Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

ConfigFileIO/ConfigFileIO.cpp@82:0981b9ada820, 2019-02-15 (annotated)

Committer:
joel_ssc
Date:
Fri Feb 15 16:00:17 2019 +0000
Revision:
82:0981b9ada820
Parent:
79:3688c3a0d7f4
Child:
86:ba3a118b0080
intermediate stage of file leg system

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 57:ec69651c8c21 1 #include "ConfigFileIO.hpp"
tnhnrl 57:ec69651c8c21 2 #include "StaticDefs.hpp"
tnhnrl 57:ec69651c8c21 3
tnhnrl 57:ec69651c8c21 4 //configuration file io, both to read, set, and save
tnhnrl 57:ec69651c8c21 5
tnhnrl 57:ec69651c8c21 6 ConfigFileIO::ConfigFileIO() {
tnhnrl 73:f6f378311c8d 7 }
tnhnrl 57:ec69651c8c21 8
tnhnrl 76:c802e1da4179 9 void ConfigFileIO::saveBattData(float batt_p_gain, float batt_i_gain, float batt_d_gain, int batt_zeroOffset, float batt_filter_freq, float batt_deadband) {
tnhnrl 57:ec69651c8c21 10 ConfigFile write_Batt_txt; //write to the config file
tnhnrl 57:ec69651c8c21 11
tnhnrl 57:ec69651c8c21 12 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 13 sprintf(PGain_buffer,"# configuration file for battery mover parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 14
tnhnrl 57:ec69651c8c21 15 char string_pgain[128];
tnhnrl 73:f6f378311c8d 16 sprintf(string_pgain, "%f", batt_p_gain);
tnhnrl 57:ec69651c8c21 17 write_Batt_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 18
tnhnrl 57:ec69651c8c21 19 char string_igain[128];
tnhnrl 73:f6f378311c8d 20 sprintf(string_igain, "%f", batt_i_gain);
tnhnrl 57:ec69651c8c21 21 write_Batt_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 22
tnhnrl 57:ec69651c8c21 23 char string_dgain[128];
tnhnrl 73:f6f378311c8d 24 sprintf(string_dgain, "%f", batt_d_gain);
tnhnrl 57:ec69651c8c21 25 write_Batt_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 26
tnhnrl 73:f6f378311c8d 27 char string_zeroCounts[128];
tnhnrl 76:c802e1da4179 28 sprintf(string_zeroCounts, "%d", batt_zeroOffset);
tnhnrl 73:f6f378311c8d 29 write_Batt_txt.setValue("\n#string pot parameters\nzeroCounts", string_zeroCounts);
tnhnrl 73:f6f378311c8d 30
tnhnrl 79:3688c3a0d7f4 31 //modified this from hard-coded values to set to whatever is in the file on startup
tnhnrl 79:3688c3a0d7f4 32 char string_batt_travel_limit[128];
tnhnrl 79:3688c3a0d7f4 33 sprintf(string_batt_travel_limit, "%f", batt().getTravelLimit());
tnhnrl 79:3688c3a0d7f4 34 write_Batt_txt.setValue("PistonTravelLimit", string_batt_travel_limit);
tnhnrl 79:3688c3a0d7f4 35
tnhnrl 57:ec69651c8c21 36 write_Batt_txt.setValue("slope", "0.12176");
tnhnrl 73:f6f378311c8d 37
tnhnrl 73:f6f378311c8d 38 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 39 sprintf(string_filter_freq, "%f", batt_filter_freq);
tnhnrl 73:f6f378311c8d 40 write_Batt_txt.setValue("filterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 41
tnhnrl 73:f6f378311c8d 42 char string_deadband[128];
tnhnrl 73:f6f378311c8d 43 sprintf(string_deadband, "%f", batt_deadband);
tnhnrl 73:f6f378311c8d 44 write_Batt_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 45
tnhnrl 57:ec69651c8c21 46 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 47 xbee().printf("Saving BATTERY MOVER PID data!");
tnhnrl 57:ec69651c8c21 48
tnhnrl 57:ec69651c8c21 49 if (!write_Batt_txt.write("/local/batt.txt")) {
tnhnrl 74:d281aaef9766 50 xbee().printf("\n\rERROR: (SAVE)Failure to write batt.txt file.");
tnhnrl 57:ec69651c8c21 51 }
tnhnrl 57:ec69651c8c21 52 else {
tnhnrl 74:d281aaef9766 53 xbee().printf("\n\rFile batt.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 54 }
tnhnrl 57:ec69651c8c21 55 }
joel_ssc 82:0981b9ada820 56 void ConfigFileIO::saveLogVersData(int logversion, int diagversion) {
joel_ssc 82:0981b9ada820 57 ConfigFile write_logvers_txt; //write to the config file
joel_ssc 82:0981b9ada820 58
joel_ssc 82:0981b9ada820 59 char string_log[128];
joel_ssc 82:0981b9ada820 60 sprintf(string_log, "%d", logversion);
joel_ssc 82:0981b9ada820 61 write_logvers_txt.setValue("LogFileVers", string_log);
joel_ssc 82:0981b9ada820 62
joel_ssc 82:0981b9ada820 63 char string_diag[128];
joel_ssc 82:0981b9ada820 64 sprintf(string_diag, "%i", diagversion);
joel_ssc 82:0981b9ada820 65 write_logvers_txt.setValue("DiagFileVers", string_diag);
joel_ssc 82:0981b9ada820 66
joel_ssc 82:0981b9ada820 67
joel_ssc 82:0981b9ada820 68
joel_ssc 82:0981b9ada820 69 //SAVE THE DATA!
