Remove file that is currently being pointed to
legwinskij 18:7acae34b518d 304 }
legwinskij 18:7acae34b518d 305 }
PavelKumpan 26:5674b8978551 306
legwinskij 18:7acae34b518d 307 /* If file is not present */
legwinskij 18:7acae34b518d 308 closedir(dir); // Close dir & return false
PavelKumpan 26:5674b8978551 309
PavelKumpan 26:5674b8978551 310 FILE *records;
PavelKumpan 26:5674b8978551 311 records = fopen(RECORDS_FILE, "w"); // Create new file for records
PavelKumpan 26:5674b8978551 312 fclose(records);
legwinskij 15:baa2672a9b38 313 }
legwinskij 15:baa2672a9b38 314
legwinskij 20:66ecb2f0e307 315 /* Append line to log file */
legwinskij 18:7acae34b518d 316 void appendLog(char textToAppend[])
legwinskij 18:7acae34b518d 317 {
legwinskij 18:7acae34b518d 318 printf("Writing to log file...\r\n");
jkaderka 0:16fd37cf4a7c 319
legwinskij 18:7acae34b518d 320 /* Append line to log file */
legwinskij 20:66ecb2f0e307 321 FILE *log;
legwinskij 20:66ecb2f0e307 322 log = fopen(LOG_FILE, "a"); // Open file with log name
legwinskij 20:66ecb2f0e307 323 fprintf(log, "%s\r\n", textToAppend); // Append line
legwinskij 20:66ecb2f0e307 324 fclose(log); // Close file
legwinskij 15:baa2672a9b38 325 }
legwinskij 15:baa2672a9b38 326
PavelKumpan 21:d1569911500a 327 /* Append record to records file */
PavelKumpan 23:bb76f8ad9557 328 void appendRecord(void)
PavelKumpan 21:d1569911500a 329 {
PavelKumpan 21:d1569911500a 330 printf("Writing to record file...\r\n");
PavelKumpan 21:d1569911500a 331
PavelKumpan 22:69621e10dd26 332 /* Append line to records file */
PavelKumpan 21:d1569911500a 333 FILE *records;
PavelKumpan 21:d1569911500a 334 records = fopen(RECORDS_FILE, "a"); // Open file with records name
PavelKumpan 23:bb76f8ad9557 335
PavelKumpan 23:bb76f8ad9557 336 uint8_t recordbuffer[9];
PavelKumpan 23:bb76f8ad9557 337
PavelKumpan 23:bb76f8ad9557 338 recordbuffer[0] = swimmer_id;
PavelKumpan 23:bb76f8ad9557 339
PavelKumpan 23:bb76f8ad9557 340 for(int i = 0; i < 8; i++)
PavelKumpan 23:bb76f8ad9557 341 {
PavelKumpan 23:bb76f8ad9557 342 recordbuffer[i+1] = timestamp[i];
PavelKumpan 23:bb76f8ad9557 343 }
PavelKumpan 23:bb76f8ad9557 344
PavelKumpan 26:5674b8978551 345 fwrite(recordbuffer, 1, 9, records); // Write 9 bytes of record
PavelKumpan 23:bb76f8ad9557 346 fflush(records);
PavelKumpan 21:d1569911500a 347 fclose(records); // Close file
PavelKumpan 21:d1569911500a 348 }
PavelKumpan 21:d1569911500a 349
PavelKumpan 23:bb76f8ad9557 350 /* Read last swimmer ID */
PavelKumpan 23:bb76f8ad9557 351 void readSwimmerID(void)
PavelKumpan 23:bb76f8ad9557 352 {
PavelKumpan 24:f9809529d3ce 353 size_t fileSize;
PavelKumpan 26:5674b8978551 354 FILE *records;
PavelKumpan 26:5674b8978551 355
PavelKumpan 23:bb76f8ad9557 356 if(false == doesFileExist(RECORDS_FILE))
PavelKumpan 23:bb76f8ad9557 357 {
PavelKumpan 23:bb76f8ad9557 358 swimmer_id = 0;
PavelKumpan 23:bb76f8ad9557 359 printf("File with records does not exists, so ID set to 0...\r\n");
PavelKumpan 26:5674b8978551 360 swimmer_id = 0;
PavelKumpan 26:5674b8978551 361 printf("New records file created...\r\n");
PavelKumpan 26:5674b8978551 362 records = fopen(RECORDS_FILE, "a");
PavelKumpan 23:bb76f8ad9557 363 }
PavelKumpan 23:bb76f8ad9557 364 else
PavelKumpan 23:bb76f8ad9557 365 {
PavelKumpan 23:bb76f8ad9557 366 printf("Reading last swimmer ID from records file...\r\n");
PavelKumpan 23:bb76f8ad9557 367
PavelKumpan 23:bb76f8ad9557 368 /* Append line to records file */
PavelKumpan 23:bb76f8ad9557 369 records = fopen(RECORDS_FILE, "r"); // Open file with records name
PavelKumpan 24:f9809529d3ce 370
PavelKumpan 24:f9809529d3ce 371 fseek(records, 0L, SEEK_END);
PavelKumpan 24:f9809529d3ce 372 fileSize = ftell(records);
PavelKumpan 24:f9809529d3ce 373 fseek(records, 0L, SEEK_SET);
PavelKumpan 24:f9809529d3ce 374
PavelKumpan 24:f9809529d3ce 375 if(true == ferror(records) || fileSize < 9)
PavelKumpan 23:bb76f8ad9557 376 {
PavelKumpan 23:bb76f8ad9557 377 swimmer_id = 0;
PavelKumpan 23:bb76f8ad9557 378 }
PavelKumpan 23:bb76f8ad9557 379 else
PavelKumpan 23:bb76f8ad9557 380 {
PavelKumpan 24:f9809529d3ce 381 fseek(records, -9, SEEK_END);
PavelKumpan 23:bb76f8ad9557 382 swimmer_id = (uint8_t)fgetc(records) + 1;
PavelKumpan 23:bb76f8ad9557 383 }
PavelKumpan 26:5674b8978551 384 }
PavelKumpan 26:5674b8978551 385
PavelKumpan 26:5674b8978551 386 printf("Actual index is %d...\r\n", swimmer_id);
PavelKumpan 26:5674b8978551 387 fclose(records);
PavelKumpan 23:bb76f8ad9557 388 }
PavelKumpan 23:bb76f8ad9557 389
legwinskij 17:ca53e6d36163 390 /* Sees whether giver file exists on flash disk */
legwinskij 17:ca53e6d36163 391 bool doesFileExist(const char *filename)
legwinskij 17:ca53e6d36163 392 {
legwinskij 17:ca53e6d36163 393 /* Dir related structs & vars */
legwinskij 17:ca53e6d36163 394 DIR *dir; // Prepare directory handle
legwinskij 17:ca53e6d36163 395 struct dirent *file; // Directory entry structure
legwinskij 17:ca53e6d36163 396 dir = opendir("/usb"); // Open root of usb flash disk
legwinskij 17:ca53e6d36163 397
legwinskij 17:ca53e6d36163 398 /* Iterate all available files in root directory */
legwinskij 17:ca53e6d36163 399 while((file = readdir(dir)) != NULL) // Incrementally points to next files, until NULL is reached
legwinskij 17:ca53e6d36163 400 {
legwinskij 17:ca53e6d36163 401 /* Check if it's file we are looking for */
legwinskij 17:ca53e6d36163 402 if(strcmp(filename+5, file->d_name) == 0) // +5 moves us beyond /usb/, not cool I know...
