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

Committer:
tnhnrl
Date:
Tue Jun 19 18:10:50 2018 +0000
Revision:
65:2ac186553959
Parent:
63:6cb0405fc6e6
Child:
66:0f20870117b7
Version with limit switches in output

Who changed what in which revision?

UserRevisionLine numberNew contents of line
danstrider 10:085ab7328054 1 /*
tnhnrl 58:94b7fd55185e 2 Modified FSG PCB V_1_1
tnhnrl 52:f207567d3ea4 3 - Freezes when doing a dive or any timed sequence (commented out SD card references)
tnhnrl 52:f207567d3ea4 4 - commented out sdLogger().appendLogFile(current_state, 0); //open SD file once
tnhnrl 52:f207567d3ea4 5 - commented out sdLogger().appendLogFile(current_state, 1); //writing data
tnhnrl 52:f207567d3ea4 6 - commented out sdLogger().appendLogFile(current_state, 0); //close log file
tnhnrl 52:f207567d3ea4 7 - reduced timer to 20 seconds for bench testing
tnhnrl 52:f207567d3ea4 8 - modified ConfigFileIO for rudder()
tnhnrl 52:f207567d3ea4 9 - added in getFloatUserInput function from newer code
tnhnrl 53:c0586fe62b01 10 - changed LinearActuator & batt() in StaticDefs to match new pinouts from Bob/Matt/Troy fixes
tnhnrl 53:c0586fe62b01 11 - slowed down battery motor because it's silly fast at 30 volts (bench test)
tnhnrl 53:c0586fe62b01 12 * BCE gain is proportional 0.1 now 0.01
tnhnrl 53:c0586fe62b01 13 - BATT was moving in the wrong direction, gain was P: 0.10, I: 0.0, D: 0.0
tnhnrl 57:ec69651c8c21 14 * change gain to P: -0.10 (gain was flipped, I think the old circuit board had the voltages flipped ? ?)
tnhnrl 53:c0586fe62b01 15 - StateMachine changes for testing
tnhnrl 53:c0586fe62b01 16 * added keyboard_menu_STREAM_STATUS();
tnhnrl 53:c0586fe62b01 17 * added keyboard_menu_RUDDER_SERVO_settings();
tnhnrl 54:d4990fb68404 18 - modified the zero on the battery position from 610 to 836
tnhnrl 54:d4990fb68404 19 - BMM (batt) slope may be incorrect, seems low, currently 0.12176
tnhnrl 54:d4990fb68404 20 - modified the zero on BCE from 253 to 460
tnhnrl 54:d4990fb68404 21 - Pressure readings are wrong
tnhnrl 54:d4990fb68404 22 * added readADCCounts() to omegaPX209 class to see channel readings
tnhnrl 54:d4990fb68404 23 * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4()
tnhnrl 54:d4990fb68404 24 - fixed rudderLoop to headingLoop from newer code
tnhnrl 58:94b7fd55185e 25 Modified FSG PCB V_1_2
tnhnrl 55:f4ec445c42fe 26 - added init headingLoop to main
tnhnrl 55:f4ec445c42fe 27 - added pitch and heading outputs to STREAM_STATUS
tnhnrl 54:d4990fb68404 28
tnhnrl 54:d4990fb68404 29 NOTE: Flipped motor controller output on connector side with battery mass mover (BMM)
tnhnrl 54:d4990fb68404 30 - Motor direction was opposite the BCE motor (because of gearing)
tnhnrl 54:d4990fb68404 31 - BMM P gain is now positive 0.02 (from -0.10)
tnhnrl 54:d4990fb68404 32
tnhnrl 58:94b7fd55185e 33 Modified FSG PCB V_1_3
tnhnrl 56:48a8a5a65b82 34 - added timing code for interrupt that drives the rudder (testing with o-scope)
tnhnrl 58:94b7fd55185e 35 - PID controller replaced with newer version from 5/29 code branch
tnhnrl 58:94b7fd55185e 36 - StateMachine hanged style of variables to match convention in code
tnhnrl 63:6cb0405fc6e6 37
