Revision 81:7ff2c6467892, committed 2018-11-08

Comitter:

tnhnrl

Date:

Thu Nov 08 22:30:32 2018 +0000

Parent:

80:4e5d306d695b

Commit message:

Minor fixes 11/8/18

Changed in this revision

--- a/SDFileSystem.lib	Wed Oct 24 16:07:10 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/tnhnrl/code/SDFileSystem/#9e2a6ea13645

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem/FATFileSystem.lib	Thu Nov 08 22:30:32 2018 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/teams/mbed-official/code/FATFileSystem/#28e685e5ff7f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem/SDFileSystem.cpp	Thu Nov 08 22:30:32 2018 +0000
@@ -0,0 +1,498 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+/* Introduction
+ * ------------
+ * SD and MMC cards support a number of interfaces, but common to them all
+ * is one based on SPI. This is the one I'm implmenting because it means
+ * it is much more portable even though not so performant, and we already
+ * have the mbed SPI Interface!
+ *
+ * The main reference I'm using is Chapter 7, "SPI Mode" of:
+ *  http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
+ *
+ * SPI Startup
+ * -----------
+ * The SD card powers up in SD mode. The SPI interface mode is selected by
+ * asserting CS low and sending the reset command (CMD0). The card will
+ * respond with a (R1) response.
+ *
+ * CMD8 is optionally sent to determine the voltage range supported, and
+ * indirectly determine whether it is a version 1.x SD/non-SD card or
+ * version 2.x. I'll just ignore this for now.
+ *
+ * ACMD41 is repeatedly issued to initialise the card, until "in idle"
+ * (bit 0) of the R1 response goes to '0', indicating it is initialised.
+ *
+ * You should also indicate whether the host supports High Capicity cards,
+ * and check whether the card is high capacity - i'll also ignore this
+ *
+ * SPI Protocol
+ * ------------
+ * The SD SPI protocol is based on transactions made up of 8-bit words, with
+ * the host starting every bus transaction by asserting the CS signal low. The
+ * card always responds to commands, data blocks and errors.
+ *
+ * The protocol supports a CRC, but by default it is off (except for the
+ * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
+ * I'll leave the CRC off I think!
+ *
+ * Standard capacity cards have variable data block sizes, whereas High
+ * Capacity cards fix the size of data block to 512 bytes. I'll therefore
+ * just always use the Standard Capacity cards with a block size of 512 bytes.
+ * This is set with CMD16.
+ *
+ * You can read and write single blocks (CMD17, CMD25) or multiple blocks
+ * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
+ * the card gets a read command, it responds with a response token, and then
+ * a data token or an error.
+ *
+ * SPI Command Format
+ * ------------------
+ * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
+ *
+ * +---------------+------------+------------+-----------+----------+--------------+
+ * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
+ * +---------------+------------+------------+-----------+----------+--------------+
+ *
+ * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
+ *
+ * All Application Specific commands shall be preceded with APP_CMD (CMD55).
+ *
+ * SPI Response Format
+ * -------------------
+ * The main response format (R1) is a status byte (normally zero). Key flags:
+ *  idle - 1 if the card is in an idle state/initialising
+ *  cmd  - 1 if an illegal command code was detected
+ *
+ *    +-------------------------------------------------+
+ * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
+ *    +-------------------------------------------------+
+ *
+ * R1b is the same, except it is followed by a busy signal (zeros) until
+ * the first non-zero byte when it is ready again.
+ *
+ * Data Response Token
+ * -------------------
+ * Every data block written to the card is acknowledged by a byte
+ * response token
+ *
+ * +----------------------+
