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@86:ba3a118b0080, 2019-05-02 (annotated)

Committer:
joel_ssc
Date:
Thu May 02 20:34:16 2019 +0000
Revision:
86:ba3a118b0080
Parent:
82:0981b9ada820
Child:
87:6d95f853dab3
works and gives led signals of life

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 86:ba3a118b0080 56 int ConfigFileIO::load_StartTime() {
joel_ssc 86:ba3a118b0080 57 ConfigFile cfg;
joel_ssc 86:ba3a118b0080 58 int count = 0;
joel_ssc 86:ba3a118b0080 59 if (!cfg.read("/local/time.txt")) {
joel_ssc 86:ba3a118b0080 60 error("File Read Error");
joel_ssc 86:ba3a118b0080 61 }
joel_ssc 86:ba3a118b0080 62 char value[BUFSIZ];
joel_ssc 86:ba3a118b0080 63 if (cfg.getValue("TimeStamp", &value[0] , sizeof(value))) {
joel_ssc 86:ba3a118b0080 64 // bce().setControllerP(atoi(value));
joel_ssc 86:ba3a118b0080 65 mbedLogger().setLogTime(atol(value));
joel_ssc 86:ba3a118b0080 66 count++;
joel_ssc 86:ba3a118b0080 67 }
joel_ssc 86:ba3a118b0080 68 return count;
joel_ssc 86:ba3a118b0080 69 }
joel_ssc 82:0981b9ada820 70 void ConfigFileIO::saveLogVersData(int logversion, int diagversion) {
joel_ssc 82:0981b9ada820 71 ConfigFile write_logvers_txt; //write to the config file
joel_ssc 82:0981b9ada820 72
joel_ssc 82:0981b9ada820 73 char string_log[128];
joel_ssc 82:0981b9ada820 74 sprintf(string_log, "%d", logversion);
joel_ssc 82:0981b9ada820 75 write_logvers_txt.setValue("LogFileVers", string_log);
joel_ssc 82:0981b9ada820 76
joel_ssc 82:0981b9ada820 77 char string_diag[128];
joel_ssc 82:0981b9ada820 78 sprintf(string_diag, "%i", diagversion);
joel_ssc 82:0981b9ada820 79 write_logvers_txt.setValue("DiagFileVers", string_diag);
joel_ssc 82:0981b9ada820 80
joel_ssc 82:0981b9ada820 81
joel_ssc 82:0981b9ada820 82
joel_ssc 82:0981b9ada820 83 //SAVE THE DATA!
joel_ssc 82:0981b9ada820 84 xbee().printf("Saving logfile version numbers !");
joel_ssc 82:0981b9ada820 85
joel_ssc 82:0981b9ada820 86 if (!write_logvers_txt.write("/local/logvers.txt")) {
joel_ssc 82:0981b9ada820 87 xbee().printf("\n\rERROR: (SAVE)Failure to write logvers.txt file.");
joel_ssc 82:0981b9ada820 88 }
joel_ssc 82:0981b9ada820 89 else {
joel_ssc 82:0981b9ada820 90 xbee().printf("\n\rFile logvvrs.txt successful written.\n\r");
joel_ssc 82:0981b9ada820 91 }
joel_ssc 82:0981b9ada820 92 }
tnhnrl 57:ec69651c8c21 93
tnhnrl 73:f6f378311c8d 94 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 95 ConfigFile write_pitch_txt; //write to the config file
tnhnrl 57:ec69651c8c21 96
tnhnrl 57:ec69651c8c21 97 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 98 sprintf(PGain_buffer,"# pitch outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 99
tnhnrl 57:ec69651c8c21 100 char string_pgain[128];
tnhnrl 73:f6f378311c8d 101 sprintf(string_pgain, "%f", pitch_p_gain);
tnhnrl 57:ec69651c8c21 102 write_pitch_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 103
tnhnrl 57:ec69651c8c21 104 char string_igain[128];
tnhnrl 73:f6f378311c8d 105 sprintf(string_igain, "%f", pitch_i_gain);
tnhnrl 57:ec69651c8c21 106 write_pitch_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 107
tnhnrl 57:ec69651c8c21 108 char string_dgain[128];
tnhnrl 73:f6f378311c8d 109 sprintf(string_dgain, "%f", pitch_d_gain);
tnhnrl 57:ec69651c8c21 110 write_pitch_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 111
tnhnrl 73:f6f378311c8d 112 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 113 sprintf(string_filter_freq, "%f", pitch_filter_freq);