legwinskij 17:ca53e6d36163 403 {
legwinskij 17:ca53e6d36163 404 closedir(dir); // Close dir & return true
legwinskij 17:ca53e6d36163 405 return true;
legwinskij 17:ca53e6d36163 406 }
legwinskij 17:ca53e6d36163 407 }
legwinskij 17:ca53e6d36163 408
legwinskij 17:ca53e6d36163 409 /* If file is not present */
legwinskij 17:ca53e6d36163 410 closedir(dir); // Close dir & return false
legwinskij 17:ca53e6d36163 411 return false; // If not, return false
legwinskij 19:c2476c0ea3e0 412 }
legwinskij 19:c2476c0ea3e0 413
legwinskij 19:c2476c0ea3e0 414 /* Measures space left and updates global variable value */
legwinskij 19:c2476c0ea3e0 415 void spaceMeas(void)
legwinskij 19:c2476c0ea3e0 416 {
legwinskij 19:c2476c0ea3e0 417 FATFS* fs;
legwinskij 19:c2476c0ea3e0 418 DWORD fre_clust;
legwinskij 19:c2476c0ea3e0 419 f_getfree("0:",&fre_clust,&fs);
legwinskij 19:c2476c0ea3e0 420 mbFree = (uint16_t)((fs->csize * fs->free_clust) >> 11);
legwinskij 20:66ecb2f0e307 421 }
legwinskij 17:ca53e6d36163 422
legwinskij 19:c2476c0ea3e0 423 // Functions -> Power management ===============================================
legwinskij 19:c2476c0ea3e0 424
legwinskij 20:66ecb2f0e307 425 void pllInit(void)
legwinskij 20:66ecb2f0e307 426 {
legwinskij 20:66ecb2f0e307 427 LPC_SC->PLL0CON = 0x00; /* PLL0 Disable */
legwinskij 20:66ecb2f0e307 428 LPC_SC->PLL0FEED = 0xAA;
legwinskij 20:66ecb2f0e307 429 LPC_SC->PLL0FEED = 0x55;
legwinskij 20:66ecb2f0e307 430
legwinskij 20:66ecb2f0e307 431 LPC_SC->CCLKCFG = 0x00000005; /* Select Clock Divisor = 6 */
legwinskij 20:66ecb2f0e307 432 LPC_SC->PLL0CFG = 0x0000000B; /* configure PLL0 */
legwinskij 20:66ecb2f0e307 433 LPC_SC->PLL0FEED = 0xAA; /* divide by 1 then multiply by 12 */
legwinskij 20:66ecb2f0e307 434 LPC_SC->PLL0FEED = 0x55; /* PLL0 frequency = 288,000,000 */
legwinskij 20:66ecb2f0e307 435
legwinskij 20:66ecb2f0e307 436 LPC_SC->PLL0CON = 0x01; /* PLL0 Enable */
legwinskij 20:66ecb2f0e307 437 LPC_SC->PLL0FEED = 0xAA;
legwinskij 20:66ecb2f0e307 438 LPC_SC->PLL0FEED = 0x55;
legwinskij 20:66ecb2f0e307 439 while (!(LPC_SC->PLL0STAT & (1<<26)));/* Wait for PLOCK0 */
legwinskij 20:66ecb2f0e307 440
legwinskij 20:66ecb2f0e307 441 LPC_SC->PLL0CON = 0x03; /* PLL0 Enable & Connect */
legwinskij 20:66ecb2f0e307 442 LPC_SC->PLL0FEED = 0xAA;
legwinskij 20:66ecb2f0e307 443 LPC_SC->PLL0FEED = 0x55;
legwinskij 20:66ecb2f0e307 444 while (!(LPC_SC->PLL0STAT & ((1<<25) | (1<<24))));/* Wait for PLLC0_STAT & PLLE0_STAT */
legwinskij 20:66ecb2f0e307 445
legwinskij 20:66ecb2f0e307 446 SystemCoreClockUpdate(); /* Should now be at 48,000,000 */
legwinskij 20:66ecb2f0e307 447 SystemCoreClock = (12000000 * 2 /
legwinskij 20:66ecb2f0e307 448 (((LPC_SC->PLL0STAT >> 16) & 0xFF) + 1) *
legwinskij 20:66ecb2f0e307 449 ((LPC_SC->PLL0STAT & 0x7FFF) + 1) /
legwinskij 20:66ecb2f0e307 450 ((LPC_SC->CCLKCFG & 0xFF)+ 1));
legwinskij 20:66ecb2f0e307 451 }
legwinskij 20:66ecb2f0e307 452
legwinskij 19:c2476c0ea3e0 453 /* Callback for button press */
legwinskij 19:c2476c0ea3e0 454 void btnPressCallback(void)
legwinskij 19:c2476c0ea3e0 455 {
legwinskij 19:c2476c0ea3e0 456 /* Resets and starts timer */
legwinskij 19:c2476c0ea3e0 457 button_timer.reset();
legwinskij 19:c2476c0ea3e0 458 button_timer.start();
legwinskij 19:c2476c0ea3e0 459 }
legwinskij 19:c2476c0ea3e0 460
legwinskij 19:c2476c0ea3e0 461 /* Callback for button release */
legwinskij 19:c2476c0ea3e0 462 void btnReleaseCallback(void)
legwinskij 19:c2476c0ea3e0 463 {
legwinskij 19:c2476c0ea3e0 464 /* Stop timer */
legwinskij 19:c2476c0ea3e0 465 button_timer.stop();
legwinskij 19:c2476c0ea3e0 466 /* See whether user is trying to shutdown */
legwinskij 20:66ecb2f0e307 467 uint32_t buf = button_timer.read_ms();
legwinskij 20:66ecb2f0e307 468 if((buf < PRESS_PERIOD_HIGH) && (buf > PRESS_PERIOD_LOW))
legwinskij 19:c2476c0ea3e0 469 {
legwinskij 19:c2476c0ea3e0 470 systemRequest += 1;
legwinskij 19:c2476c0ea3e0 471 }
legwinskij 19:c2476c0ea3e0 472 else
legwinskij 19:c2476c0ea3e0 473 {
legwinskij 19:c2476c0ea3e0 474 led_system = !led_system;
legwinskij 19:c2476c0ea3e0 475 systemRequest = 0;
legwinskij 19:c2476c0ea3e0 476 }
legwinskij 19:c2476c0ea3e0 477 }
legwinskij 19:c2476c0ea3e0 478
legwinskij 19:c2476c0ea3e0 479 /* Does single battery voltage measurement, and sets UVLO flag if voltage too low */
legwinskij 19:c2476c0ea3e0 480 void battMeas(void)
legwinskij 19:c2476c0ea3e0 481 {
legwinskij 19:c2476c0ea3e0 482 battLevel = batt_vol.read_u16() >> 8; // Store High byte of voltage measurement to global variable