+ * | xxx | 0 | status | 1 |
+ * +----------------------+
+ *              010 - OK!
+ *              101 - CRC Error
+ *              110 - Write Error
+ *
+ * Single Block Read and Write
+ * ---------------------------
+ *
+ * Block transfers have a byte header, followed by the data, followed
+ * by a 16-bit CRC. In our case, the data will always be 512 bytes.
+ *
+ * +------+---------+---------+- -  - -+---------+-----------+----------+
+ * | 0xFE | data[0] | data[1] |        | data[n] | crc[15:8] | crc[7:0] |
+ * +------+---------+---------+- -  - -+---------+-----------+----------+
+ */
+#include "SDFileSystem.h"
+#include "mbed_debug.h"
+
+#define SD_COMMAND_TIMEOUT 5000
+
+#define SD_DBG             0
+
+SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) :
+    FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs), _is_initialized(0) {
+    _cs = 1;
+
+    // Set default to 100kHz for initialisation and 1MHz for data transfer
+    _init_sck = 100000;
+    _transfer_sck = 1000000;
+}
+
+#define R1_IDLE_STATE           (1 << 0)
+#define R1_ERASE_RESET          (1 << 1)
+#define R1_ILLEGAL_COMMAND      (1 << 2)
+#define R1_COM_CRC_ERROR        (1 << 3)
+#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
+#define R1_ADDRESS_ERROR        (1 << 5)
+#define R1_PARAMETER_ERROR      (1 << 6)
+
+// Types
+//  - v1.x Standard Capacity
+//  - v2.x Standard Capacity
+//  - v2.x High Capacity
+//  - Not recognised as an SD Card
+#define SDCARD_FAIL 0
+#define SDCARD_V1   1
+#define SDCARD_V2   2
+#define SDCARD_V2HC 3
+
+int SDFileSystem::initialise_card() {
+    // Set to SCK for initialisation, and clock card with cs = 1
+    _spi.frequency(_init_sck);
+    _cs = 1;
+    for (int i = 0; i < 16; i++) {
+        _spi.write(0xFF);
+    }
+
+    // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
+    if (_cmd(0, 0) != R1_IDLE_STATE) {
+        debug("No disk, or could not put SD card in to SPI idle state\n");
+        return SDCARD_FAIL;
+    }
+
+    // send CMD8 to determine whther it is ver 2.x
+    int r = _cmd8();
+    if (r == R1_IDLE_STATE) {
+        return initialise_card_v2();
+    } else if (r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
+        return initialise_card_v1();
+    } else {
+        debug("Not in idle state after sending CMD8 (not an SD card?)\n");
+        return SDCARD_FAIL;
+    }
+}
+
+int SDFileSystem::initialise_card_v1() {
+    for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
+        _cmd(55, 0);
+        if (_cmd(41, 0) == 0) {
+            cdv = 512;
+            debug_if(SD_DBG, "\n\rInit: SEDCARD_V1\n\r");
+            return SDCARD_V1;
+        }
+    }
+
+    debug("Timeout waiting for v1.x card\n");
+    return SDCARD_FAIL;
+}
+
+int SDFileSystem::initialise_card_v2() {
+    for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
+        wait_ms(50);
+        _cmd58();
+        _cmd(55, 0);
+        if (_cmd(41, 0x40000000) == 0) {
+            _cmd58();
+            debug_if(SD_DBG, "\n\rInit: SDCARD_V2\n\r");
+            cdv = 1;
+            return SDCARD_V2;
+        }
+    }
+
+    debug("Timeout waiting for v2.x card\n");
+    return SDCARD_FAIL;
+}
+
+int SDFileSystem::disk_initialize() {
+    _is_initialized = initialise_card();
+    if (_is_initialized == 0) {
+        debug("Fail to initialize card\n");
+        return 1;
+    }
+    debug_if(SD_DBG, "init card = %d\n", _is_initialized);
+    _sectors = _sd_sectors();
+
+    // Set block length to 512 (CMD16)
+    if (_cmd(16, 512) != 0) {
+        debug("Set 512-byte block timed out\n");
+        return 1;
+    }
+
+    // Set SCK for data transfer
+    _spi.frequency(_transfer_sck);
+    return 0;
+}
+
+int SDFileSystem::disk_write(const uint8_t* buffer, uint32_t block_number, uint32_t count) {
+    if (!_is_initialized) {
+        return -1;
+    }
+    
+    for (uint32_t b = block_number; b < block_number + count; b++) {
+        // set write address for single block (CMD24)
+        if (_cmd(24, b * cdv) != 0) {