tnhnrl 73:f6f378311c8d 114 write_pitch_txt.setValue("\n#Pitch sensor filter parameters\nfilterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 115
tnhnrl 73:f6f378311c8d 116 char string_deadband[128];
tnhnrl 73:f6f378311c8d 117 sprintf(string_deadband, "%f", pitch_deadband);
tnhnrl 73:f6f378311c8d 118 write_pitch_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 119
tnhnrl 57:ec69651c8c21 120 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 121 sprintf(string_zeroOffset, "%f", pitch_zeroOffset);
tnhnrl 57:ec69651c8c21 122 //bce setting was 41 mm during LASR experiments
tnhnrl 57:ec69651c8c21 123 write_pitch_txt.setValue("\n#Offset for neutral (default: 41)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 124
tnhnrl 57:ec69651c8c21 125 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 126 xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 127
tnhnrl 57:ec69651c8c21 128 if (!write_pitch_txt.write("/local/pitch.txt")) {
tnhnrl 74:d281aaef9766 129 xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 130 }
tnhnrl 57:ec69651c8c21 131 else {
tnhnrl 74:d281aaef9766 132 xbee().printf("\n\rFile pitch.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 133 }
tnhnrl 57:ec69651c8c21 134 }
tnhnrl 57:ec69651c8c21 135
tnhnrl 76:c802e1da4179 136 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 137 ConfigFile write_BCE_txt; //write to the config file
tnhnrl 57:ec69651c8c21 138
tnhnrl 57:ec69651c8c21 139 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 140 sprintf(PGain_buffer,"# configuration file for BCE parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 141
tnhnrl 57:ec69651c8c21 142 char string_pgain[128];
tnhnrl 73:f6f378311c8d 143 sprintf(string_pgain, "%f", bce_p_gain);
tnhnrl 57:ec69651c8c21 144 write_BCE_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 145
tnhnrl 57:ec69651c8c21 146 char string_igain[128];
tnhnrl 73:f6f378311c8d 147 sprintf(string_igain, "%f", bce_i_gain);
tnhnrl 57:ec69651c8c21 148 write_BCE_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 149
tnhnrl 57:ec69651c8c21 150 char string_dgain[128];
tnhnrl 73:f6f378311c8d 151 sprintf(string_dgain, "%f", bce_d_gain);
tnhnrl 57:ec69651c8c21 152 write_BCE_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 153
tnhnrl 73:f6f378311c8d 154 char string_zeroCounts[128];
tnhnrl 76:c802e1da4179 155 sprintf(string_zeroCounts, "%d", bce_zeroOffset);
tnhnrl 73:f6f378311c8d 156 write_BCE_txt.setValue("\n#string pot parameters\nzeroCounts", string_zeroCounts);
tnhnrl 73:f6f378311c8d 157
tnhnrl 79:3688c3a0d7f4 158 //modified this from hard-coded values to set to whatever is in the file on startup
tnhnrl 79:3688c3a0d7f4 159 char string_bce_travel_limit[128];
tnhnrl 79:3688c3a0d7f4 160 sprintf(string_bce_travel_limit, "%f", batt().getTravelLimit());
tnhnrl 79:3688c3a0d7f4 161 write_BCE_txt.setValue("PistonTravelLimit", string_bce_travel_limit);
tnhnrl 79:3688c3a0d7f4 162
tnhnrl 57:ec69651c8c21 163 write_BCE_txt.setValue("slope", "0.12176");
tnhnrl 73:f6f378311c8d 164
tnhnrl 73:f6f378311c8d 165 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 166 sprintf(string_filter_freq, "%f", bce_filter_freq);
tnhnrl 73:f6f378311c8d 167 write_BCE_txt.setValue("filterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 168
tnhnrl 73:f6f378311c8d 169 char string_deadband[128];
tnhnrl 73:f6f378311c8d 170 sprintf(string_deadband, "%f", bce_deadband);