joel_ssc 82:0981b9ada820 70 xbee().printf("Saving logfile version numbers !");
joel_ssc 82:0981b9ada820 71
joel_ssc 82:0981b9ada820 72 if (!write_logvers_txt.write("/local/logvers.txt")) {
joel_ssc 82:0981b9ada820 73 xbee().printf("\n\rERROR: (SAVE)Failure to write logvers.txt file.");
joel_ssc 82:0981b9ada820 74 }
joel_ssc 82:0981b9ada820 75 else {
joel_ssc 82:0981b9ada820 76 xbee().printf("\n\rFile logvvrs.txt successful written.\n\r");
joel_ssc 82:0981b9ada820 77 }
joel_ssc 82:0981b9ada820 78 }
tnhnrl 57:ec69651c8c21 79
tnhnrl 73:f6f378311c8d 80 void ConfigFileIO::savePitchData(float pitch_p_gain, float pitch_i_gain, float pitch_d_gain, float pitch_zeroOffset, float pitch_filter_freq, float pitch_deadband) {
tnhnrl 57:ec69651c8c21 81 ConfigFile write_pitch_txt; //write to the config file
tnhnrl 57:ec69651c8c21 82
tnhnrl 57:ec69651c8c21 83 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 84 sprintf(PGain_buffer,"# pitch outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 85
tnhnrl 57:ec69651c8c21 86 char string_pgain[128];
tnhnrl 73:f6f378311c8d 87 sprintf(string_pgain, "%f", pitch_p_gain);
tnhnrl 57:ec69651c8c21 88 write_pitch_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 89
tnhnrl 57:ec69651c8c21 90 char string_igain[128];
tnhnrl 73:f6f378311c8d 91 sprintf(string_igain, "%f", pitch_i_gain);
tnhnrl 57:ec69651c8c21 92 write_pitch_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 93
tnhnrl 57:ec69651c8c21 94 char string_dgain[128];
tnhnrl 73:f6f378311c8d 95 sprintf(string_dgain, "%f", pitch_d_gain);
tnhnrl 57:ec69651c8c21 96 write_pitch_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 97
tnhnrl 73:f6f378311c8d 98 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 99 sprintf(string_filter_freq, "%f", pitch_filter_freq);
tnhnrl 73:f6f378311c8d 100 write_pitch_txt.setValue("\n#Pitch sensor filter parameters\nfilterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 101
tnhnrl 73:f6f378311c8d 102 char string_deadband[128];
tnhnrl 73:f6f378311c8d 103 sprintf(string_deadband, "%f", pitch_deadband);
tnhnrl 73:f6f378311c8d 104 write_pitch_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 105
tnhnrl 57:ec69651c8c21 106 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 107 sprintf(string_zeroOffset, "%f", pitch_zeroOffset);
tnhnrl 57:ec69651c8c21 108 //bce setting was 41 mm during LASR experiments
tnhnrl 57:ec69651c8c21 109 write_pitch_txt.setValue("\n#Offset for neutral (default: 41)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 110
tnhnrl 57:ec69651c8c21 111 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 112 xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 113
tnhnrl 57:ec69651c8c21 114 if (!write_pitch_txt.write("/local/pitch.txt")) {
tnhnrl 74:d281aaef9766 115 xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 116 }
tnhnrl 57:ec69651c8c21 117 else {
tnhnrl 74:d281aaef9766 118 xbee().printf("\n\rFile pitch.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 119 }
tnhnrl 57:ec69651c8c21 120 }
tnhnrl 57:ec69651c8c21 121
tnhnrl 76:c802e1da4179 122 void ConfigFileIO::saveBCEData(float bce_p_gain, float bce_i_gain, float bce_d_gain, int bce_zeroOffset, float bce_filter_freq, float bce_deadband) {
tnhnrl 57:ec69651c8c21 123 ConfigFile write_BCE_txt; //write to the config file
tnhnrl 57:ec69651c8c21 124
tnhnrl 57:ec69651c8c21 125 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 126 sprintf(PGain_buffer,"# configuration file for BCE parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 127
tnhnrl 57:ec69651c8c21 128 char string_pgain[128];