+            return 1;
+        }
+        
+        // send the data block
+        _write(buffer, 512);
+        buffer += 512;
+    }
+    
+    return 0;
+}
+
+int SDFileSystem::disk_read(uint8_t* buffer, uint32_t block_number, uint32_t count) {
+    if (!_is_initialized) {
+        return -1;
+    }
+    
+    for (uint32_t b = block_number; b < block_number + count; b++) {
+        // set read address for single block (CMD17)
+        if (_cmd(17, b * cdv) != 0) {
+            return 1;
+        }
+        
+        // receive the data
+        _read(buffer, 512);
+        buffer += 512;
+    }
+
+    return 0;
+}
+
+int SDFileSystem::disk_status() {
+    // FATFileSystem::disk_status() returns 0 when initialized
+    if (_is_initialized) {
+        return 0;
+    } else {
+        return 1;
+    }
+}
+
+int SDFileSystem::disk_sync() { return 0; }
+uint32_t SDFileSystem::disk_sectors() { return _sectors; }
+
+
+// PRIVATE FUNCTIONS
+int SDFileSystem::_cmd(int cmd, int arg) {
+    _cs = 0;
+
+    // send a command
+    _spi.write(0x40 | cmd);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if (!(response & 0x80)) {
+            _cs = 1;
+            _spi.write(0xFF);
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+int SDFileSystem::_cmdx(int cmd, int arg) {
+    _cs = 0;
+
+    // send a command
+    _spi.write(0x40 | cmd);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if (!(response & 0x80)) {
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+
+int SDFileSystem::_cmd58() {
+    _cs = 0;
+    int arg = 0;
+
+    // send a command
+    _spi.write(0x40 | 58);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if (!(response & 0x80)) {
+            int ocr = _spi.write(0xFF) << 24;
+            ocr |= _spi.write(0xFF) << 16;
+            ocr |= _spi.write(0xFF) << 8;
+            ocr |= _spi.write(0xFF) << 0;
+            _cs = 1;
+            _spi.write(0xFF);
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+int SDFileSystem::_cmd8() {
+    _cs = 0;
+
+    // send a command
+    _spi.write(0x40 | 8); // CMD8
+    _spi.write(0x00);     // reserved
+    _spi.write(0x00);     // reserved
+    _spi.write(0x01);     // 3.3v
+    _spi.write(0xAA);     // check pattern
+    _spi.write(0x87);     // crc
+
+    // wait for the repsonse (response[7] == 0)
+    for (int i = 0; i < SD_COMMAND_TIMEOUT * 1000; i++) {
+        char response[5];
+        response[0] = _spi.write(0xFF);
+        if (!(response[0] & 0x80)) {
+            for (int j = 1; j < 5; j++) {
+                response[i] = _spi.write(0xFF);
+            }
+            _cs = 1;
+            _spi.write(0xFF);
+            return response[0];
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+int SDFileSystem::_read(uint8_t *buffer, uint32_t length) {
+    _cs = 0;
+
+    // read until start byte (0xFF)
+    while (_spi.write(0xFF) != 0xFE);
+
+    // read data
+    for (uint32_t i = 0; i < length; i++) {
+        buffer[i] = _spi.write(0xFF);
+    }
+    _spi.write(0xFF); // checksum
+    _spi.write(0xFF);
+
+    _cs = 1;
+    _spi.write(0xFF);
+    return 0;
+}
+
+int SDFileSystem::_write(const uint8_t*buffer, uint32_t length) {
+    _cs = 0;
+
+    // indicate start of block
+    _spi.write(0xFE);
+
+    // write the data
+    for (uint32_t i = 0; i < length; i++) {
+        _spi.write(buffer[i]);
+    }
+
+    // write the checksum
+    _spi.write(0xFF);
+    _spi.write(0xFF);
+
+    // check the response token
+    if ((_spi.write(0xFF) & 0x1F) != 0x05) {
+        _cs = 1;
+        _spi.write(0xFF);
+        return 1;
+    }
+
+    // wait for write to finish
+    while (_spi.write(0xFF) == 0);
+
+    _cs = 1;
+    _spi.write(0xFF);
+    return 0;
+}
+
+static uint32_t ext_bits(unsigned char *data, int msb, int lsb) {
+    uint32_t bits = 0;
+    uint32_t size = 1 + msb - lsb;
+    for (uint32_t i = 0; i < size; i++) {
+        uint32_t position = lsb + i;
+        uint32_t byte = 15 - (position >> 3);
+        uint32_t bit = position & 0x7;