legwinskij 19:c2476c0ea3e0 483 if(battLevel < UVLO_THRESHOLD) // Determine whether we have enough juice
legwinskij 19:c2476c0ea3e0 484 {
legwinskij 19:c2476c0ea3e0 485 UVLOShutdownFlag = 1; // Raise Under Voltage Lock Out flag if necessary
legwinskij 19:c2476c0ea3e0 486 }
legwinskij 19:c2476c0ea3e0 487 }
legwinskij 19:c2476c0ea3e0 488
legwinskij 19:c2476c0ea3e0 489 /* Checkes whether UVLO flag is set and halts board if necessary */
legwinskij 19:c2476c0ea3e0 490 void shutdownHandler(void)
legwinskij 19:c2476c0ea3e0 491 {
legwinskij 19:c2476c0ea3e0 492 /* Button shutdown handler */
legwinskij 19:c2476c0ea3e0 493 if(3 == systemRequest)
legwinskij 19:c2476c0ea3e0 494 {
legwinskij 20:66ecb2f0e307 495 halt(); // Halt
legwinskij 19:c2476c0ea3e0 496 }
legwinskij 19:c2476c0ea3e0 497 /* UVLO shutdown handler */
legwinskij 19:c2476c0ea3e0 498 if(1 == UVLOShutdownFlag) // Control of flag that is being set asynchronously if battLevel drops below threshold
legwinskij 19:c2476c0ea3e0 499 {
legwinskij 19:c2476c0ea3e0 500 if (1 == savingFlag) // If saving's in progress stop it, to make sure file system won't get corrupted
legwinskij 19:c2476c0ea3e0 501 {
legwinskij 19:c2476c0ea3e0 502 stopSaving();
legwinskij 19:c2476c0ea3e0 503 }
legwinskij 19:c2476c0ea3e0 504 UVLOShutdownFlag = 0;
legwinskij 19:c2476c0ea3e0 505 blink();
legwinskij 19:c2476c0ea3e0 506 blink();
legwinskij 20:66ecb2f0e307 507 appendLog("Battery low halting");
legwinskij 19:c2476c0ea3e0 508 printf("Battery low, halting.\r\n");
legwinskij 19:c2476c0ea3e0 509 btn_latch_n = 1; // Halt
legwinskij 19:c2476c0ea3e0 510 }
legwinskij 19:c2476c0ea3e0 511 }
legwinskij 19:c2476c0ea3e0 512
legwinskij 18:7acae34b518d 513 // Functions -> Init ===========================================================
legwinskij 18:7acae34b518d 514
legwinskij 18:7acae34b518d 515 /* Prepares board for operation (adc's, gyroscope etc.) */
legwinskij 18:7acae34b518d 516 void boardInit (void)
legwinskij 20:66ecb2f0e307 517 {
legwinskij 20:66ecb2f0e307 518 //pllInit();
legwinskij 20:66ecb2f0e307 519 pc.baud(9600);
legwinskij 20:66ecb2f0e307 520 pc.printf("\r\nBooting...\r\n"); // Notify user that board is booting
legwinskij 20:66ecb2f0e307 521 pc.printf("SystemCoreClock = %d Hz\r\n", SystemCoreClock);
legwinskij 20:66ecb2f0e307 522
legwinskij 19:c2476c0ea3e0 523 /* Watchdog */
legwinskij 19:c2476c0ea3e0 524 if ((LPC_WDT->WDMOD >> 2) & 1)
legwinskij 19:c2476c0ea3e0 525 {
legwinskij 19:c2476c0ea3e0 526 led_system = 1;
legwinskij 19:c2476c0ea3e0 527 wait(1);
legwinskij 19:c2476c0ea3e0 528 led_system = 0;
legwinskij 19:c2476c0ea3e0 529 }
legwinskij 19:c2476c0ea3e0 530 wdt.setKick(15.0);
legwinskij 18:7acae34b518d 531
legwinskij 19:c2476c0ea3e0 532 /* Power related stuff */
legwinskij 19:c2476c0ea3e0 533 btn_latch_n = 0; // This latch holds power P-MOS opened in order to provide power to whole board
legwinskij 19:c2476c0ea3e0 534 wait_ms(20);
legwinskij 19:c2476c0ea3e0 535 flash_enable_n = 0;
legwinskij 19:c2476c0ea3e0 536 wait_ms(20);
legwinskij 19:c2476c0ea3e0 537 wifly_enable_n = 0;
legwinskij 20:66ecb2f0e307 538 wifi.init(); // Initialize wifly
legwinskij 19:c2476c0ea3e0 539 led_measuring = 1; // Use incremental LED's to notify user about boot stages
legwinskij 20:66ecb2f0e307 540 #if REVISION == 2
legwinskij 20:66ecb2f0e307 541 cs_2 = 1;
legwinskij 20:66ecb2f0e307 542 #endif
legwinskij 19:c2476c0ea3e0 543 /* IMU init */
legwinskij 20:66ecb2f0e307 544 uint8_t name = mpu.init(); // Initializes both gyro and accelerometer
legwinskij 20:66ecb2f0e307 545 printf("0x%02X MPUID\r\n", name);
legwinskij 19:c2476c0ea3e0 546 wait_ms(40); // Wait for settings to stabilize
legwinskij 18:7acae34b518d 547 led_sending = 1; // Light up second LED to notify mpu init ok
legwinskij 20:66ecb2f0e307 548
legwinskij 19:c2476c0ea3e0 549 /* Power saving features */
legwinskij 18:7acae34b518d 550 PHY_PowerDown(); // Disable ETH PHY to conserve power (about 40mA)
legwinskij 19:c2476c0ea3e0 551 semihost_powerdown(); // Disable USB Host to conserve power (about 30mA)
legwinskij 19:c2476c0ea3e0 552 wait_ms(40); // Wait a bit
legwinskij 19:c2476c0ea3e0 553 led_working = 1; // Light up third LED
legwinskij 19:c2476c0ea3e0 554
legwinskij 19:c2476c0ea3e0 555 /* Measure voltage */
legwinskij 19:c2476c0ea3e0 556 battMeas();
legwinskij 19:c2476c0ea3e0 557 printf("%d mV\r\n", (battLevel << 8) / 10);
legwinskij 19:c2476c0ea3e0 558 spaceMeas();
legwinskij 19:c2476c0ea3e0 559 printf("%d MB\r\n", mbFree);
legwinskij 19:c2476c0ea3e0 560 shutdownHandler();
legwinskij 19:c2476c0ea3e0 561 wait_ms(40);
legwinskij 19:c2476c0ea3e0 562 led_saving = 1;