tnhnrl 63:6cb0405fc6e6 38 Modified FSG PCB V_1_4
tnhnrl 63:6cb0405fc6e6 39 - adcLed = 0; in adc
tnhnrl 65:2ac186553959 40
tnhnrl 65:2ac186553959 41 Modified FSG PCB V_1_5
tnhnrl 65:2ac186553959 42 - IMU update
danstrider 10:085ab7328054 43 */
tnhnrl 65:2ac186553959 44
tnhnrl 65:2ac186553959 45 /* removed unused variables */
tzyoung 0:ea293bbf9717 46 #include "mbed.h"
tzyoung 0:ea293bbf9717 47 #include "StaticDefs.hpp"
tnhnrl 65:2ac186553959 48
tnhnrl 65:2ac186553959 49 #ifndef lround
tnhnrl 65:2ac186553959 50 #define lround(var) (long)(var+0.5f)
tnhnrl 65:2ac186553959 51 #endif
tnhnrl 65:2ac186553959 52
tnhnrl 65:2ac186553959 53 ////////////////////////////////////////////////////////////////// NEW TICKER
tnhnrl 65:2ac186553959 54 Ticker systemTicker;
tnhnrl 65:2ac186553959 55 bool setup_complete = false;
tnhnrl 65:2ac186553959 56 volatile unsigned int bTick = 0;
tnhnrl 65:2ac186553959 57 volatile unsigned int timer_counter = 0;
tnhnrl 65:2ac186553959 58
tnhnrl 65:2ac186553959 59 char hex[9];
tnhnrl 65:2ac186553959 60
tnhnrl 65:2ac186553959 61 char * conversion(float input_float) {
tnhnrl 65:2ac186553959 62 int integer_number = lround(100.0 * input_float); //convert floating point input to integer to broadcast over serial (reduce precision)
tnhnrl 65:2ac186553959 63
tnhnrl 65:2ac186553959 64 memset(hex, 0, sizeof(hex) ); // void* memset( void* dest, int ch, size_t count ); // CLEAR IT (need null at end of string)
tnhnrl 65:2ac186553959 65 sprintf(hex, "%8x", integer_number); //generates spaces 0x20
tnhnrl 65:2ac186553959 66 return hex;
tnhnrl 65:2ac186553959 67 }
tnhnrl 65:2ac186553959 68
tnhnrl 65:2ac186553959 69 static unsigned int read_ticker(void) { //Basically this makes sure you're reading the data at one instance (not while it's changing)
tnhnrl 65:2ac186553959 70 unsigned int val = bTick;
tnhnrl 65:2ac186553959 71 if( val )
tnhnrl 65:2ac186553959 72 bTick = 0;
tnhnrl 65:2ac186553959 73 return( val );
tnhnrl 65:2ac186553959 74 }
tnhnrl 65:2ac186553959 75 ////////////////////////////////////////////////////////////////// NEW TICKER
tnhnrl 20:8987a9ae2bc7 76
tnhnrl 32:f2f8ae34aadc 77 // loop rate used to determine how fast events trigger in the while loop
tnhnrl 65:2ac186553959 78 //Ticker main_loop_rate_ticker;
tnhnrl 65:2ac186553959 79 //Ticker log_loop_rate_ticker;
tnhnrl 32:f2f8ae34aadc 80
tnhnrl 65:2ac186553959 81 volatile bool fsm_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable)
tnhnrl 34:9b66c5188051 82 volatile bool log_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable)
tnhnrl 32:f2f8ae34aadc 83
tnhnrl 65:2ac186553959 84 void loop_trigger() { fsm_loop = true;} // loop trigger (used in while loop)
tnhnrl 34:9b66c5188051 85 void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop)
tnhnrl 32:f2f8ae34aadc 86
tnhnrl 65:2ac186553959 87 static int current_state = 0;
tnhnrl 65:2ac186553959 88 static bool file_opened = false;
tnhnrl 65:2ac186553959 89
tnhnrl 65:2ac186553959 90 void FSM() { // FSM loop runs at 100 hz
tnhnrl 65:2ac186553959 91 if(fsm_loop) {
tnhnrl 65:2ac186553959 92 fsm_loop = false; // wait until the loop rate timer fires again
tnhnrl 65:2ac186553959 93 current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state).