tnhnrl 73:f6f378311c8d 171 write_BCE_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 172
tnhnrl 57:ec69651c8c21 173 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 174 xbee().printf("Saving BCE PID data!");
tnhnrl 57:ec69651c8c21 175
tnhnrl 57:ec69651c8c21 176 if (!write_BCE_txt.write("/local/bce.txt")) {
tnhnrl 74:d281aaef9766 177 xbee().printf("\n\rERROR: (SAVE)Failure to write bce.txt file.");
tnhnrl 57:ec69651c8c21 178 }
tnhnrl 57:ec69651c8c21 179 else {
tnhnrl 74:d281aaef9766 180 xbee().printf("\n\rFile bce.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 181 }
tnhnrl 57:ec69651c8c21 182 }
tnhnrl 57:ec69651c8c21 183
tnhnrl 73:f6f378311c8d 184 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 185 ConfigFile write_depth_txt; //write to the config file
tnhnrl 57:ec69651c8c21 186
tnhnrl 57:ec69651c8c21 187 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 188 sprintf(PGain_buffer,"# depth outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 189
tnhnrl 57:ec69651c8c21 190 char string_pgain[128];
tnhnrl 73:f6f378311c8d 191 sprintf(string_pgain, "%f", depth_p_gain);
tnhnrl 57:ec69651c8c21 192 write_depth_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 193
tnhnrl 57:ec69651c8c21 194 char string_igain[128];
tnhnrl 73:f6f378311c8d 195 sprintf(string_igain, "%f", depth_i_gain);
tnhnrl 57:ec69651c8c21 196 write_depth_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 197
tnhnrl 57:ec69651c8c21 198 char string_dgain[128];
tnhnrl 73:f6f378311c8d 199 sprintf(string_dgain, "%f", depth_d_gain);
tnhnrl 57:ec69651c8c21 200 write_depth_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 201
tnhnrl 73:f6f378311c8d 202 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 203 sprintf(string_filter_freq, "%f", depth_filter_freq);
tnhnrl 73:f6f378311c8d 204 write_depth_txt.setValue("\n#Depth sensor filter parameters\nfilterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 205
tnhnrl 73:f6f378311c8d 206 char string_deadband[128];
tnhnrl 73:f6f378311c8d 207 sprintf(string_deadband, "%f", depth_deadband);
tnhnrl 73:f6f378311c8d 208 write_depth_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 209
tnhnrl 57:ec69651c8c21 210 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 211 sprintf(string_zeroOffset, "%f", depth_zeroOffset);
tnhnrl 57:ec69651c8c21 212 //bce setting was 240 mm during LASR experiments
tnhnrl 57:ec69651c8c21 213 write_depth_txt.setValue("\n#Offset for neutral (default: 240)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 214
tnhnrl 57:ec69651c8c21 215 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 216 xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 217
tnhnrl 57:ec69651c8c21 218 if (!write_depth_txt.write("/local/depth.txt")) {
tnhnrl 74:d281aaef9766 219 xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 220 }
tnhnrl 57:ec69651c8c21 221 else {
tnhnrl 74:d281aaef9766 222 xbee().printf("\n\rFile depth.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 223 }
tnhnrl 57:ec69651c8c21 224 }
tnhnrl 57:ec69651c8c21 225
tnhnrl 57:ec69651c8c21 226 //write rudder (servo driver) file rudder.txt
tnhnrl 57:ec69651c8c21 227 void ConfigFileIO::saveRudderData(float setMinDeg, float setMaxDeg, float setCenterPWM, float setMinPWM, float setMaxPWM) {
tnhnrl 57:ec69651c8c21 228 ConfigFile rudder_txt;
tnhnrl 57:ec69651c8c21 229
tnhnrl 57:ec69651c8c21 230 char header[128];
tnhnrl 57:ec69651c8c21 231 sprintf(header,"# rudder (servo) inner loop (heading outer loop uses this)");