legwinskij 19:c2476c0ea3e0 563
legwinskij 19:c2476c0ea3e0 564 /* Timers & Tickers init */
legwinskij 19:c2476c0ea3e0 565 Battery_Ticker.attach(&battMeas, BATTERY_PERIOD);
legwinskij 19:c2476c0ea3e0 566 Space_Ticker.attach(&spaceMeas, SPACE_PERIOD);
legwinskij 19:c2476c0ea3e0 567 button_timer.start(); // Start timer that counts lengths of button presses
legwinskij 19:c2476c0ea3e0 568 btn_input.fall(&btnPressCallback); // Attach button press callback
legwinskij 19:c2476c0ea3e0 569 btn_input.rise(&btnReleaseCallback); // Attach button release callback
legwinskij 19:c2476c0ea3e0 570 wait_ms(40);
legwinskij 18:7acae34b518d 571
PavelKumpan 23:bb76f8ad9557 572 readSwimmerID();
PavelKumpan 23:bb76f8ad9557 573
legwinskij 18:7acae34b518d 574 /* End of init */
legwinskij 19:c2476c0ea3e0 575 appendLog("Booted"); // Append line to log file
legwinskij 18:7acae34b518d 576 leds_off(); // Turn all LEDs off
legwinskij 19:c2476c0ea3e0 577 blink(); // Blink system led to notify user
legwinskij 20:66ecb2f0e307 578 wdt.setKick(5);
legwinskij 20:66ecb2f0e307 579 pc.printf("Ready...\r\n"); // Notify user of end init
legwinskij 18:7acae34b518d 580 }
legwinskij 18:7acae34b518d 581
legwinskij 18:7acae34b518d 582 // Functions -> Measuring ======================================================
legwinskij 18:7acae34b518d 583
legwinskij 18:7acae34b518d 584 /* Main measuring function */
legwinskij 19:c2476c0ea3e0 585 void measure(void)
legwinskij 18:7acae34b518d 586 {
legwinskij 18:7acae34b518d 587 /* Vars */
legwinskij 18:7acae34b518d 588 char buffer[SIZE][BUFFER_SIZE]; // Buffer
legwinskij 18:7acae34b518d 589 int pos = 0; // Position
legwinskij 18:7acae34b518d 590
legwinskij 18:7acae34b518d 591 /* Read IMU values */
legwinskij 18:7acae34b518d 592 mpu.valRead(ACCEL, acc_x[relative], acc_y[relative], acc_z[relative]); // Read Accelerometer values
legwinskij 18:7acae34b518d 593 mpu.valRead(GYRO, gyro_x[relative], gyro_y[relative],gyro_z[relative]); // Read Gyroscope values
legwinskij 18:7acae34b518d 594
legwinskij 18:7acae34b518d 595 /* Increment counters */
legwinskij 18:7acae34b518d 596 absolute++; // Increment absolute counter
legwinskij 18:7acae34b518d 597 relative++; // Increment relative counter
legwinskij 18:7acae34b518d 598
legwinskij 18:7acae34b518d 599 /* After our buffers are full save the data */
legwinskij 18:7acae34b518d 600 if ( absolute % SIZE == 0 )
legwinskij 18:7acae34b518d 601 {
legwinskij 18:7acae34b518d 602 /* Flip led_saving state */
legwinskij 18:7acae34b518d 603 led_saving = !led_saving;
legwinskij 18:7acae34b518d 604
legwinskij 18:7acae34b518d 605 /* Handle file error */
legwinskij 18:7acae34b518d 606 if (gfp == NULL) {
legwinskij 18:7acae34b518d 607 printf("Unable to append data to file %s\r\n", fname); // Notify user
legwinskij 18:7acae34b518d 608 return; // Return
legwinskij 18:7acae34b518d 609 }
legwinskij 18:7acae34b518d 610
legwinskij 18:7acae34b518d 611 /* Iterate all buffer elements */
legwinskij 18:7acae34b518d 612 for (int k = 0; k < SIZE; k++)
legwinskij 18:7acae34b518d 613 {
legwinskij 18:7acae34b518d 614 pos = absolute-SIZE+k; // Increment position
legwinskij 18:7acae34b518d 615 toBytes(buffer[k], &pos, sizeof(int)); // Append data to buffer in byte form
legwinskij 18:7acae34b518d 616 toBytes(buffer[k]+sizeof(int), &acc_x[k], sizeof(short));
legwinskij 18:7acae34b518d 617 toBytes(buffer[k]+sizeof(int) + sizeof(short), &acc_y[k], sizeof(short));
legwinskij 18:7acae34b518d 618 toBytes(buffer[k]+sizeof(int) + sizeof(short)*2, &acc_z[k], sizeof(short));
legwinskij 18:7acae34b518d 619 toBytes(buffer[k]+sizeof(int) + sizeof(short)*3, &gyro_x[k], sizeof(short));
legwinskij 18:7acae34b518d 620 toBytes(buffer[k]+sizeof(int) + sizeof(short)*4, &gyro_y[k], sizeof(short));
legwinskij 18:7acae34b518d 621 toBytes(buffer[k]+sizeof(int) + sizeof(short)*5, &gyro_z[k], sizeof(short));
legwinskij 18:7acae34b518d 622 }
legwinskij 18:7acae34b518d 623
legwinskij 18:7acae34b518d 624 /* Write */
legwinskij 19:c2476c0ea3e0 625 #ifdef LOG_TEST_MODE
legwinskij 19:c2476c0ea3e0 626 measureNotify = 1; // Used for saving debug
legwinskij 19:c2476c0ea3e0 627 #endif
legwinskij 18:7acae34b518d 628 fwrite(buffer, SIZE, BUFFER_SIZE, gfp); // Write 32 buffer lines (16 bytes) to file (512 bytes total -> one block)
legwinskij 18:7acae34b518d 629 fflush(gfp); // Flush to make sure nothing is left in buffer
legwinskij 19:c2476c0ea3e0 630 #ifdef LOG_TEST_MODE
legwinskij 19:c2476c0ea3e0 631 measureNotify = 0; // Used for saving debug
legwinskij 19:c2476c0ea3e0 632 #endif