+        uint32_t value = (data[byte] >> bit) & 1;
+        bits |= value << i;
+    }
+    return bits;
+}
+
+uint32_t SDFileSystem::_sd_sectors() {
+    uint32_t c_size, c_size_mult, read_bl_len;
+    uint32_t block_len, mult, blocknr, capacity;
+    uint32_t hc_c_size;
+    uint32_t blocks;
+
+    // CMD9, Response R2 (R1 byte + 16-byte block read)
+    if (_cmdx(9, 0) != 0) {
+        debug("Didn't get a response from the disk\n");
+        return 0;
+    }
+
+    uint8_t csd[16];
+    if (_read(csd, 16) != 0) {
+        debug("Couldn't read csd response from disk\n");
+        return 0;
+    }
+
+    // csd_structure : csd[127:126]
+    // c_size        : csd[73:62]
+    // c_size_mult   : csd[49:47]
+    // read_bl_len   : csd[83:80] - the *maximum* read block length
+
+    int csd_structure = ext_bits(csd, 127, 126);
+
+    switch (csd_structure) {
+        case 0:
+            cdv = 512;
+            c_size = ext_bits(csd, 73, 62);
+            c_size_mult = ext_bits(csd, 49, 47);
+            read_bl_len = ext_bits(csd, 83, 80);
+
+            block_len = 1 << read_bl_len;
+            mult = 1 << (c_size_mult + 2);
+            blocknr = (c_size + 1) * mult;
+            capacity = blocknr * block_len;
+            blocks = capacity / 512;
+            debug_if(SD_DBG, "\n\rSDCard\n\rc_size: %d \n\rcapacity: %ld \n\rsectors: %lld\n\r", c_size, capacity, blocks);
+            break;
+
+        case 1:
+            cdv = 1;
+            hc_c_size = ext_bits(csd, 63, 48);
+            blocks = (hc_c_size+1)*1024;
+            debug_if(SD_DBG, "\n\rSDHC Card \n\rhc_c_size: %d\n\rcapacity: %lld \n\rsectors: %lld\n\r", hc_c_size, blocks*512, blocks);
+            break;
+
+        default:
+            debug("CSD struct unsupported\r\n");
+            return 0;
+    };
+    return blocks;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem/SDFileSystem.h	Thu Nov 08 22:30:32 2018 +0000
@@ -0,0 +1,89 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef MBED_SDFILESYSTEM_H
+#define MBED_SDFILESYSTEM_H
+
+#include "mbed.h"
+#include "FATFileSystem.h"
+#include <stdint.h>
+
+/** Access the filesystem on an SD Card using SPI
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "SDFileSystem.h"
+ *
+ * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs
+ *
+ * int main() {
+ *     FILE *fp = fopen("/sd/myfile.txt", "w");
+ *     fprintf(fp, "Hello World!\n");
+ *     fclose(fp);
+ * }
+ */
+class SDFileSystem : public FATFileSystem {
+public:
+
+    /** Create the File System for accessing an SD Card using SPI
+     *
+     * @param mosi SPI mosi pin connected to SD Card
+     * @param miso SPI miso pin conencted to SD Card
+     * @param sclk SPI sclk pin connected to SD Card
+     * @param cs   DigitalOut pin used as SD Card chip select
+     * @param name The name used to access the virtual filesystem
+     */
+    SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
+    virtual int disk_initialize();
+    virtual int disk_status();
+    virtual int disk_read(uint8_t* buffer, uint32_t block_number, uint32_t count);
+    virtual int disk_write(const uint8_t* buffer, uint32_t block_number, uint32_t count);
+    virtual int disk_sync();
+    virtual uint32_t disk_sectors();
+
+protected:
+
+    int _cmd(int cmd, int arg);
+    int _cmdx(int cmd, int arg);
+    int _cmd8();
+    int _cmd58();
+    int initialise_card();
+    int initialise_card_v1();
+    int initialise_card_v2();
+
+    int _read(uint8_t * buffer, uint32_t length);
+    int _write(const uint8_t *buffer, uint32_t length);
+    uint32_t _sd_sectors();
+    uint32_t _sectors;
+
+    void set_init_sck(uint32_t sck) { _init_sck = sck; }
+    // Note: The highest SPI clock rate is 20 MHz for MMC and 25 MHz for SD
+    void set_transfer_sck(uint32_t sck) { _transfer_sck = sck; }
+    uint32_t _init_sck;
+    uint32_t _transfer_sck;
+
+    SPI _spi;
+    DigitalOut _cs;
+    int cdv;
+    int _is_initialized;
+};
+
+#endif
\ No newline at end of file