tnhnrl 57:ec69651c8c21 232
tnhnrl 57:ec69651c8c21 233 char string_min_deg[128];
tnhnrl 57:ec69651c8c21 234 sprintf(string_min_deg, "%f", setMinDeg);
tnhnrl 57:ec69651c8c21 235 rudder_txt.setValue("setMinDeg", string_min_deg);
tnhnrl 57:ec69651c8c21 236
tnhnrl 57:ec69651c8c21 237 char string_max_deg[128];
tnhnrl 57:ec69651c8c21 238 sprintf(string_max_deg, "%f", setMaxDeg);
tnhnrl 57:ec69651c8c21 239 rudder_txt.setValue("setMaxDeg", string_max_deg);
tnhnrl 57:ec69651c8c21 240
tnhnrl 57:ec69651c8c21 241 char string_ctr_pwm[128];
tnhnrl 57:ec69651c8c21 242 sprintf(string_ctr_pwm, "%f", setCenterPWM);
tnhnrl 57:ec69651c8c21 243 rudder_txt.setValue("setCenterPWM", string_ctr_pwm);
tnhnrl 57:ec69651c8c21 244
tnhnrl 57:ec69651c8c21 245 char string_min_pwm[128];
tnhnrl 57:ec69651c8c21 246 sprintf(string_min_pwm, "%f", setMinPWM);
tnhnrl 57:ec69651c8c21 247 rudder_txt.setValue("setMinPWM", string_min_pwm);
tnhnrl 57:ec69651c8c21 248
tnhnrl 57:ec69651c8c21 249 char string_max_pwm[128];
tnhnrl 57:ec69651c8c21 250 sprintf(string_max_pwm, "%f", setMaxPWM);
tnhnrl 57:ec69651c8c21 251 rudder_txt.setValue("setMaxPWM", string_max_pwm);
tnhnrl 57:ec69651c8c21 252
tnhnrl 57:ec69651c8c21 253 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 254 xbee().printf("Saving RUDDER DATA!");
tnhnrl 57:ec69651c8c21 255
tnhnrl 57:ec69651c8c21 256 if (!rudder_txt.write("/local/rudder.txt")) {
tnhnrl 74:d281aaef9766 257 xbee().printf("\n\rERROR: (SAVE)Failure to write rudder.txt file.");
tnhnrl 57:ec69651c8c21 258 }
tnhnrl 57:ec69651c8c21 259 else {
tnhnrl 74:d281aaef9766 260 xbee().printf("\n\rFile rudder.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 261 }
tnhnrl 57:ec69651c8c21 262 }
tnhnrl 57:ec69651c8c21 263
tnhnrl 57:ec69651c8c21 264 int ConfigFileIO::load_BCE_config() {
tnhnrl 57:ec69651c8c21 265 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 266 int count = 0;
tnhnrl 57:ec69651c8c21 267 if (!cfg.read("/local/bce.txt")) {
tnhnrl 57:ec69651c8c21 268 error("File Read Error");
tnhnrl 57:ec69651c8c21 269 }
tnhnrl 57:ec69651c8c21 270 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 271
tnhnrl 57:ec69651c8c21 272 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 273 bce().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 274 count++;
tnhnrl 57:ec69651c8c21 275 }
tnhnrl 57:ec69651c8c21 276 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 277 bce().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 278 count++;
tnhnrl 57:ec69651c8c21 279 }
tnhnrl 57:ec69651c8c21 280 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 281 bce().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 282 count++;
tnhnrl 57:ec69651c8c21 283 }
tnhnrl 57:ec69651c8c21 284 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 285 bce().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 286 count++;
tnhnrl 57:ec69651c8c21 287 }
tnhnrl 57:ec69651c8c21 288 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 289 bce().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 290 count++;
tnhnrl 57:ec69651c8c21 291 }
tnhnrl 57:ec69651c8c21 292 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 293 bce().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 294 count++;
tnhnrl 57:ec69651c8c21 295 }
tnhnrl 57:ec69651c8c21 296 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 297 bce().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 298 count++;
tnhnrl 57:ec69651c8c21 299 }