tnhnrl 65:2ac186553959 94 }
tnhnrl 65:2ac186553959 95 }
tnhnrl 65:2ac186553959 96
tnhnrl 65:2ac186553959 97 void log_function() {
tnhnrl 65:2ac186553959 98 // log loop runs at 1 hz
tnhnrl 65:2ac186553959 99 if (log_loop) {
tnhnrl 65:2ac186553959 100 //when the state machine is not in SIT_IDLE state (or a random keyboard press)
tnhnrl 65:2ac186553959 101
tnhnrl 65:2ac186553959 102 if (current_state == TRANSMIT_MBED_LOG or current_state == RECEIVE_SEQUENCE) {
tnhnrl 65:2ac186553959 103 ; //pass
tnhnrl 65:2ac186553959 104 }
tnhnrl 65:2ac186553959 105
tnhnrl 65:2ac186553959 106 else if(current_state != 0) {
tnhnrl 65:2ac186553959 107 if (!file_opened) { //if the log file is not open, open it
tnhnrl 65:2ac186553959 108 mbedLogger().appendLogFile(current_state, 0); //open MBED file once
tnhnrl 65:2ac186553959 109 //sdLogger().appendLogFile(current_state, 0); //open SD file once
tnhnrl 65:2ac186553959 110
tnhnrl 65:2ac186553959 111 file_opened = true; //stops it from continuing to open it
tnhnrl 56:48a8a5a65b82 112
tnhnrl 65:2ac186553959 113 pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r");
tnhnrl 65:2ac186553959 114 }
tnhnrl 65:2ac186553959 115
tnhnrl 65:2ac186553959 116 //record to Mbed file system
tnhnrl 65:2ac186553959 117 led4() = !led4();
tnhnrl 65:2ac186553959 118
tnhnrl 65:2ac186553959 119 mbedLogger().appendLogFile(current_state, 1); //writing data
tnhnrl 65:2ac186553959 120 //sdLogger().appendLogFile(current_state, 1); //writing data
tnhnrl 65:2ac186553959 121 }
tnhnrl 65:2ac186553959 122
tnhnrl 65:2ac186553959 123 //when the current FSM state is zero (SIT_IDLE), close the file
tnhnrl 65:2ac186553959 124 else {
tnhnrl 65:2ac186553959 125 //this can only happen once
tnhnrl 65:2ac186553959 126 if (file_opened) {
tnhnrl 65:2ac186553959 127 mbedLogger().appendLogFile(current_state, 0); //close log file
tnhnrl 65:2ac186553959 128 //sdLogger().appendLogFile(current_state, 0); //close log file
tnhnrl 65:2ac186553959 129
tnhnrl 65:2ac186553959 130 file_opened = false;
tnhnrl 65:2ac186553959 131
tnhnrl 65:2ac186553959 132 pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r");
tnhnrl 65:2ac186553959 133 }
tnhnrl 65:2ac186553959 134 }
tnhnrl 65:2ac186553959 135 } //END OF LOG LOOP
tnhnrl 65:2ac186553959 136
tnhnrl 65:2ac186553959 137 log_loop = false; // wait until the loop rate timer fires again
tnhnrl 65:2ac186553959 138 }
tnhnrl 56:48a8a5a65b82 139
tnhnrl 65:2ac186553959 140 static void system_timer(void) {
tnhnrl 65:2ac186553959 141 bTick = 1;
tnhnrl 65:2ac186553959 142
tnhnrl 56:48a8a5a65b82 143 timer_counter++;
tnhnrl 56:48a8a5a65b82 144
tnhnrl 56:48a8a5a65b82 145 //only start these updates when everything is properly setup (through setup function)
tnhnrl 56:48a8a5a65b82 146 if (setup_complete) {
tnhnrl 65:2ac186553959 147 if ( (timer_counter % 1) == 0) { //this runs at 0.001 second intervals (1000 Hz)