--- a/changelog.txt	Wed Oct 24 16:07:10 2018 +0000
+++ b/changelog.txt	Thu Nov 08 22:30:32 2018 +0000
@@ -1,6 +1,7 @@
     Starting from Trent's Linear Actuator code from 2017-10-19, these modifications
     by Dan add an outer loop controller for depth and pitch to command the inner
     linear actuator loops.
+    
     Modified 2017-10-20 revA by Dan
         - added outer loop controller, but it is hanging the mbed. (turns out it was the imu update)
     Modified 2017-10-22 revA by Dan
@@ -180,4 +181,82 @@
         - Timing issue where servo jumps from 1710 to 1940, not clear why this deadband exist, need to do the math on this
     Modified 2018-09-19
         - Modified the ConfigFileIO to load and save BCE and BMM values from the file (not just load the hardcoded limits of 320 BCE and 60 BMM)
-*/
\ No newline at end of file
+    Modified FSG PCB V_1_1
+        - Freezes when doing a dive or any timed sequence (commented out SD card references)
+        - commented out sdLogger().appendLogFile(current_state, 0);     //open SD file once
+        - commented out sdLogger().appendLogFile(current_state, 1);    //writing data
+        - commented out sdLogger().appendLogFile(current_state, 0);    //close log file
+        - reduced timer to 20 seconds for bench testing
+        - modified ConfigFileIO for rudder()
+        - added in getFloatUserInput function from newer code
+        - changed LinearActuator & batt() in StaticDefs to match new pinouts from Bob/Matt/Troy fixes
+        - slowed down battery motor because it's silly fast at 30 volts (bench test)
+            * BCE gain is proportional 0.1 now 0.01
+        - BATT was moving in the wrong direction, gain was P: 0.10, I: 0.0, D: 0.0
+            * change gain to P: -0.10 (gain was flipped, I think the old circuit board had the voltages flipped ? ?)
+        - StateMachine changes for testing
+            * added keyboard_menu_STREAM_STATUS();
+            * added keyboard_menu_RUDDER_SERVO_settings();
+        - modified the zero on the battery position from 610 to 836
+        - BMM (batt) slope may be incorrect, seems low, currently 0.12176
+        - modified the zero on BCE from 253 to 460
+        - Pressure readings are wrong
+            * added readADCCounts() to omegaPX209 class to see channel readings
+            * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4()
+        - fixed rudderLoop to headingLoop from newer code
+    Modified FSG PCB V_1_2
+        - added init headingLoop to main
+        - added pitch and heading outputs to STREAM_STATUS
+    NOTE: Flipped motor controller output on connector side with battery mass mover (BMM)
+        - Motor direction was opposite the BCE motor (because of gearing) 
+        - BMM P gain is now positive 0.02 (from -0.10)
+    Modified FSG PCB V_1_3
+        - added timing code for interrupt that drives the rudder (testing with o-scope)
+        - PID controller replaced with newer version from 5/29 code branch
+        - StateMachine hanged style of variables to match convention in code
+    Modified FSG PCB V_1_4
+        - adc tests
+    Modified FSG PCB V_1_5
+        - IMU update
+        - Testing print outs
+    Modified FSG PCB V_1_6
+        - new BMM zero count of 240 (confirmed manually)
+        - new BCE zero count of 400 (confirmed manually)
+        - Modified emergency climb to go to position 10 on the BMM, not zero (almost relying on the limit switch)
+        - fixed keyboard input; including typing in the timeout (can enter exact times)
+    Modified FSG PCB V_1_7
+        - removed data logger references
+        - fixed bug where I was logging data twice in the interrupt code and the main file