tnhnrl 57:ec69651c8c21 300 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 301 bce().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 302 count++;
tnhnrl 57:ec69651c8c21 303 }
tnhnrl 57:ec69651c8c21 304
tnhnrl 57:ec69651c8c21 305 return count;
tnhnrl 57:ec69651c8c21 306 }
tnhnrl 57:ec69651c8c21 307
tnhnrl 57:ec69651c8c21 308 //write to heading.txt
tnhnrl 73:f6f378311c8d 309 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 310 ConfigFile heading_txt;
tnhnrl 57:ec69651c8c21 311
tnhnrl 57:ec69651c8c21 312 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 313 sprintf(PGain_buffer,"# HEADING (rudder outer loop) parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 314
tnhnrl 57:ec69651c8c21 315 //convert input numbers into text and save them to text file
tnhnrl 57:ec69651c8c21 316 char string_pgain[128];
tnhnrl 57:ec69651c8c21 317 sprintf(string_pgain, "%f", heading_p_gain);
tnhnrl 57:ec69651c8c21 318 heading_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 319
tnhnrl 57:ec69651c8c21 320 char string_igain[128];
tnhnrl 57:ec69651c8c21 321 sprintf(string_igain, "%f", heading_i_gain);
tnhnrl 57:ec69651c8c21 322 heading_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 323
tnhnrl 57:ec69651c8c21 324 char string_dgain[128];
tnhnrl 57:ec69651c8c21 325 sprintf(string_dgain, "%f", heading_d_gain);
tnhnrl 57:ec69651c8c21 326 heading_txt.setValue("DGain", string_dgain);
tnhnrl 74:d281aaef9766 327
tnhnrl 74:d281aaef9766 328 char string_heading_freq[128];
tnhnrl 74:d281aaef9766 329 sprintf(string_heading_freq, "%f", heading_filter_freq);
tnhnrl 74:d281aaef9766 330 heading_txt.setValue("\n# HEADING sensor filter parameters\nfilterWn", string_heading_freq);
tnhnrl 74:d281aaef9766 331
tnhnrl 74:d281aaef9766 332 char string_heading_db[128];
tnhnrl 74:d281aaef9766 333 sprintf(string_heading_db, "%f", heading_deadband);
tnhnrl 74:d281aaef9766 334 heading_txt.setValue("deadband",string_heading_db);
tnhnrl 57:ec69651c8c21 335
tnhnrl 57:ec69651c8c21 336 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 337 sprintf(string_zeroOffset, "%f", heading_zeroOffset);
tnhnrl 74:d281aaef9766 338 heading_txt.setValue("\n#HEADING offset\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 339
tnhnrl 57:ec69651c8c21 340 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 341 xbee().printf("(ConfigFileIO) Saving HEADING parameters!");
tnhnrl 57:ec69651c8c21 342
tnhnrl 57:ec69651c8c21 343 if (!heading_txt.write("/local/heading.txt")) {
tnhnrl 74:d281aaef9766 344 xbee().printf("\n\rERROR: (SAVE) Failure to write heading.txt file.");
tnhnrl 57:ec69651c8c21 345 }
tnhnrl 57:ec69651c8c21 346 else {
tnhnrl 74:d281aaef9766 347 xbee().printf("\n\rFile heading.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 348 }
tnhnrl 57:ec69651c8c21 349 }
joel_ssc 82:0981b9ada820 350 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 351 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 352 int count = 0;
joel_ssc 82:0981b9ada820 353 int version = 0;
joel_ssc 82:0981b9ada820 354 if (!cfg.read("/local/logvers.txt")) { // "/local/leg_mission.txt"
joel_ssc 82:0981b9ada820 355 error("Lognames version file logvers.txt File Read Error");
joel_ssc 82:0981b9ada820 356 }
joel_ssc 82:0981b9ada820 357 char value[BUFSIZ];
joel_ssc 82:0981b9ada820 358
joel_ssc 82:0981b9ada820 359
joel_ssc 82:0981b9ada820 360 if (cfg.getValue("LogFileVers", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 361 version = atoi(value);
