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
main.cpp@85:dd8176285b6e, 2019-02-25 (annotated)
- Committer:
- joel_ssc
- Date:
- Mon Feb 25 21:26:34 2019 +0000
- Revision:
- 85:dd8176285b6e
- Parent:
- 84:eccd8e837134
- Child:
- 86:ba3a118b0080
tests imu.roll
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tzyoung | 0:ea293bbf9717 | 1 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 2 | #include "StaticDefs.hpp" |
tnhnrl | 65:2ac186553959 | 3 | |
tnhnrl | 65:2ac186553959 | 4 | ////////////////////////////////////////////////////////////////// NEW TICKER |
tnhnrl | 65:2ac186553959 | 5 | Ticker systemTicker; |
tnhnrl | 65:2ac186553959 | 6 | bool setup_complete = false; |
tnhnrl | 65:2ac186553959 | 7 | volatile unsigned int bTick = 0; |
tnhnrl | 65:2ac186553959 | 8 | volatile unsigned int timer_counter = 0; |
tnhnrl | 65:2ac186553959 | 9 | |
tnhnrl | 65:2ac186553959 | 10 | 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 | 11 | unsigned int val = bTick; |
tnhnrl | 65:2ac186553959 | 12 | if( val ) |
tnhnrl | 65:2ac186553959 | 13 | bTick = 0; |
tnhnrl | 65:2ac186553959 | 14 | return( val ); |
tnhnrl | 65:2ac186553959 | 15 | } |
tnhnrl | 65:2ac186553959 | 16 | ////////////////////////////////////////////////////////////////// NEW TICKER |
tnhnrl | 32:f2f8ae34aadc | 17 | |
tnhnrl | 65:2ac186553959 | 18 | 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 | 19 | 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 | 20 | |
tnhnrl | 65:2ac186553959 | 21 | void loop_trigger() { fsm_loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 22 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 23 | |
joel_ssc | 82:0981b9ada820 | 24 | static int current_state = 0; |
joel_ssc | 85:dd8176285b6e | 25 | static int have_legfile = 0; |
joel_ssc | 85:dd8176285b6e | 26 | static int upside_down = 0; |
tnhnrl | 65:2ac186553959 | 27 | static bool file_opened = false; |
tnhnrl | 65:2ac186553959 | 28 | |
tnhnrl | 73:f6f378311c8d | 29 | void FSM() { // FSM loop runs at 10 hz |
tnhnrl | 65:2ac186553959 | 30 | if(fsm_loop) { |
tnhnrl | 73:f6f378311c8d | 31 | // led one removed |
tnhnrl | 65:2ac186553959 | 32 | fsm_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 33 | current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 65:2ac186553959 | 34 | } |
tnhnrl | 65:2ac186553959 | 35 | } |
tnhnrl | 65:2ac186553959 | 36 | |
tnhnrl | 65:2ac186553959 | 37 | void log_function() { |
tnhnrl | 65:2ac186553959 | 38 | // log loop runs at 1 hz |
joel_ssc | 82:0981b9ada820 | 39 | if (log_loop) { //start logloop8 |
tnhnrl | 65:2ac186553959 | 40 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 65:2ac186553959 | 41 | |
joel_ssc | 82:0981b9ada820 | 42 | if(current_state != 0) { //first if - not in sit_idle/keyboard state |
tnhnrl | 65:2ac186553959 | 43 | if (!file_opened) { //if the log file is not open, open it |
joel_ssc | 82:0981b9ada820 | 44 | mbedLogger().appendLogFile(current_state, 1); //open MBED file once |
tnhnrl | 80:4e5d306d695b | 45 | //sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 65:2ac186553959 | 46 | |
tnhnrl | 65:2ac186553959 | 47 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 56:48a8a5a65b82 | 48 | |
joel_ssc | 82:0981b9ada820 | 49 | xbee().printf(">>>>>>>> Recording. Log file re opened. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 50 | } |
joel_ssc | 82:0981b9ada820 | 51 | else { |
tnhnrl | 65:2ac186553959 | 52 | |
joel_ssc | 82:0981b9ada820 | 53 | //just record to the Mbed file system |
tnhnrl | 65:2ac186553959 | 54 | |