tnhnrl 73:f6f378311c8d 129 sprintf(string_pgain, "%f", bce_p_gain);
tnhnrl 57:ec69651c8c21 130 write_BCE_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 131
tnhnrl 57:ec69651c8c21 132 char string_igain[128];
tnhnrl 73:f6f378311c8d 133 sprintf(string_igain, "%f", bce_i_gain);
tnhnrl 57:ec69651c8c21 134 write_BCE_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 135
tnhnrl 57:ec69651c8c21 136 char string_dgain[128];
tnhnrl 73:f6f378311c8d 137 sprintf(string_dgain, "%f", bce_d_gain);
tnhnrl 57:ec69651c8c21 138 write_BCE_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 139
tnhnrl 73:f6f378311c8d 140 char string_zeroCounts[128];
tnhnrl 76:c802e1da4179 141 sprintf(string_zeroCounts, "%d", bce_zeroOffset);
tnhnrl 73:f6f378311c8d 142 write_BCE_txt.setValue("\n#string pot parameters\nzeroCounts", string_zeroCounts);
tnhnrl 73:f6f378311c8d 143
tnhnrl 79:3688c3a0d7f4 144 //modified this from hard-coded values to set to whatever is in the file on startup
tnhnrl 79:3688c3a0d7f4 145 char string_bce_travel_limit[128];
tnhnrl 79:3688c3a0d7f4 146 sprintf(string_bce_travel_limit, "%f", batt().getTravelLimit());
tnhnrl 79:3688c3a0d7f4 147 write_BCE_txt.setValue("PistonTravelLimit", string_bce_travel_limit);
tnhnrl 79:3688c3a0d7f4 148
tnhnrl 57:ec69651c8c21 149 write_BCE_txt.setValue("slope", "0.12176");
tnhnrl 73:f6f378311c8d 150
tnhnrl 73:f6f378311c8d 151 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 152 sprintf(string_filter_freq, "%f", bce_filter_freq);
tnhnrl 73:f6f378311c8d 153 write_BCE_txt.setValue("filterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 154
tnhnrl 73:f6f378311c8d 155 char string_deadband[128];
tnhnrl 73:f6f378311c8d 156 sprintf(string_deadband, "%f", bce_deadband);
tnhnrl 73:f6f378311c8d 157 write_BCE_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 158
tnhnrl 57:ec69651c8c21 159 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 160 xbee().printf("Saving BCE PID data!");
tnhnrl 57:ec69651c8c21 161
tnhnrl 57:ec69651c8c21 162 if (!write_BCE_txt.write("/local/bce.txt")) {
tnhnrl 74:d281aaef9766 163 xbee().printf("\n\rERROR: (SAVE)Failure to write bce.txt file.");
tnhnrl 57:ec69651c8c21 164 }
tnhnrl 57:ec69651c8c21 165 else {
tnhnrl 74:d281aaef9766 166 xbee().printf("\n\rFile bce.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 167 }
tnhnrl 57:ec69651c8c21 168 }
tnhnrl 57:ec69651c8c21 169
tnhnrl 73:f6f378311c8d 170 void ConfigFileIO::saveDepthData(float depth_p_gain, float depth_i_gain, float depth_d_gain, float depth_zeroOffset, float depth_filter_freq, float depth_deadband) {
tnhnrl 57:ec69651c8c21 171 ConfigFile write_depth_txt; //write to the config file
tnhnrl 57:ec69651c8c21 172
tnhnrl 57:ec69651c8c21 173 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 174 sprintf(PGain_buffer,"# depth outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 175
tnhnrl 57:ec69651c8c21 176 char string_pgain[128];
tnhnrl 73:f6f378311c8d 177 sprintf(string_pgain, "%f", depth_p_gain);
tnhnrl 57:ec69651c8c21 178 write_depth_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 179
tnhnrl 57:ec69651c8c21 180 char string_igain[128];
tnhnrl 73:f6f378311c8d 181 sprintf(string_igain, "%f", depth_i_gain);
tnhnrl 57:ec69651c8c21 182 write_depth_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 183
tnhnrl 57:ec69651c8c21 184 char string_dgain[128];
tnhnrl 73:f6f378311c8d 185 sprintf(string_dgain, "%f", depth_d_gain);
tnhnrl 57:ec69651c8c21 186 write_depth_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 187