joel_ssc 82:0981b9ada820 362 char buf[256];
joel_ssc 82:0981b9ada820 363 sprintf(buf, "LOG%03d.csv", version);
joel_ssc 82:0981b9ada820 364 logFilesStruct.logFileName = buf;
joel_ssc 82:0981b9ada820 365 logFilesStruct.logversion = version;
joel_ssc 82:0981b9ada820 366 count++;
joel_ssc 82:0981b9ada820 367 }
joel_ssc 82:0981b9ada820 368 if (cfg.getValue("DiagFileVers", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 369 version = atoi(value);
joel_ssc 82:0981b9ada820 370 char buf[256];
joel_ssc 82:0981b9ada820 371
joel_ssc 82:0981b9ada820 372 sprintf(buf, "in configfileIO: diag file version number is %d\n", version);
joel_ssc 82:0981b9ada820 373 if(print_diag == 1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 374 // buf[256]= {0};
joel_ssc 82:0981b9ada820 375 sprintf(buf, "in ConfigFileIO: diag file string is DIAG%03d.txt", version);
joel_ssc 82:0981b9ada820 376 if(print_diag == 1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 377 // buf[256]= {0};
joel_ssc 82:0981b9ada820 378 sprintf(buf, "DIAG%03d.txt", version);
joel_ssc 82:0981b9ada820 379 logFilesStruct.diagFileName = buf;
joel_ssc 82:0981b9ada820 380 logFilesStruct.diagversion = version;
joel_ssc 82:0981b9ada820 381 sprintf(buf, "in ConfigFileIO: diag info pulled from struct: filename = %s diagvernum = %d\n", logFilesStruct.diagFileName,
joel_ssc 82:0981b9ada820 382 logFilesStruct.diagversion);
joel_ssc 82:0981b9ada820 383 if(print_diag==1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 384 count++;
joel_ssc 82:0981b9ada820 385 }
joel_ssc 82:0981b9ada820 386 return count;
joel_ssc 82:0981b9ada820 387 }
joel_ssc 82:0981b9ada820 388 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 389 ConfigFile cfg;
joel_ssc 82:0981b9ada820 390 int count = 0;
joel_ssc 82:0981b9ada820 391 if (!cfg.read("/local/batt.txt")) { // "/local/leg_mission.txt"
tnhnrl 57:ec69651c8c21 392 error("BATT File Read Error");
tnhnrl 57:ec69651c8c21 393 }
tnhnrl 57:ec69651c8c21 394 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 395
tnhnrl 57:ec69651c8c21 396
tnhnrl 57:ec69651c8c21 397 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 398 batt().setControllerP(atof(value)); // but I want values in a legStructLoaded, not a function
tnhnrl 57:ec69651c8c21 399 count++;
tnhnrl 57:ec69651c8c21 400 }
tnhnrl 57:ec69651c8c21 401 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 402 batt().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 403 count++;
tnhnrl 57:ec69651c8c21 404 }
tnhnrl 57:ec69651c8c21 405 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 406 batt().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 407 count++;
tnhnrl 57:ec69651c8c21 408 }
tnhnrl 57:ec69651c8c21 409 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 410 batt().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 411 count++;
tnhnrl 57:ec69651c8c21 412 }
tnhnrl 57:ec69651c8c21 413 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 414 batt().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 415 count++;
tnhnrl 57:ec69651c8c21 416 }
tnhnrl 57:ec69651c8c21 417 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 418 batt().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 419 count++;
tnhnrl 57:ec69651c8c21 420 }
tnhnrl 57:ec69651c8c21 421 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 422 batt().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 423 count++;
tnhnrl 57:ec69651c8c21 424 }