legwinskij 18:7acae34b518d 633
legwinskij 18:7acae34b518d 634 /* Reset relative counter */
legwinskij 18:7acae34b518d 635 relative = 0;
legwinskij 18:7acae34b518d 636 }
legwinskij 18:7acae34b518d 637 }
legwinskij 18:7acae34b518d 638
legwinskij 18:7acae34b518d 639 /* Sets the measuring flag */
legwinskij 18:7acae34b518d 640 void setMeasuringFlag(void)
legwinskij 18:7acae34b518d 641 {
legwinskij 19:c2476c0ea3e0 642 #ifdef LOG_TEST_MODE
legwinskij 19:c2476c0ea3e0 643 flagSetNotify = 1; // Used for saving debug
legwinskij 19:c2476c0ea3e0 644 #endif
legwinskij 18:7acae34b518d 645 measuringFlag = 1; // Set measuring flag
legwinskij 19:c2476c0ea3e0 646 #ifdef LOG_TEST_MODE
PavelKumpan 23:bb76f8ad9557 647 flagSetNotify = 0; // Used for saving debug
legwinskij 19:c2476c0ea3e0 648 #endif
legwinskij 18:7acae34b518d 649 }
legwinskij 18:7acae34b518d 650
legwinskij 17:ca53e6d36163 651 // Functions -> Commands =======================================================
legwinskij 17:ca53e6d36163 652
PavelKumpan 25:2f964ebcdfd8 653 /* Prepares all to acquire data from sensors */
PavelKumpan 25:2f964ebcdfd8 654 void prepareSaving(void)
legwinskij 15:baa2672a9b38 655 {
PavelKumpan 26:5674b8978551 656 for(int i = 0; i < 8; i++)
PavelKumpan 25:2f964ebcdfd8 657 {
PavelKumpan 26:5674b8978551 658 timestamp[i] = cmd_data[i];
PavelKumpan 21:d1569911500a 659 }
PavelKumpan 21:d1569911500a 660
legwinskij 19:c2476c0ea3e0 661 savingFlag = 1; // Set saving flag
legwinskij 15:baa2672a9b38 662 /* Open global file with current swimmer ID */
legwinskij 15:baa2672a9b38 663 gfp = fopen(fname, "wb"); // Try to open that file
legwinskij 15:baa2672a9b38 664 if(gfp == NULL) {
legwinskij 15:baa2672a9b38 665 leds_error(); // Turn on all leds
legwinskij 18:7acae34b518d 666 printf("Unable to open file %s for writing\r\n", fname); // Notify user
legwinskij 15:baa2672a9b38 667 return; // Exit function
legwinskij 15:baa2672a9b38 668 }
legwinskij 15:baa2672a9b38 669
legwinskij 15:baa2672a9b38 670 /* Prepare file & vars for data acquisition */
legwinskij 15:baa2672a9b38 671 fprintf(gfp, "%c%c%c", -1, -1, swimmer_id); // Append header to current swimmer output file
legwinskij 18:7acae34b518d 672 fflush(gfp);
legwinskij 15:baa2672a9b38 673
legwinskij 15:baa2672a9b38 674 /* Reset counters */
legwinskij 15:baa2672a9b38 675 absolute = 0; // Reset absolute counter
legwinskij 15:baa2672a9b38 676 relative = 0; // Reset relative counter
PavelKumpan 25:2f964ebcdfd8 677 }
legwinskij 15:baa2672a9b38 678
PavelKumpan 25:2f964ebcdfd8 679 /* Starts to acquire data from sensors */
PavelKumpan 25:2f964ebcdfd8 680 void startSaving(void)
PavelKumpan 25:2f964ebcdfd8 681 {
legwinskij 19:c2476c0ea3e0 682 Saving_Ticker.attach(&setMeasuringFlag, SAMPLE_PERIOD); // Attach function that periodically sets the flag
legwinskij 15:baa2672a9b38 683 }
legwinskij 15:baa2672a9b38 684
legwinskij 19:c2476c0ea3e0 685 /* Stops acquiring data, and save data left in buffers to USB */
legwinskij 15:baa2672a9b38 686 void stopSaving(void)
legwinskij 15:baa2672a9b38 687 {
legwinskij 19:c2476c0ea3e0 688 savingFlag = 0; // Clear saving flag
legwinskij 15:baa2672a9b38 689 /* Stop saving */
legwinskij 15:baa2672a9b38 690 Saving_Ticker.detach(); // Stop setting measuring flag
jkaderka 1:3ec5f7df2410 691
legwinskij 15:baa2672a9b38 692 /* Try to append data left in buffers */
legwinskij 15:baa2672a9b38 693 if(gfp == NULL) {
legwinskij 15:baa2672a9b38 694 leds_error(); // Turn on all leds
legwinskij 18:7acae34b518d 695 printf("Unable to open file %s before sending data\r\n", fname); // Notify user
legwinskij 15:baa2672a9b38 696 return; // Exit function
legwinskij 15:baa2672a9b38 697 }
legwinskij 15:baa2672a9b38 698
legwinskij 15:baa2672a9b38 699 /* Append data left to buffer */
legwinskij 15:baa2672a9b38 700 int base = ((absolute - (absolute%SIZE)) < 0) ? 0 : absolute - (absolute%SIZE);
legwinskij 15:baa2672a9b38 701 char buffer[relative][BUFFER_SIZE]; // packet array
legwinskij 15:baa2672a9b38 702
legwinskij 15:baa2672a9b38 703 /* Iterate all array elements */
legwinskij 15:baa2672a9b38 704 for (int k = 0; k < relative; k++) {
legwinskij 15:baa2672a9b38 705 int pos = base+k;
legwinskij 15:baa2672a9b38 706 toBytes(buffer[k], &pos, sizeof(int));
legwinskij 15:baa2672a9b38 707 toBytes(buffer[k]+sizeof(int), &acc_x[k], sizeof(short));
legwinskij 15:baa2672a9b38 708 toBytes(buffer[k]+sizeof(int) + sizeof(short), &acc_y[k], sizeof(short));
legwinskij 15:baa2672a9b38 709 toBytes(buffer[k]+sizeof(int) + sizeof(short)*2, &acc_z[k], sizeof(short));