tnhnrl 73:f6f378311c8d 188 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 189 sprintf(string_filter_freq, "%f", depth_filter_freq);
tnhnrl 73:f6f378311c8d 190 write_depth_txt.setValue("\n#Depth sensor filter parameters\nfilterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 191
tnhnrl 73:f6f378311c8d 192 char string_deadband[128];
tnhnrl 73:f6f378311c8d 193 sprintf(string_deadband, "%f", depth_deadband);
tnhnrl 73:f6f378311c8d 194 write_depth_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 195
tnhnrl 57:ec69651c8c21 196 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 197 sprintf(string_zeroOffset, "%f", depth_zeroOffset);
tnhnrl 57:ec69651c8c21 198 //bce setting was 240 mm during LASR experiments
tnhnrl 57:ec69651c8c21 199 write_depth_txt.setValue("\n#Offset for neutral (default: 240)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 200
tnhnrl 57:ec69651c8c21 201 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 202 xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 203
tnhnrl 57:ec69651c8c21 204 if (!write_depth_txt.write("/local/depth.txt")) {
tnhnrl 74:d281aaef9766 205 xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 206 }
tnhnrl 57:ec69651c8c21 207 else {
tnhnrl 74:d281aaef9766 208 xbee().printf("\n\rFile depth.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 209 }
tnhnrl 57:ec69651c8c21 210 }
tnhnrl 57:ec69651c8c21 211
tnhnrl 57:ec69651c8c21 212 //write rudder (servo driver) file rudder.txt
tnhnrl 57:ec69651c8c21 213 void ConfigFileIO::saveRudderData(float setMinDeg, float setMaxDeg, float setCenterPWM, float setMinPWM, float setMaxPWM) {
tnhnrl 57:ec69651c8c21 214 ConfigFile rudder_txt;
tnhnrl 57:ec69651c8c21 215
tnhnrl 57:ec69651c8c21 216 char header[128];
tnhnrl 57:ec69651c8c21 217 sprintf(header,"# rudder (servo) inner loop (heading outer loop uses this)");
tnhnrl 57:ec69651c8c21 218
tnhnrl 57:ec69651c8c21 219 char string_min_deg[128];
tnhnrl 57:ec69651c8c21 220 sprintf(string_min_deg, "%f", setMinDeg);
tnhnrl 57:ec69651c8c21 221 rudder_txt.setValue("setMinDeg", string_min_deg);
tnhnrl 57:ec69651c8c21 222
tnhnrl 57:ec69651c8c21 223 char string_max_deg[128];
tnhnrl 57:ec69651c8c21 224 sprintf(string_max_deg, "%f", setMaxDeg);
tnhnrl 57:ec69651c8c21 225 rudder_txt.setValue("setMaxDeg", string_max_deg);
tnhnrl 57:ec69651c8c21 226
tnhnrl 57:ec69651c8c21 227 char string_ctr_pwm[128];
tnhnrl 57:ec69651c8c21 228 sprintf(string_ctr_pwm, "%f", setCenterPWM);
tnhnrl 57:ec69651c8c21 229 rudder_txt.setValue("setCenterPWM", string_ctr_pwm);
tnhnrl 57:ec69651c8c21 230
tnhnrl 57:ec69651c8c21 231 char string_min_pwm[128];
tnhnrl 57:ec69651c8c21 232 sprintf(string_min_pwm, "%f", setMinPWM);
tnhnrl 57:ec69651c8c21 233 rudder_txt.setValue("setMinPWM", string_min_pwm);
tnhnrl 57:ec69651c8c21 234
tnhnrl 57:ec69651c8c21 235 char string_max_pwm[128];
tnhnrl 57:ec69651c8c21 236 sprintf(string_max_pwm, "%f", setMaxPWM);
tnhnrl 57:ec69651c8c21 237 rudder_txt.setValue("setMaxPWM", string_max_pwm);
tnhnrl 57:ec69651c8c21 238
tnhnrl 57:ec69651c8c21 239 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 240 xbee().printf("Saving RUDDER DATA!");
tnhnrl 57:ec69651c8c21 241
tnhnrl 57:ec69651c8c21 242 if (!rudder_txt.write("/local/rudder.txt")) {
tnhnrl 74:d281aaef9766 243 xbee().printf("\n\rERROR: (SAVE)Failure to write rudder.txt file.");
tnhnrl 57:ec69651c8c21 244 }
tnhnrl 57:ec69651c8c21 245 else {
tnhnrl 74:d281aaef9766 246 xbee().printf("\n\rFile rudder.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 247 }
tnhnrl 57:ec69651c8c21 248 }
tnhnrl 57:ec69651c8c21 249
tnhnrl 57:ec69651c8c21 250 int ConfigFileIO::load_BCE_config() {