tnhnrl 57:ec69651c8c21 425 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 426 batt().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 427 count++;
tnhnrl 57:ec69651c8c21 428 }
tnhnrl 57:ec69651c8c21 429
tnhnrl 57:ec69651c8c21 430 return count;
tnhnrl 57:ec69651c8c21 431 }
tnhnrl 57:ec69651c8c21 432
tnhnrl 57:ec69651c8c21 433 int ConfigFileIO::load_DEPTH_config() {
tnhnrl 57:ec69651c8c21 434 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 435 int count = 0;
tnhnrl 57:ec69651c8c21 436 if (!cfg.read("/local/depth.txt")) {
tnhnrl 57:ec69651c8c21 437 error("DEPTH File Read Error");
tnhnrl 57:ec69651c8c21 438 }
tnhnrl 57:ec69651c8c21 439 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 440
tnhnrl 57:ec69651c8c21 441 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 442 depthLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 443 count++;
tnhnrl 57:ec69651c8c21 444 }
tnhnrl 57:ec69651c8c21 445 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 446 depthLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 447 count++;
tnhnrl 57:ec69651c8c21 448 }
tnhnrl 57:ec69651c8c21 449 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 450 depthLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 451 count++;
tnhnrl 57:ec69651c8c21 452 }
tnhnrl 57:ec69651c8c21 453 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 454 depthLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 455 count++;
tnhnrl 57:ec69651c8c21 456 }
tnhnrl 57:ec69651c8c21 457 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 458 depthLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 459 count++;
tnhnrl 57:ec69651c8c21 460 }
tnhnrl 57:ec69651c8c21 461 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 462 depthLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 463 count++;
tnhnrl 57:ec69651c8c21 464 }
tnhnrl 57:ec69651c8c21 465 return count;
tnhnrl 57:ec69651c8c21 466 }
tnhnrl 57:ec69651c8c21 467
tnhnrl 57:ec69651c8c21 468 int ConfigFileIO::load_PITCH_config() {
tnhnrl 57:ec69651c8c21 469 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 470 int count = 0;
tnhnrl 57:ec69651c8c21 471 if (!cfg.read("/local/pitch.txt")){
tnhnrl 57:ec69651c8c21 472 error("PITCH File Read Error");
tnhnrl 57:ec69651c8c21 473 }
tnhnrl 57:ec69651c8c21 474 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 475
tnhnrl 57:ec69651c8c21 476 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 477 pitchLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 478 count++;
tnhnrl 57:ec69651c8c21 479 }
tnhnrl 57:ec69651c8c21 480 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 481 pitchLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 482 count++;
tnhnrl 57:ec69651c8c21 483 }
tnhnrl 57:ec69651c8c21 484 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 485 pitchLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 486 count++;
tnhnrl 57:ec69651c8c21 487 }
tnhnrl 57:ec69651c8c21 488 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 489 pitchLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 490 count++;
tnhnrl 57:ec69651c8c21 491 }
tnhnrl 57:ec69651c8c21 492 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 493 pitchLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 494 count++;
tnhnrl 57:ec69651c8c21 495 }
tnhnrl 57:ec69651c8c21 496
tnhnrl 57:ec69651c8c21 497 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 498 pitchLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 499 count++;
