Diff: main.cpp

Revision:

85:dd8176285b6e

Parent:

84:eccd8e837134

Child:

86:ba3a118b0080

--- a/main.cpp	Tue Feb 19 20:11:43 2019 +0000
+++ b/main.cpp	Mon Feb 25 21:26:34 2019 +0000
@@ -22,7 +22,8 @@
 void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop)
 
 static int current_state = 0; 
-static int have_legfile = 0;    
+static int have_legfile = 0;  
+static int upside_down = 0;  
 static bool file_opened = false;
 
 void FSM() {                    // FSM loop runs at 10 hz
@@ -216,7 +217,7 @@
     //xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r");
     sprintf(buf, "\n\n\r in setup():  starting legController().loadleg() \n\n\r");
     mbedLogger().appendDiagFile(buf,0);
-    have_legfile = legController().loadLeg();
+    have_legfile = legController().loadLeg();  // this should be 1 if the legfile reader has found 1 or more legs
     
     //set time of logger (to current or close-to-current time)   now set earlier  at line 149
     // mbedLogger().setLogTime();
@@ -281,7 +282,7 @@
     sprintf(buf, "logfiles_struct values - direct LOG FILE VERSION ().logversion=%d           diag file version().diagversion = %d\n", 
     configFileIO().logFilesStruct.logversion,   configFileIO().logFilesStruct.diagversion);
     mbedLogger().appendDiagFile(buf,3);
-     sprintf(buf, "try another messgae after closing file up and then will exit\n\n\r");
+     sprintf(buf, "try another message after closing file up and then will exit\n\n\r");
     mbedLogger().appendDiagFile(buf,0);
     
     
@@ -299,6 +300,10 @@
             //install the leg variables in a structure, and set the state there.
             stateMachine().getLegParams(); //should set up everything with proper LEG_POSITION_DIVE state
             }
+        if(upside_down ) {  // should this be done inside the statemachine? 
+            //turn right side up ;  
+            upside_down =0;
+            }
     while (keeprunning) {
         if( read_ticker() ) {                       // read_ticker runs at the speed of 10 kHz (adc timing)
             ++tNow;
@@ -326,20 +331,20 @@
                 if ( (tNow % 1000) == 0 ) {   // 1.0 second intervals
                     log_loop = true;
                     log_function();
-                    sprintf(buf, "hit 1 second  log interval in main loop tNow =%d  \n\n\r", tNow);
+                    sprintf(buf, "hit 1 second  log interval in main loop tNow =%d  imu.roll = %f not-unsampled \n\n\r", tNow, imu().getRoll());  
                     mbedLogger().appendDiagFile(buf,0);
                 }
                 //update the log and diagnostics files
-                if ( (tNow % 4600) == 0 ) {   // 1.0 hour intervals  check for testing via 7 second intervals
-                sprintf(buf, "hit 4.6  second  replace_logfiles interval in main loop tNow =%d  \n\n\r", tNow);
-                    mbedLogger().appendDiagFile(buf,0);
+                if ( (tNow % 31000) == 0 ) {   // 1.0 hour intervals= 3600*1000  check for testing via 4 second intervals
+                sprintf(buf, "hit cycle seconds  replace_logfiles interval in main loop tNow =%d  \n\n\r", tNow);
+                    mbedLogger().appendDiagFile(buf,3);
                     vernum = configFileIO().logFilesStruct.logversion;
                     diagnum = configFileIO().logFilesStruct.diagversion;
-                    sprintf(buf, "cycle log file names at 7.6 seconds. This message should be in old diag file\n\n\r");
+                    sprintf(buf, "cycle log file names at tnow=%d at  seconds. This message should be in old diag file\n\n\r", tNow);
                     mbedLogger().appendDiagFile(buf,0);
                   cycle_logfiles(vernum,diagnum);
-                    sprintf(buf, "cycled log files at 7 seconds, This message should be in a NEW diag file\n\n\r");
-                    mbedLogger().appendDiagFile(buf,0);
+                    sprintf(buf, "cycled log files at tNow = %d at seconds, This message should be in a NEW diag file\n\n\r", tNow);
+                    mbedLogger().appendDiagFile(buf,3);
                     //  close the log and diagnostics files
                     // increment the version numbers for each
                     //  save the new version numbers
@@ -352,6 +357,7 @@
                 log_loop=true;
                 log_function();
                 keeprunning=0;  // and this will force exit to the main while() loop.
+                //  switch state to EOL_WAIT, spit out xbee messages,  wait 60 seconds or so. if keyboard comes back, do not exit
                 sprintf(buf, "INSIDE  main loop: BUT now called to exit out of it via FB_EXIT\n\n\r");
                 mbedLogger().appendDiagFile(buf,0);
             }