tnhnrl 57:ec69651c8c21 251 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 252 int count = 0;
tnhnrl 57:ec69651c8c21 253 if (!cfg.read("/local/bce.txt")) {
tnhnrl 57:ec69651c8c21 254 error("File Read Error");
tnhnrl 57:ec69651c8c21 255 }
tnhnrl 57:ec69651c8c21 256 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 257
tnhnrl 57:ec69651c8c21 258 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 259 bce().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 260 count++;
tnhnrl 57:ec69651c8c21 261 }
tnhnrl 57:ec69651c8c21 262 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 263 bce().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 264 count++;
tnhnrl 57:ec69651c8c21 265 }
tnhnrl 57:ec69651c8c21 266 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 267 bce().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 268 count++;
tnhnrl 57:ec69651c8c21 269 }
tnhnrl 57:ec69651c8c21 270 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 271 bce().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 272 count++;
tnhnrl 57:ec69651c8c21 273 }
tnhnrl 57:ec69651c8c21 274 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 275 bce().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 276 count++;
tnhnrl 57:ec69651c8c21 277 }
tnhnrl 57:ec69651c8c21 278 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 279 bce().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 280 count++;
tnhnrl 57:ec69651c8c21 281 }
tnhnrl 57:ec69651c8c21 282 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 283 bce().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 284 count++;
tnhnrl 57:ec69651c8c21 285 }
tnhnrl 57:ec69651c8c21 286 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 287 bce().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 288 count++;
tnhnrl 57:ec69651c8c21 289 }
tnhnrl 57:ec69651c8c21 290
tnhnrl 57:ec69651c8c21 291 return count;
tnhnrl 57:ec69651c8c21 292 }
tnhnrl 57:ec69651c8c21 293
tnhnrl 57:ec69651c8c21 294 //write to heading.txt
tnhnrl 73:f6f378311c8d 295 void ConfigFileIO::saveHeadingData(float heading_p_gain, float heading_i_gain, float heading_d_gain, float heading_zeroOffset, float heading_filter_freq, float heading_deadband) {
tnhnrl 57:ec69651c8c21 296 ConfigFile heading_txt;
tnhnrl 57:ec69651c8c21 297
tnhnrl 57:ec69651c8c21 298 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 299 sprintf(PGain_buffer,"# HEADING (rudder outer loop) parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 300
tnhnrl 57:ec69651c8c21 301 //convert input numbers into text and save them to text file
tnhnrl 57:ec69651c8c21 302 char string_pgain[128];
tnhnrl 57:ec69651c8c21 303 sprintf(string_pgain, "%f", heading_p_gain);
tnhnrl 57:ec69651c8c21 304 heading_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 305
tnhnrl 57:ec69651c8c21 306 char string_igain[128];
tnhnrl 57:ec69651c8c21 307 sprintf(string_igain, "%f", heading_i_gain);
tnhnrl 57:ec69651c8c21 308 heading_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 309
tnhnrl 57:ec69651c8c21 310 char string_dgain[128];
tnhnrl 57:ec69651c8c21 311 sprintf(string_dgain, "%f", heading_d_gain);
tnhnrl 57:ec69651c8c21 312 heading_txt.setValue("DGain", string_dgain);
tnhnrl 74:d281aaef9766 313
tnhnrl 74:d281aaef9766 314 char string_heading_freq[128];
tnhnrl 74:d281aaef9766 315 sprintf(string_heading_freq, "%f", heading_filter_freq);
tnhnrl 74:d281aaef9766 316 heading_txt.setValue("\n# HEADING sensor filter parameters\nfilterWn", string_heading_freq);
tnhnrl 74:d281aaef9766 317
tnhnrl 74:d281aaef9766 318 char string_heading_db[128];