+        - fixed bug where Multi-Dive sequence wasn't restarting (the counter used to get the current state was not reset)
+    Modified FSG PCB v_1_7C
+        - fixing a bug with the data transmission (output had newline character) because of packet lengths
+        - new version blasts data and Python program requests lost packets, dramatically faster over USB, slightly faster over XBee
+        - fixed some format and terminal errors
+    Modified code 2018-08-06
+        - fixed bug with heading save feature, wasn't updating deadband properly
+        - modified input on servo sub-menu
+    Modified code 2018-08-07
+        - Float broadcast changed to command rudder to center in that state (whatever center is in the file)    
+        - Was sending the wrong command to the position dive (BMM)
+    Modified code 2018-08-14
+        - Fixed the deadband on "case Float_Broadcast" so it exits properly, I was seeing the BCE stop around 317 so I made a fixed deadband of 4.0 (anything 316 or above will exit the state)
+        - FIND_NEUTRAL was code was double-checked:
+            1) Starts with an offset of 25 mm from the manually found neutral BCE position (still buoyant), BMM starts at that neutral position
+            2) case NEUTRAL_SINKING: Every 5 seconds it retracts the BCE 5 mm.  When it reaches the input depth setpoint it switches to NEUTRAL_RISING
+            3) case NEUTRAL_SLOWLY_RISE:  Every 5 seconds it extends the BCE 2 mm.  When it starts to rise (depth rate is negative) (depth rate positive is sinking, negative is rising) it will immediately stop
+             and go to case NEUTRAL_CHECK_PITCH.  Removed an incorrect line of code that was setting BCE position with depthloop output.
+            4) case NEUTRAL_CHECK_PITCH: Every 10 seconds the pitch is adjusted +/- 0.5 mm depending on whether the nose is pitched up or pitched down
+                 (the timing is because the PV may move around in the water before it stabilizes)
+        - Homing Sequence now moves at -0.5 not -0.1 (was way too slow)
+    Modified code at Carderock (2018-08-15)
+        - Removed -1 multiplier from IMU outputs
+        - Pitch is incorrectly oriented now, pitch down
+        - Heading/Yaw is off by 90 degrees I believe (north is not north)
+        - Did not check roll
+        - KNOWN ISSUE of log file not having consistent line length (will throw off python data receiver)
+    Modified code at Carderock (2018-08-16)
+        - Observations at LASR lead to fixes on the save PID files, zero offsets were saving incorrectly, fixed
+    Modified code at NRL DC (11/8/2018)
+        - Latest code includes SD card library as a folder (not repo)
+        - Comment fix on main.cpp
+        - SD card working on PCB v2.4 with initial testing, commented out in this code
\ No newline at end of file

--- a/main.cpp	Wed Oct 24 16:07:10 2018 +0000
+++ b/main.cpp	Thu Nov 08 22:30:32 2018 +0000
@@ -117,7 +117,7 @@
 
 void setup() {
     xbee().baud(115200);
-    xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee\n\n\r");
+    xbee().printf("\n\n\r 2018-11-08 FSG PCB XBee\n\n\r");
     
     //pc().baud(57600);
  
@@ -226,7 +226,8 @@
         {
             ++tNow;
 
-            //run finite state machine fast when transmitting data
+            //Note to self: Retest data transmission code.
+            //This is currently running at 0.1 second intervals (10 hz) and was working well for data transmission
             if (current_state == TX_MBED_LOG or current_state == RX_SEQUENCE) {
                 if ( (tNow % 100) == 0 ) {   // 0.01 second intervals  (100 Hz)
                     fsm_loop = true;