tnhnrl 65:2ac186553959 148 adc().update(); //every iteration of this the A/D converter runs //now this runs at 0.01 second intervals 03/12/2018
tnhnrl 65:2ac186553959 149 }
tnhnrl 65:2ac186553959 150
tnhnrl 65:2ac186553959 151 if ( (timer_counter % 10) == 0) {
tnhnrl 65:2ac186553959 152 bce().update(); //update() inside LinearActuator class (running at 0.01 second intervals)
tnhnrl 65:2ac186553959 153 batt().update();
tnhnrl 65:2ac186553959 154 led2() = !led2();
tnhnrl 65:2ac186553959 155 }
tnhnrl 65:2ac186553959 156
tnhnrl 65:2ac186553959 157 if ( (timer_counter % 20) == 0 ) { // 0.02 second intervals
tnhnrl 65:2ac186553959 158 rudder().runServo();
tnhnrl 65:2ac186553959 159 }
tnhnrl 65:2ac186553959 160
tnhnrl 65:2ac186553959 161 if ( (timer_counter % 50) == 0 ) { // 0.05 second intervals
tnhnrl 65:2ac186553959 162 //imu().runIMU();
tnhnrl 65:2ac186553959 163 }
tnhnrl 65:2ac186553959 164
tnhnrl 65:2ac186553959 165 if ( (timer_counter % 100) == 0) { // 100,000 microseconds = 0.1 second intervals
tnhnrl 65:2ac186553959 166 depthLoop().runOuterLoop();
tnhnrl 65:2ac186553959 167 pitchLoop().runOuterLoop();
tnhnrl 65:2ac186553959 168 headingLoop().runOuterLoop();
tnhnrl 65:2ac186553959 169 }
tnhnrl 65:2ac186553959 170
tnhnrl 65:2ac186553959 171 if ( (timer_counter % 500) == 0) { // 500,000 microseconds = 0.5 second intervals
tnhnrl 65:2ac186553959 172 //serialComms().getDepthPitchHeading();
tnhnrl 65:2ac186553959 173 log_loop = true;
tnhnrl 65:2ac186553959 174 log_function();
tnhnrl 65:2ac186553959 175 }
tnhnrl 56:48a8a5a65b82 176 }
tnhnrl 56:48a8a5a65b82 177 }
tnhnrl 56:48a8a5a65b82 178
danstrider 10:085ab7328054 179 void setup() {
danstrider 11:3b241ecb75ed 180 pc().baud(57600);
tnhnrl 65:2ac186553959 181 pc().printf("\n\n\r 2018_03_28_wireless (FSG bench test)\n\n\r");
tnhnrl 65:2ac186553959 182
danstrider 10:085ab7328054 183 // start up the system timer
tnhnrl 65:2ac186553959 184 //systemTimer().start();
tnhnrl 20:8987a9ae2bc7 185
danstrider 10:085ab7328054 186 // set up and start the adc. This runs on a fixed interval and is interrupt driven
tnhnrl 65:2ac186553959 187 adc().initialize();
tnhnrl 65:2ac186553959 188 //adc().start();
tnhnrl 65:2ac186553959 189
tnhnrl 65:2ac186553959 190 // setup and run the rudder(servo) pwm signal (start the ticker)
tnhnrl 65:2ac186553959 191 //rudder().init();
tnhnrl 65:2ac186553959 192 pc().printf("Rudder servo initialized!\n\r");
danstrider 10:085ab7328054 193
danstrider 10:085ab7328054 194 // set up and start the imu. This polls in the background
danstrider 10:085ab7328054 195 imu().initialize();
tnhnrl 65:2ac186553959 196 //imu().start();
danstrider 10:085ab7328054 197
danstrider 10:085ab7328054 198 // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298
danstrider 14:85b64a4d08e8 199 depth().init();
danstrider 14:85b64a4d08e8 200 depth().tare();
danstrider 10:085ab7328054 201
tnhnrl 48:20e681885161 202 // construct the MBED local file system
danstrider 10:085ab7328054 203 local();
tnhnrl 48:20e681885161 204