tnhnrl 74:d281aaef9766 319 sprintf(string_heading_db, "%f", heading_deadband);
tnhnrl 74:d281aaef9766 320 heading_txt.setValue("deadband",string_heading_db);
tnhnrl 57:ec69651c8c21 321
tnhnrl 57:ec69651c8c21 322 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 323 sprintf(string_zeroOffset, "%f", heading_zeroOffset);
tnhnrl 74:d281aaef9766 324 heading_txt.setValue("\n#HEADING offset\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 325
tnhnrl 57:ec69651c8c21 326 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 327 xbee().printf("(ConfigFileIO) Saving HEADING parameters!");
tnhnrl 57:ec69651c8c21 328
tnhnrl 57:ec69651c8c21 329 if (!heading_txt.write("/local/heading.txt")) {
tnhnrl 74:d281aaef9766 330 xbee().printf("\n\rERROR: (SAVE) Failure to write heading.txt file.");
tnhnrl 57:ec69651c8c21 331 }
tnhnrl 57:ec69651c8c21 332 else {
tnhnrl 74:d281aaef9766 333 xbee().printf("\n\rFile heading.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 334 }
tnhnrl 57:ec69651c8c21 335 }
joel_ssc 82:0981b9ada820 336 int ConfigFileIO::load_LogVers_config(int print_diag) { // I could copy this mode to read one line of a leg_mission file. One line or multiple lines?
tnhnrl 57:ec69651c8c21 337 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 338 int count = 0;
joel_ssc 82:0981b9ada820 339 int version = 0;
joel_ssc 82:0981b9ada820 340 if (!cfg.read("/local/logvers.txt")) { // "/local/leg_mission.txt"
joel_ssc 82:0981b9ada820 341 error("Lognames version file logvers.txt File Read Error");
joel_ssc 82:0981b9ada820 342 }
joel_ssc 82:0981b9ada820 343 char value[BUFSIZ];
joel_ssc 82:0981b9ada820 344
joel_ssc 82:0981b9ada820 345
joel_ssc 82:0981b9ada820 346 if (cfg.getValue("LogFileVers", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 347 version = atoi(value);
joel_ssc 82:0981b9ada820 348 char buf[256];
joel_ssc 82:0981b9ada820 349 sprintf(buf, "LOG%03d.csv", version);
joel_ssc 82:0981b9ada820 350 logFilesStruct.logFileName = buf;
joel_ssc 82:0981b9ada820 351 logFilesStruct.logversion = version;
joel_ssc 82:0981b9ada820 352 count++;
joel_ssc 82:0981b9ada820 353 }
joel_ssc 82:0981b9ada820 354 if (cfg.getValue("DiagFileVers", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 355 version = atoi(value);
joel_ssc 82:0981b9ada820 356 char buf[256];
joel_ssc 82:0981b9ada820 357
joel_ssc 82:0981b9ada820 358 sprintf(buf, "in configfileIO: diag file version number is %d\n", version);
joel_ssc 82:0981b9ada820 359 if(print_diag == 1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 360 // buf[256]= {0};
joel_ssc 82:0981b9ada820 361 sprintf(buf, "in ConfigFileIO: diag file string is DIAG%03d.txt", version);
joel_ssc 82:0981b9ada820 362 if(print_diag == 1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 363 // buf[256]= {0};
joel_ssc 82:0981b9ada820 364 sprintf(buf, "DIAG%03d.txt", version);
joel_ssc 82:0981b9ada820 365 logFilesStruct.diagFileName = buf;
joel_ssc 82:0981b9ada820 366 logFilesStruct.diagversion = version;
joel_ssc 82:0981b9ada820 367 sprintf(buf, "in ConfigFileIO: diag info pulled from struct: filename = %s diagvernum = %d\n", logFilesStruct.diagFileName,
joel_ssc 82:0981b9ada820 368 logFilesStruct.diagversion);
joel_ssc 82:0981b9ada820 369 if(print_diag==1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 370 count++;
joel_ssc 82:0981b9ada820 371 }
joel_ssc 82:0981b9ada820 372 return count;
joel_ssc 82:0981b9ada820 373 }
joel_ssc 82:0981b9ada820 374 int ConfigFileIO::load_BATT_config() { // I could copy this mode to read one line of a leg_mission file. One line or multiple lines?