legwinskij 15:baa2672a9b38 710 toBytes(buffer[k]+sizeof(int) + sizeof(short)*3, &gyro_x[k], sizeof(short));
legwinskij 15:baa2672a9b38 711 toBytes(buffer[k]+sizeof(int) + sizeof(short)*4, &gyro_y[k], sizeof(short));
legwinskij 15:baa2672a9b38 712 toBytes(buffer[k]+sizeof(int) + sizeof(short)*5, &gyro_z[k], sizeof(short));
legwinskij 15:baa2672a9b38 713 }
legwinskij 15:baa2672a9b38 714
legwinskij 15:baa2672a9b38 715 /* Write what's left */
legwinskij 15:baa2672a9b38 716 fwrite(buffer, relative, BUFFER_SIZE, gfp); // Write all data at once
legwinskij 18:7acae34b518d 717 fflush(gfp);
legwinskij 15:baa2672a9b38 718
legwinskij 15:baa2672a9b38 719 /* Append EOF and close file */
legwinskij 15:baa2672a9b38 720 fprintf(gfp, "%c%c", -1,-1); // Write EOF characters
legwinskij 18:7acae34b518d 721 fflush(gfp);
legwinskij 15:baa2672a9b38 722 fclose(gfp); // Close file
PavelKumpan 21:d1569911500a 723
PavelKumpan 21:d1569911500a 724 /* Append this file to the records file */
PavelKumpan 23:bb76f8ad9557 725 appendRecord();
PavelKumpan 21:d1569911500a 726
legwinskij 15:baa2672a9b38 727 /* Prepare for next swimmer */
legwinskij 15:baa2672a9b38 728 swimmer_id++; // Increment swimmer ID
legwinskij 15:baa2672a9b38 729 sprintf(fname, "/usb/swimmer%d.txt", swimmer_id); // Update current file name
legwinskij 15:baa2672a9b38 730 remove(fname); // If file with such ID exists remove it to avoid reading old data
legwinskij 15:baa2672a9b38 731 }
legwinskij 15:baa2672a9b38 732
legwinskij 15:baa2672a9b38 733 /* Sends acquired data via Wi-Fi */
legwinskij 15:baa2672a9b38 734 void transfer(void)
legwinskij 15:baa2672a9b38 735 {
legwinskij 17:ca53e6d36163 736 /* Vars */
legwinskij 17:ca53e6d36163 737 char name[30]; // File name buffer
legwinskij 17:ca53e6d36163 738
legwinskij 17:ca53e6d36163 739 /* File transfer prerequisites */
PavelKumpan 26:5674b8978551 740 printf("closing");
PavelKumpan 26:5674b8978551 741 if (gfp != NULL) {
PavelKumpan 26:5674b8978551 742 fclose(gfp);
legwinskij 20:66ecb2f0e307 743 }
PavelKumpan 26:5674b8978551 744 printf(" file %d", cmd_data[0]);
PavelKumpan 26:5674b8978551 745 sprintf(name, "/usb/swimmer%d.txt", cmd_data[0]); // Create file name based on current swimmer ID
PavelKumpan 26:5674b8978551 746 printf(name);
PavelKumpan 26:5674b8978551 747 sendFile(name);
PavelKumpan 21:d1569911500a 748 }
PavelKumpan 21:d1569911500a 749
legwinskij 20:66ecb2f0e307 750 /* Halts board */
legwinskij 20:66ecb2f0e307 751 void halt(void)
legwinskij 20:66ecb2f0e307 752 {
legwinskij 20:66ecb2f0e307 753 if (1 == savingFlag) // If saving's in progress stop it, to make sure file system won't get corrupted
legwinskij 20:66ecb2f0e307 754 {
legwinskij 20:66ecb2f0e307 755 stopSaving();
legwinskij 20:66ecb2f0e307 756 }
legwinskij 20:66ecb2f0e307 757 systemRequest = 0;
legwinskij 20:66ecb2f0e307 758 blink();
legwinskij 20:66ecb2f0e307 759 btn_latch_n = 1;
legwinskij 20:66ecb2f0e307 760 }
legwinskij 20:66ecb2f0e307 761
legwinskij 19:c2476c0ea3e0 762 /* Begins new scope (clears all data && rests swimmer_id counder) */
legwinskij 18:7acae34b518d 763 void beginScope(void)
legwinskij 18:7acae34b518d 764 {
legwinskij 18:7acae34b518d 765 /* Clear all files and reset swimmer_id only when not after reset */
legwinskij 18:7acae34b518d 766 if(swimmer_id != 0) // Redundancy check
legwinskij 18:7acae34b518d 767 {
legwinskij 18:7acae34b518d 768 appendLog("New scope");
legwinskij 18:7acae34b518d 769 clearRoot(); // Clears all files on root of USB flash disk
legwinskij 18:7acae34b518d 770 swimmer_id = 0; // Resets simmer_id counter
legwinskij 18:7acae34b518d 771 sprintf(fname, "/usb/swimmer%d.txt", swimmer_id); // Update current file name
jkaderka 0:16fd37cf4a7c 772 }
jkaderka 0:16fd37cf4a7c 773 }
jkaderka 0:16fd37cf4a7c 774
legwinskij 19:c2476c0ea3e0 775 // Functions -> Generic functions ==============================================
legwinskij 19:c2476c0ea3e0 776
PavelKumpan 26:5674b8978551 777 /* Sends acquired data via Wi-Fi */
PavelKumpan 26:5674b8978551 778 void sendFile(char* name)
PavelKumpan 26:5674b8978551 779 {
PavelKumpan 26:5674b8978551 780 /* Handle transfer */
PavelKumpan 26:5674b8978551 781 if(doesFileExist(name)) // At first check whether file exists (fopen used to freeze mbed)
PavelKumpan 26:5674b8978551 782 { // Timeout is used to make sure C# gets ready (sockets are messy, flushing is pain)
PavelKumpan 26:5674b8978551 783 /* Actually try to send file */
PavelKumpan 26:5674b8978551 784 printf("Sending %s...\r\n", name); // Notify user which user is being sent
PavelKumpan 26:5674b8978551 785 if (wifi.sendFile(name) != 0) // Send !