joel_ssc | 82:0981b9ada820 | 55 | mbedLogger().appendLogFile(current_state, 1); //writing data |
joel_ssc | 82:0981b9ada820 | 56 | //sdLogger().appendLogFile(current_state, 1); //writing data |
joel_ssc | 82:0981b9ada820 | 57 | } |
joel_ssc | 82:0981b9ada820 | 58 | } //end first if |
tnhnrl | 65:2ac186553959 | 59 | |
tnhnrl | 65:2ac186553959 | 60 | //when the current FSM state is zero (SIT_IDLE), close the file |
joel_ssc | 82:0981b9ada820 | 61 | else { //start first else for current_state ==0 sit idle/keyboard |
tnhnrl | 65:2ac186553959 | 62 | //this can only happen once |
tnhnrl | 65:2ac186553959 | 63 | if (file_opened) { |
tnhnrl | 67:c86a4b464682 | 64 | //WRITE ONCE |
tnhnrl | 67:c86a4b464682 | 65 | mbedLogger().appendLogFile(current_state, 1); //write the idle state, then close |
tnhnrl | 80:4e5d306d695b | 66 | //sdLogger().appendLogFile(current_state, 1); //write the idle state, then close |
tnhnrl | 67:c86a4b464682 | 67 | |
tnhnrl | 65:2ac186553959 | 68 | mbedLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 80:4e5d306d695b | 69 | //sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 65:2ac186553959 | 70 | |
tnhnrl | 65:2ac186553959 | 71 | file_opened = false; |
tnhnrl | 65:2ac186553959 | 72 | |
tnhnrl | 74:d281aaef9766 | 73 | xbee().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 74 | } |
joel_ssc | 82:0981b9ada820 | 75 | } //end first else |
tnhnrl | 74:d281aaef9766 | 76 | } //END OF LOG LOOP8 |
tnhnrl | 65:2ac186553959 | 77 | |
tnhnrl | 65:2ac186553959 | 78 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 79 | } |
tnhnrl | 56:48a8a5a65b82 | 80 | |
tnhnrl | 72:250b2665755c | 81 | //single system timer to run hardware/electronics timing |
tnhnrl | 65:2ac186553959 | 82 | static void system_timer(void) { |
tnhnrl | 65:2ac186553959 | 83 | bTick = 1; |
tnhnrl | 65:2ac186553959 | 84 | |
tnhnrl | 56:48a8a5a65b82 | 85 | timer_counter++; |
tnhnrl | 56:48a8a5a65b82 | 86 | |
tnhnrl | 56:48a8a5a65b82 | 87 | //only start these updates when everything is properly setup (through setup function) |
tnhnrl | 56:48a8a5a65b82 | 88 | if (setup_complete) { |
tnhnrl | 74:d281aaef9766 | 89 | if ( (timer_counter % 5) == 0) { //this runs at 0.005 second intervals (200 Hz) |
tnhnrl | 65:2ac186553959 | 90 | 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 | 91 | } |
tnhnrl | 65:2ac186553959 | 92 | |
tnhnrl | 65:2ac186553959 | 93 | if ( (timer_counter % 10) == 0) { |
tnhnrl | 65:2ac186553959 | 94 | bce().update(); //update() inside LinearActuator class (running at 0.01 second intervals) |
tnhnrl | 65:2ac186553959 | 95 | batt().update(); |
tnhnrl | 65:2ac186553959 | 96 | } |
tnhnrl | 65:2ac186553959 | 97 | |
tnhnrl | 65:2ac186553959 | 98 | if ( (timer_counter % 20) == 0 ) { // 0.02 second intervals |
tnhnrl | 74:d281aaef9766 | 99 | rudder().runServo(); |
tnhnrl | 65:2ac186553959 | 100 | } |
tnhnrl | 65:2ac186553959 | 101 | |
tnhnrl | 65:2ac186553959 | 102 | if ( (timer_counter % 50) == 0 ) { // 0.05 second intervals |
tnhnrl | 67:c86a4b464682 | 103 | imu().runIMU(); |
tnhnrl | 65:2ac186553959 | 104 | } |
tnhnrl | 73:f6f378311c8d | 105 | |
tnhnrl | 65:2ac186553959 | 106 | if ( (timer_counter % 100) == 0) { // 100,000 microseconds = 0.1 second intervals |
tnhnrl | 65:2ac186553959 | 107 | depthLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 108 | pitchLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 109 | headingLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 110 | } |
tnhnrl | 73:f6f378311c8d | 111 | |
tnhnrl | 73:f6f378311c8d | 112 | if ( (timer_counter % 1000) == 0) { // update at 1.0 second intervals |