tnhnrl 48:20e681885161 205 // construct the SD card file system
tnhnrl 65:2ac186553959 206 //sd_card();
tnhnrl 20:8987a9ae2bc7 207
danstrider 10:085ab7328054 208 // load config data from files
tnhnrl 65:2ac186553959 209 configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt"
tnhnrl 65:2ac186553959 210 configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt"
tnhnrl 65:2ac186553959 211
tnhnrl 65:2ac186553959 212 configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position)
tnhnrl 65:2ac186553959 213 configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position)
tnhnrl 65:2ac186553959 214
tnhnrl 65:2ac186553959 215 configFileIO().load_RUDDER_config(); // load the rudder servo inner loop parameters from the file "SERVO.txt"
tnhnrl 65:2ac186553959 216 configFileIO().load_HEADING_config(); // load the rudder servo outer loop HEADING control parameters from the file "HEADING.txt" (contains neutral position)
tnhnrl 43:891baf306e0a 217
danstrider 10:085ab7328054 218 // set up the linear actuators. adc has to be running first.
tnhnrl 65:2ac186553959 219 bce().setPIDHighLimit(bce().getTravelLimit()); //travel limit of this linear actuator
danstrider 10:085ab7328054 220 bce().init();
tnhnrl 65:2ac186553959 221 //bce().start(); //removed start, it's handled by the interrupt
mkelly10 12:a0519d11d2b6 222 bce().pause(); // start by not moving
tnhnrl 20:8987a9ae2bc7 223
tnhnrl 65:2ac186553959 224 batt().setPIDHighLimit(batt().getTravelLimit()); //travel limit of this linear actuator
danstrider 10:085ab7328054 225 batt().init();
tnhnrl 65:2ac186553959 226 batt().runLinearActuator(); // _init = true;
tnhnrl 65:2ac186553959 227 //batt().start();//removed start, it's handled by the interrupt
mkelly10 12:a0519d11d2b6 228 batt().pause(); // start by not moving
tnhnrl 20:8987a9ae2bc7 229
tnhnrl 65:2ac186553959 230 // set up the depth, pitch, and rudder outer loop controllers
danstrider 10:085ab7328054 231 depthLoop().init();
tnhnrl 65:2ac186553959 232 //removed start, it's handled by the interrupt
tnhnrl 16:3363b9f14913 233 depthLoop().setCommand(stateMachine().getDepthCommand());
tnhnrl 20:8987a9ae2bc7 234
danstrider 10:085ab7328054 235 pitchLoop().init();
tnhnrl 65:2ac186553959 236 //removed start, it's handled by the interrupt
tnhnrl 16:3363b9f14913 237 pitchLoop().setCommand(stateMachine().getPitchCommand());
tnhnrl 55:f4ec445c42fe 238
tnhnrl 55:f4ec445c42fe 239 headingLoop().init();
tnhnrl 65:2ac186553959 240 //removed start, it's handled by the interrupt
tnhnrl 65:2ac186553959 241 //headingLoop().setCommand(stateMachine().getHeadingCommand()); // FIX LATER
tnhnrl 65:2ac186553959 242 //heading flag that adjust the PID error is set in the constructor
tnhnrl 65:2ac186553959 243
tnhnrl 65:2ac186553959 244 //systemTicker.attach_us(&system_timer, 10000); // Interrupt timer running at 0.01 seconds (slower than original ADC time interval)
tnhnrl 65:2ac186553959 245
tnhnrl 65:2ac186553959 246