joel_ssc 82:0981b9ada820 375 ConfigFile cfg;
joel_ssc 82:0981b9ada820 376 int count = 0;
joel_ssc 82:0981b9ada820 377 if (!cfg.read("/local/batt.txt")) { // "/local/leg_mission.txt"
tnhnrl 57:ec69651c8c21 378 error("BATT File Read Error");
tnhnrl 57:ec69651c8c21 379 }
tnhnrl 57:ec69651c8c21 380 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 381
tnhnrl 57:ec69651c8c21 382
tnhnrl 57:ec69651c8c21 383 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 384 batt().setControllerP(atof(value)); // but I want values in a legStructLoaded, not a function
tnhnrl 57:ec69651c8c21 385 count++;
tnhnrl 57:ec69651c8c21 386 }
tnhnrl 57:ec69651c8c21 387 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 388 batt().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 389 count++;
tnhnrl 57:ec69651c8c21 390 }
tnhnrl 57:ec69651c8c21 391 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 392 batt().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 393 count++;
tnhnrl 57:ec69651c8c21 394 }
tnhnrl 57:ec69651c8c21 395 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 396 batt().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 397 count++;
tnhnrl 57:ec69651c8c21 398 }
tnhnrl 57:ec69651c8c21 399 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 400 batt().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 401 count++;
tnhnrl 57:ec69651c8c21 402 }
tnhnrl 57:ec69651c8c21 403 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 404 batt().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 405 count++;
tnhnrl 57:ec69651c8c21 406 }
tnhnrl 57:ec69651c8c21 407 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 408 batt().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 409 count++;
tnhnrl 57:ec69651c8c21 410 }
tnhnrl 57:ec69651c8c21 411 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 412 batt().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 413 count++;
tnhnrl 57:ec69651c8c21 414 }
tnhnrl 57:ec69651c8c21 415
tnhnrl 57:ec69651c8c21 416 return count;
tnhnrl 57:ec69651c8c21 417 }
tnhnrl 57:ec69651c8c21 418
tnhnrl 57:ec69651c8c21 419 int ConfigFileIO::load_DEPTH_config() {
tnhnrl 57:ec69651c8c21 420 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 421 int count = 0;
tnhnrl 57:ec69651c8c21 422 if (!cfg.read("/local/depth.txt")) {
tnhnrl 57:ec69651c8c21 423 error("DEPTH File Read Error");
tnhnrl 57:ec69651c8c21 424 }
tnhnrl 57:ec69651c8c21 425 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 426
tnhnrl 57:ec69651c8c21 427 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 428 depthLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 429 count++;
tnhnrl 57:ec69651c8c21 430 }
tnhnrl 57:ec69651c8c21 431 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 432 depthLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 433 count++;
tnhnrl 57:ec69651c8c21 434 }
tnhnrl 57:ec69651c8c21 435 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 436 depthLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 437 count++;
tnhnrl 57:ec69651c8c21 438 }
tnhnrl 57:ec69651c8c21 439 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 440 depthLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 441 count++;
tnhnrl 57:ec69651c8c21 442 }
tnhnrl 57:ec69651c8c21 443 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 444 depthLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 445 count++;
tnhnrl 57:ec69651c8c21 446 }
tnhnrl 57:ec69651c8c21 447 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 448 depthLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 449 count++;
tnhnrl 57:ec69651c8c21 450 }
tnhnrl 57:ec69651c8c21 451 return count;
tnhnrl 57:ec69651c8c21 452 }
tnhnrl 57:ec69651c8c21 453
tnhnrl 57:ec69651c8c21 454 int ConfigFileIO::load_PITCH_config() {
tnhnrl 57:ec69651c8c21 455 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 456 int count = 0;
tnhnrl 57:ec69651c8c21 457 if (!cfg.read("/local/pitch.txt")){
tnhnrl 57:ec69651c8c21 458 error("PITCH File Read Error");
tnhnrl 57:ec69651c8c21 459 }
tnhnrl 57:ec69651c8c21 460 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 461
tnhnrl 57:ec69651c8c21 462 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 463 pitchLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 464 count++;
tnhnrl 57:ec69651c8c21 465 }