PavelKumpan 26:5674b8978551 786 {
PavelKumpan 26:5674b8978551 787 leds_error(); // Handle error
PavelKumpan 26:5674b8978551 788 wifi.sendFail();
PavelKumpan 26:5674b8978551 789 printf("Unable to send file.\r\n"); // Notify user via text also
PavelKumpan 26:5674b8978551 790 }
PavelKumpan 26:5674b8978551 791 else
PavelKumpan 26:5674b8978551 792 {
PavelKumpan 26:5674b8978551 793 printf("File transfer finished.\r\n"); // Otherwise all is AOK
PavelKumpan 26:5674b8978551 794 }
PavelKumpan 26:5674b8978551 795 }
PavelKumpan 26:5674b8978551 796 else
PavelKumpan 26:5674b8978551 797 {
PavelKumpan 26:5674b8978551 798 /* In case file doest not exist send NACK */
PavelKumpan 26:5674b8978551 799 wifi.sendNack();
PavelKumpan 26:5674b8978551 800 printf("Requested non-existing file.\r\n");
PavelKumpan 26:5674b8978551 801 }
PavelKumpan 26:5674b8978551 802 }
PavelKumpan 26:5674b8978551 803
legwinskij 19:c2476c0ea3e0 804 /* Sends status */
legwinskij 19:c2476c0ea3e0 805 void sendStatus(void)
legwinskij 19:c2476c0ea3e0 806 {
PavelKumpan 21:d1569911500a 807 uint8_t checksum = SOH + savingFlag + battLevel + swimmer_id; // Calculate checksum
PavelKumpan 26:5674b8978551 808 wifi.sendByte('#'); // #
PavelKumpan 26:5674b8978551 809 wifi.sendByte('A'); // A
PavelKumpan 26:5674b8978551 810 wifi.sendByte(5); // Send count of the data
PavelKumpan 26:5674b8978551 811 wifi.sendByte(0);
PavelKumpan 26:5674b8978551 812 wifi.sendByte(0);
PavelKumpan 26:5674b8978551 813 wifi.sendByte(0);
legwinskij 19:c2476c0ea3e0 814 wifi.sendByte(SOH); // Send start of heading
legwinskij 19:c2476c0ea3e0 815 wifi.sendByte(savingFlag); // Send state of saving
legwinskij 19:c2476c0ea3e0 816 wifi.sendByte(battLevel); // Sends current battery level
PavelKumpan 21:d1569911500a 817 wifi.sendByte(swimmer_id); // Sends current swimmer id index
legwinskij 19:c2476c0ea3e0 818 wifi.sendByte(checksum); // Send checksum
PavelKumpan 26:5674b8978551 819
PavelKumpan 26:5674b8978551 820 wifi.waitForAck();
legwinskij 19:c2476c0ea3e0 821 }
legwinskij 19:c2476c0ea3e0 822
legwinskij 19:c2476c0ea3e0 823 void blink(void)
legwinskij 19:c2476c0ea3e0 824 {
legwinskij 19:c2476c0ea3e0 825 if(led_system)
legwinskij 19:c2476c0ea3e0 826 {
legwinskij 19:c2476c0ea3e0 827 led_system = 0;
legwinskij 19:c2476c0ea3e0 828 }
legwinskij 19:c2476c0ea3e0 829 wait_ms(200);
legwinskij 19:c2476c0ea3e0 830 led_system = 1;
legwinskij 19:c2476c0ea3e0 831 wait_ms(200);
legwinskij 19:c2476c0ea3e0 832 led_system = 0;
legwinskij 19:c2476c0ea3e0 833 }
legwinskij 19:c2476c0ea3e0 834
legwinskij 15:baa2672a9b38 835 // Main ========================================================================
legwinskij 15:baa2672a9b38 836
jkaderka 0:16fd37cf4a7c 837 int main()
jkaderka 0:16fd37cf4a7c 838 {
legwinskij 20:66ecb2f0e307 839 /* Begin by initialization */
legwinskij 19:c2476c0ea3e0 840 boardInit(); // Initialize board
PavelKumpan 26:5674b8978551 841
legwinskij 15:baa2672a9b38 842 /* Set zeroth swimmer name */
legwinskij 15:baa2672a9b38 843 sprintf(fname, "/usb/swimmer%d.txt", swimmer_id); // Prepare zeroth swimmer filename
PavelKumpan 26:5674b8978551 844
legwinskij 15:baa2672a9b38 845 /* Main while */
legwinskij 15:baa2672a9b38 846 while (1)
legwinskij 15:baa2672a9b38 847 {
legwinskij 19:c2476c0ea3e0 848 /* Shutdown handler */
legwinskij 19:c2476c0ea3e0 849 shutdownHandler();
legwinskij 15:baa2672a9b38 850 /* Read command from wifly */
PavelKumpan 26:5674b8978551 851 cmd_len = wifi.getCmd(cmd_header, cmd_data);
PavelKumpan 26:5674b8978551 852
PavelKumpan 26:5674b8978551 853 if(cmd_header[1] != 'N')
PavelKumpan 26:5674b8978551 854 {
PavelKumpan 26:5674b8978551 855 printf(">> #%c and %d bytes\r\n", cmd_header[1], cmd_len);
PavelKumpan 26:5674b8978551 856 }
PavelKumpan 26:5674b8978551 857
legwinskij 15:baa2672a9b38 858 /* Master switch */
PavelKumpan 26:5674b8978551 859 switch (cmd_header[1]) {
legwinskij 15:baa2672a9b38 860 /* start measuring data periodically and save them info file */
PavelKumpan 25:2f964ebcdfd8 861 case PREPARE_SAVING:
PavelKumpan 25:2f964ebcdfd8 862 {
PavelKumpan 25:2f964ebcdfd8 863 wifi.sendAck();
PavelKumpan 25:2f964ebcdfd8 864 leds_off(); // Turn off all leds
PavelKumpan 25:2f964ebcdfd8 865 prepareSaving(); // Prepares all to saving
PavelKumpan 25:2f964ebcdfd8 866 printf("Opening file for swimmer %d...\r\n", swimmer_id); // Notify user
PavelKumpan 25:2f964ebcdfd8 867 break; // Break from switch
PavelKumpan 25:2f964ebcdfd8 868 }
PavelKumpan 25:2f964ebcdfd8 869
PavelKumpan 25:2f964ebcdfd8 870 /* start measuring data periodically and save them info file */
legwinskij 15:baa2672a9b38 871 case SAVING_START:
legwinskij 15:baa2672a9b38 872 {
legwinskij 20:66ecb2f0e307 873 wifi.sendAck();
legwinskij 15:baa2672a9b38 874 leds_off(); // Turn off all leds
legwinskij 15:baa2672a9b38 875 startSaving(); // Actually start saving
legwinskij 18:7acae34b518d 876 printf("Saving swimmer %d...\r\n", swimmer_id); // Notify user
legwinskij 15:baa2672a9b38 877 led_measuring = 1; // Turn on led_measuring
legwinskij 15:baa2672a9b38 878 break; // Break from switch
jkaderka 1:3ec5f7df2410 879 }
jkaderka 1:3ec5f7df2410 880
legwinskij 15:baa2672a9b38 881 /* stop saving data */
legwinskij 15:baa2672a9b38 882 case SAVING_STOP:
legwinskij 15:baa2672a9b38 883 {
legwinskij 15:baa2672a9b38 884 leds_off(); // Turn off all leds
legwinskij 15:baa2672a9b38 885 stopSaving(); // Actually stop saving
PavelKumpan 26:5674b8978551 886 wifi.sendAck();
legwinskij 18:7acae34b518d 887 printf("Stopped...\r\n"); // Notify user
legwinskij 15:baa2672a9b38 888 break; // Break from switch
jkaderka 1:3ec5f7df2410 889 }
legwinskij 15:baa2672a9b38 890