tnhnrl 20:8987a9ae2bc7 247
tnhnrl 20:8987a9ae2bc7 248 // show that the PID gains are loading from the file
tnhnrl 38:83d06c294807 249 pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 38:83d06c294807 250 pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 65:2ac186553959 251 pc().printf("rudder min pwm: %6.2f, max pwm: %6.2f, center pwm: %6.2f, min deg: %6.2f, max deg: %6.2f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 65:2ac186553959 252
tnhnrl 65:2ac186553959 253 pc().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 65:2ac186553959 254 pc().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 65:2ac186553959 255 pc().printf("heading P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f deg (deadband: %0.1f)\r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(), headingLoop().getDeadband());
tnhnrl 65:2ac186553959 256
danstrider 10:085ab7328054 257 pc().printf("\n\r");
tnhnrl 21:38c8544db6f4 258
tnhnrl 17:7c16b5671d0e 259 //load sequence from file
tnhnrl 17:7c16b5671d0e 260 sequenceController().loadSequence();
tnhnrl 32:f2f8ae34aadc 261
tnhnrl 47:fb3c7929d3f3 262 //set time of logger (to current or close-to-current time)
tnhnrl 65:2ac186553959 263 mbedLogger().setLogTime();
tnhnrl 65:2ac186553959 264 //sdLogger().setLogTime();
tnhnrl 47:fb3c7929d3f3 265
tnhnrl 47:fb3c7929d3f3 266 //create log files if not present on file system
tnhnrl 47:fb3c7929d3f3 267 mbedLogger().initializeLogFile();
tnhnrl 65:2ac186553959 268 //sdLogger().initializeLogFile();
tnhnrl 65:2ac186553959 269
tnhnrl 65:2ac186553959 270 setup_complete = true;
tnhnrl 65:2ac186553959 271 }
tnhnrl 58:94b7fd55185e 272
danstrider 10:085ab7328054 273 int main() {
danstrider 10:085ab7328054 274 setup();
tnhnrl 56:48a8a5a65b82 275
tnhnrl 65:2ac186553959 276 unsigned int tNow = 0;
tnhnrl 65:2ac186553959 277
tnhnrl 65:2ac186553959 278 pc().baud(57600);
tnhnrl 65:2ac186553959 279 pc().printf("\n\n\r TICKER TEST 05/25/2018 running at 10 kHz (0.0001 second interval) \n\n\r");
tnhnrl 56:48a8a5a65b82 280
tnhnrl 56:48a8a5a65b82 281 systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval)
tnhnrl 65:2ac186553959 282
tnhnrl 65:2ac186553959 283 while (1) {
tnhnrl 65:2ac186553959 284 if( read_ticker() ) // read_ticker runs at the speed of 10 kHz
tnhnrl 65:2ac186553959 285 {
tnhnrl 65:2ac186553959 286 ++tNow;
mkelly10 51:c5c40272ecc3 287
tnhnrl 65:2ac186553959 288 if ( (tNow % 10) == 0 ) { // 0.001 second intervals //if ( (tNow % 100) == 0 ) { // 0.01 second intervals
tnhnrl 65:2ac186553959 289 fsm_loop = true;
tnhnrl 65:2ac186553959 290 FSM();
tnhnrl 45:16b8162188ca 291 }
tnhnrl 34:9b66c5188051 292
tnhnrl 65:2ac186553959 293 // if ( (tNow % 1000) == 0 ) { // 1.0 second intervals
tnhnrl 65:2ac186553959 294 // log_loop = true;
tnhnrl 65:2ac186553959 295 // log_function();
tnhnrl 65:2ac186553959 296 // }
tnhnrl 65:2ac186553959 297 }
danstrider 10:085ab7328054 298 }
danstrider 10:085ab7328054 299 }