tnhnrl 57:ec69651c8c21 500 }
tnhnrl 57:ec69651c8c21 501 return count;
tnhnrl 57:ec69651c8c21 502 }
tnhnrl 57:ec69651c8c21 503
tnhnrl 57:ec69651c8c21 504 int ConfigFileIO::load_HEADING_config() {
tnhnrl 57:ec69651c8c21 505 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 506 int count = 0;
tnhnrl 57:ec69651c8c21 507 if (!cfg.read("/local/heading.txt")){
tnhnrl 57:ec69651c8c21 508 error("HEADING File Read Error");
tnhnrl 57:ec69651c8c21 509 }
tnhnrl 57:ec69651c8c21 510 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 511
tnhnrl 57:ec69651c8c21 512 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 513 headingLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 514 count++;
tnhnrl 57:ec69651c8c21 515 }
tnhnrl 57:ec69651c8c21 516 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 517 headingLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 518 count++;
tnhnrl 57:ec69651c8c21 519 }
tnhnrl 57:ec69651c8c21 520 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 521 headingLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 522 count++;
tnhnrl 57:ec69651c8c21 523 }
tnhnrl 57:ec69651c8c21 524 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 525 headingLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 526 count++;
tnhnrl 57:ec69651c8c21 527 }
tnhnrl 57:ec69651c8c21 528 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 529 headingLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 530 count++;
tnhnrl 57:ec69651c8c21 531 }
tnhnrl 57:ec69651c8c21 532
tnhnrl 57:ec69651c8c21 533 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 534 headingLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 535 count++;
tnhnrl 57:ec69651c8c21 536 }
tnhnrl 57:ec69651c8c21 537 return count;
tnhnrl 57:ec69651c8c21 538 }
tnhnrl 57:ec69651c8c21 539
tnhnrl 57:ec69651c8c21 540 int ConfigFileIO::load_RUDDER_config() {
tnhnrl 57:ec69651c8c21 541 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 542 int count = 0;
tnhnrl 57:ec69651c8c21 543 if (!cfg.read("/local/rudder.txt")){
tnhnrl 57:ec69651c8c21 544 error("RUDDER File Read Error");
tnhnrl 57:ec69651c8c21 545 }
tnhnrl 57:ec69651c8c21 546 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 547
tnhnrl 57:ec69651c8c21 548 //float values below
tnhnrl 57:ec69651c8c21 549 if (cfg.getValue("setMinDeg", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 550 rudder().setMinDeg(atof(value));
tnhnrl 57:ec69651c8c21 551 count++;
tnhnrl 57:ec69651c8c21 552 }
tnhnrl 57:ec69651c8c21 553 if (cfg.getValue("setMaxDeg", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 554 rudder().setMaxDeg(atof(value));
tnhnrl 57:ec69651c8c21 555 count++;
tnhnrl 57:ec69651c8c21 556 }
tnhnrl 57:ec69651c8c21 557
tnhnrl 57:ec69651c8c21 558 //integer values below
tnhnrl 57:ec69651c8c21 559 if (cfg.getValue("setCenterPWM", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 560 rudder().setCenterPWM(atof(value));
tnhnrl 57:ec69651c8c21 561 count++;
tnhnrl 57:ec69651c8c21 562 }
tnhnrl 57:ec69651c8c21 563 if (cfg.getValue("setMinPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 564 rudder().setMinPWM(atof(value));
tnhnrl 57:ec69651c8c21 565 count++;
tnhnrl 57:ec69651c8c21 566 }
tnhnrl 57:ec69651c8c21 567 if (cfg.getValue("setMaxPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 568 rudder().setMaxPWM(atof(value));
tnhnrl 57:ec69651c8c21 569 count++;
tnhnrl 57:ec69651c8c21 570 }
tnhnrl 57:ec69651c8c21 571 return count;
tnhnrl 57:ec69651c8c21 572 }