tnhnrl 57:ec69651c8c21 466 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 467 pitchLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 468 count++;
tnhnrl 57:ec69651c8c21 469 }
tnhnrl 57:ec69651c8c21 470 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 471 pitchLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 472 count++;
tnhnrl 57:ec69651c8c21 473 }
tnhnrl 57:ec69651c8c21 474 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 475 pitchLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 476 count++;
tnhnrl 57:ec69651c8c21 477 }
tnhnrl 57:ec69651c8c21 478 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 479 pitchLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 480 count++;
tnhnrl 57:ec69651c8c21 481 }
tnhnrl 57:ec69651c8c21 482
tnhnrl 57:ec69651c8c21 483 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 484 pitchLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 485 count++;
tnhnrl 57:ec69651c8c21 486 }
tnhnrl 57:ec69651c8c21 487 return count;
tnhnrl 57:ec69651c8c21 488 }
tnhnrl 57:ec69651c8c21 489
tnhnrl 57:ec69651c8c21 490 int ConfigFileIO::load_HEADING_config() {
tnhnrl 57:ec69651c8c21 491 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 492 int count = 0;
tnhnrl 57:ec69651c8c21 493 if (!cfg.read("/local/heading.txt")){
tnhnrl 57:ec69651c8c21 494 error("HEADING File Read Error");
tnhnrl 57:ec69651c8c21 495 }
tnhnrl 57:ec69651c8c21 496 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 497
tnhnrl 57:ec69651c8c21 498 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 499 headingLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 500 count++;
tnhnrl 57:ec69651c8c21 501 }
tnhnrl 57:ec69651c8c21 502 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 503 headingLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 504 count++;
tnhnrl 57:ec69651c8c21 505 }
tnhnrl 57:ec69651c8c21 506 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 507 headingLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 508 count++;
tnhnrl 57:ec69651c8c21 509 }
tnhnrl 57:ec69651c8c21 510 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 511 headingLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 512 count++;
tnhnrl 57:ec69651c8c21 513 }
tnhnrl 57:ec69651c8c21 514 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 515 headingLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 516 count++;
tnhnrl 57:ec69651c8c21 517 }
tnhnrl 57:ec69651c8c21 518
tnhnrl 57:ec69651c8c21 519 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 520 headingLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 521 count++;
tnhnrl 57:ec69651c8c21 522 }
tnhnrl 57:ec69651c8c21 523 return count;
tnhnrl 57:ec69651c8c21 524 }
tnhnrl 57:ec69651c8c21 525
tnhnrl 57:ec69651c8c21 526 int ConfigFileIO::load_RUDDER_config() {
tnhnrl 57:ec69651c8c21 527 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 528 int count = 0;
tnhnrl 57:ec69651c8c21 529 if (!cfg.read("/local/rudder.txt")){
tnhnrl 57:ec69651c8c21 530 error("RUDDER File Read Error");
tnhnrl 57:ec69651c8c21 531 }
tnhnrl 57:ec69651c8c21 532 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 533
tnhnrl 57:ec69651c8c21 534 //float values below
tnhnrl 57:ec69651c8c21 535 if (cfg.getValue("setMinDeg", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 536 rudder().setMinDeg(atof(value));
tnhnrl 57:ec69651c8c21 537 count++;
tnhnrl 57:ec69651c8c21 538 }
tnhnrl 57:ec69651c8c21 539 if (cfg.getValue("setMaxDeg", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 540 rudder().setMaxDeg(atof(value));
tnhnrl 57:ec69651c8c21 541 count++;
tnhnrl 57:ec69651c8c21 542 }
tnhnrl 57:ec69651c8c21 543
tnhnrl 57:ec69651c8c21 544 //integer values below
tnhnrl 57:ec69651c8c21 545 if (cfg.getValue("setCenterPWM", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 546 rudder().setCenterPWM(atof(value));
tnhnrl 57:ec69651c8c21 547 count++;
tnhnrl 57:ec69651c8c21 548 }
tnhnrl 57:ec69651c8c21 549 if (cfg.getValue("setMinPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 550 rudder().setMinPWM(atof(value));
tnhnrl 57:ec69651c8c21 551 count++;
tnhnrl 57:ec69651c8c21 552 }
tnhnrl 57:ec69651c8c21 553 if (cfg.getValue("setMaxPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 554 rudder().setMaxPWM(atof(value));
tnhnrl 57:ec69651c8c21 555 count++;
tnhnrl 57:ec69651c8c21 556 }
tnhnrl 57:ec69651c8c21 557 return count;
tnhnrl 57:ec69651c8c21 558 }