legwinskij 15:baa2672a9b38 891 /* Send all data */
legwinskij 18:7acae34b518d 892 case TRANSFER_REQUEST:
legwinskij 15:baa2672a9b38 893 {
legwinskij 15:baa2672a9b38 894 leds_off(); // Turn off all leds
legwinskij 15:baa2672a9b38 895 led_sending = 1; // Turn on led_sending
legwinskij 18:7acae34b518d 896 printf("Sending data...\r\n"); // Notify user that data is being sent
legwinskij 15:baa2672a9b38 897 transfer(); // Actually transfer data
legwinskij 18:7acae34b518d 898 printf("Sending finished...\r\n"); // Notify user that data was sent successfully
legwinskij 15:baa2672a9b38 899 leds_off(); // Turn off all leds again
legwinskij 15:baa2672a9b38 900 break; // Break from switch
jkaderka 1:3ec5f7df2410 901 }
jkaderka 1:3ec5f7df2410 902
legwinskij 18:7acae34b518d 903 /* Begin new scope */
legwinskij 18:7acae34b518d 904 case SCOPE_BEGIN:
legwinskij 18:7acae34b518d 905 {
legwinskij 20:66ecb2f0e307 906 wifi.sendAck();
legwinskij 18:7acae34b518d 907 leds_off(); // Turn off all leds
legwinskij 18:7acae34b518d 908 led_measuring = led_saving = 1; // Turn on two leds to depict special behaviour
legwinskij 18:7acae34b518d 909 printf("Starting new scope...\r\n"); // Notify user that new scope is beginning
legwinskij 18:7acae34b518d 910 beginScope(); // Begin scope ! (clear all data && reset swimmer_id counter)
legwinskij 18:7acae34b518d 911 leds_off(); // Turn off all leds
legwinskij 18:7acae34b518d 912 break; // Break
legwinskij 18:7acae34b518d 913 }
legwinskij 18:7acae34b518d 914
legwinskij 20:66ecb2f0e307 915 /* Send log file */
legwinskij 20:66ecb2f0e307 916 case SEND_LOG:
legwinskij 20:66ecb2f0e307 917 {
legwinskij 20:66ecb2f0e307 918 wifi.sendAck();
legwinskij 20:66ecb2f0e307 919 leds_off(); // Turn off all leds
legwinskij 20:66ecb2f0e307 920 led_measuring = led_saving = 1; // Turn on two leds to depict special behaviour
legwinskij 20:66ecb2f0e307 921 printf("Sending log...\r\n"); // Notify user that new scope is beginning
PavelKumpan 26:5674b8978551 922 sendFile(LOG_FILE); // Send log file
legwinskij 20:66ecb2f0e307 923 leds_off(); // Turn off all leds
legwinskij 20:66ecb2f0e307 924 break; // Break
legwinskij 20:66ecb2f0e307 925 }
legwinskij 20:66ecb2f0e307 926
PavelKumpan 21:d1569911500a 927 /* Send records file */
PavelKumpan 21:d1569911500a 928 case SEND_RECORDS:
PavelKumpan 21:d1569911500a 929 {
PavelKumpan 21:d1569911500a 930 leds_off(); // Turn off all leds
PavelKumpan 21:d1569911500a 931 led_measuring = led_saving = 1; // Turn on two leds to depict special behaviour
PavelKumpan 22:69621e10dd26 932 printf("Sending records...\r\n"); // Notify user that new scope is beginning
PavelKumpan 26:5674b8978551 933 sendFile(RECORDS_FILE); // Send records file
PavelKumpan 21:d1569911500a 934 leds_off(); // Turn off all leds
PavelKumpan 21:d1569911500a 935 break; // Break
PavelKumpan 21:d1569911500a 936 }
PavelKumpan 21:d1569911500a 937
legwinskij 20:66ecb2f0e307 938 /* Halt swimfly */
legwinskij 20:66ecb2f0e307 939 case HALT:
legwinskij 20:66ecb2f0e307 940 {
legwinskij 20:66ecb2f0e307 941 wifi.sendAck();
legwinskij 20:66ecb2f0e307 942 leds_off(); // Turn off all leds
legwinskij 20:66ecb2f0e307 943 led_measuring = led_saving = 1; // Turn on two leds to depict special behaviour
legwinskij 20:66ecb2f0e307 944 halt(); // Halt swimfly
legwinskij 20:66ecb2f0e307 945 leds_off(); // Turn off all leds
legwinskij 20:66ecb2f0e307 946 break; // Break
legwinskij 20:66ecb2f0e307 947 }
legwinskij 20:66ecb2f0e307 948
legwinskij 19:c2476c0ea3e0 949 /* Ready */
legwinskij 18:7acae34b518d 950 case CHECK_READY:
legwinskij 19:c2476c0ea3e0 951 {
PavelKumpan 26:5674b8978551 952 printf("Sending status...\r\n"); //
legwinskij 19:c2476c0ea3e0 953 leds_off(); // Turn off all leds
legwinskij 19:c2476c0ea3e0 954 sendStatus(); // Sends status message
legwinskij 19:c2476c0ea3e0 955 break; // Break
legwinskij 19:c2476c0ea3e0 956 }
PavelKumpan 22:69621e10dd26 957
legwinskij 19:c2476c0ea3e0 958 /* Nothing on serial */
legwinskij 15:baa2672a9b38 959 case 'N':
legwinskij 15:baa2672a9b38 960 {
legwinskij 15:baa2672a9b38 961 /* Handle data measuring */
legwinskij 15:baa2672a9b38 962 if(measuringFlag) // Wait for timer to set the flag again and again
legwinskij 15:baa2672a9b38 963 {
legwinskij 19:c2476c0ea3e0 964 measure(); // Measure !
legwinskij 15:baa2672a9b38 965 measuringFlag = 0; // Reset flag
legwinskij 15:baa2672a9b38 966 }
legwinskij 15:baa2672a9b38 967 break; // Break from switch
legwinskij 15:baa2672a9b38 968 }
legwinskij 15:baa2672a9b38 969
PavelKumpan 26:5674b8978551 970 /* Fail (should be handled in some inner function */
PavelKumpan 26:5674b8978551 971 case 'F':
PavelKumpan 26:5674b8978551 972 {
PavelKumpan 26:5674b8978551 973 break; // Break from switch
PavelKumpan 26:5674b8978551 974 }
PavelKumpan 26:5674b8978551 975
PavelKumpan 26:5674b8978551 976 /* Nothing on serial */
PavelKumpan 26:5674b8978551 977 case 'A':
PavelKumpan 26:5674b8978551 978 {
PavelKumpan 26:5674b8978551 979 break; // Break from switch
PavelKumpan 26:5674b8978551 980 }
PavelKumpan 26:5674b8978551 981
legwinskij 15:baa2672a9b38 982 /* Everything else is ballast */
legwinskij 15:baa2672a9b38 983 default :
legwinskij 15:baa2672a9b38 984 {
legwinskij 20:66ecb2f0e307 985 wifi.sendNack();
legwinskij 15:baa2672a9b38 986 leds_error(); // Turn on all leds
PavelKumpan 26:5674b8978551 987 printf("Command %c is unknown!\r\n", cmd_header[1]); // Notify user
legwinskij 15:baa2672a9b38 988 break; // Break from switch
legwinskij 15:baa2672a9b38 989 }
jkaderka 0:16fd37cf4a7c 990 }
legwinskij 19:c2476c0ea3e0 991 wdt.kick(); // Kick watchdog each iteration
jkaderka 0:16fd37cf4a7c 992 }
jkaderka 0:16fd37cf4a7c 993 }