tnhnrl | 73:f6f378311c8d | 113 | //gui().updateGUI(); |
tnhnrl | 73:f6f378311c8d | 114 | } |
tnhnrl | 74:d281aaef9766 | 115 | |
tnhnrl | 74:d281aaef9766 | 116 | if ( (timer_counter % 30000) == 0) { // update at 30.0 second intervals |
tnhnrl | 74:d281aaef9766 | 117 | //pc().printf("XB!\n"); |
tnhnrl | 74:d281aaef9766 | 118 | } |
tnhnrl | 56:48a8a5a65b82 | 119 | } |
tnhnrl | 56:48a8a5a65b82 | 120 | } |
tnhnrl | 56:48a8a5a65b82 | 121 | |
danstrider | 10:085ab7328054 | 122 | void setup() { |
joel_ssc | 82:0981b9ada820 | 123 | // xbee().baud(115200); // comment out so default is 9600 for USB communications |
tnhnrl | 81:7ff2c6467892 | 124 | xbee().printf("\n\n\r 2018-11-08 FSG PCB XBee\n\n\r"); |
tnhnrl | 74:d281aaef9766 | 125 | |
tnhnrl | 74:d281aaef9766 | 126 | //pc().baud(57600); |
tnhnrl | 65:2ac186553959 | 127 | |
danstrider | 10:085ab7328054 | 128 | // start up the system timer |
tnhnrl | 65:2ac186553959 | 129 | //systemTimer().start(); |
tnhnrl | 20:8987a9ae2bc7 | 130 | |
danstrider | 10:085ab7328054 | 131 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
tnhnrl | 65:2ac186553959 | 132 | adc().initialize(); |
tnhnrl | 67:c86a4b464682 | 133 | //one central interrupt is updating the ADC (not using the start function) |
tnhnrl | 65:2ac186553959 | 134 | |
tnhnrl | 65:2ac186553959 | 135 | // setup and run the rudder(servo) pwm signal (start the ticker) |
tnhnrl | 65:2ac186553959 | 136 | //rudder().init(); |
tnhnrl | 74:d281aaef9766 | 137 | xbee().printf("Rudder servo initialized!\n\r"); |
danstrider | 10:085ab7328054 | 138 | |
danstrider | 10:085ab7328054 | 139 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 140 | imu().initialize(); |
tnhnrl | 65:2ac186553959 | 141 | //imu().start(); |
danstrider | 10:085ab7328054 | 142 | |
tnhnrl | 48:20e681885161 | 143 | // construct the MBED local file system |
danstrider | 10:085ab7328054 | 144 | local(); |
tnhnrl | 48:20e681885161 | 145 | |
tnhnrl | 79:3688c3a0d7f4 | 146 | // construct the SD card file system TEST 10/23/18 |
tnhnrl | 80:4e5d306d695b | 147 | //sd_card(); |
joel_ssc | 82:0981b9ada820 | 148 | // mbedLogger().initializeDiagFile(); |
danstrider | 10:085ab7328054 | 149 | // load config data from files |
joel_ssc | 82:0981b9ada820 | 150 | mbedLogger().setLogTime(); |
joel_ssc | 82:0981b9ada820 | 151 | int print_diag = 0; // do not print to diag file before it is named |
joel_ssc | 82:0981b9ada820 | 152 | configFileIO().load_LogVers_config(print_diag); // version numbers of the log and diag files from "logvers.txt" |
joel_ssc | 82:0981b9ada820 | 153 | mbedLogger().initializeDiagFile(print_diag); |
joel_ssc | 82:0981b9ada820 | 154 | print_diag=1; |
joel_ssc | 82:0981b9ada820 | 155 | configFileIO().load_LogVers_config(print_diag); // Cnow print info to diag file |
joel_ssc | 82:0981b9ada820 | 156 | mbedLogger().initializeDiagFile(print_diag); |
joel_ssc | 82:0981b9ada820 | 157 | |
tnhnrl | 65:2ac186553959 | 158 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 65:2ac186553959 | 159 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 65:2ac186553959 | 160 | |
tnhnrl | 65:2ac186553959 | 161 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 162 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 163 | |
tnhnrl | 65:2ac186553959 | 164 | configFileIO().load_RUDDER_config(); // load the rudder servo inner loop parameters from the file "SERVO.txt" |
tnhnrl | 65:2ac186553959 | 165 | configFileIO().load_HEADING_config(); // load the rudder servo outer loop HEADING control parameters from the file "HEADING.txt" (contains neutral position) |
tnhnrl | 43:891baf306e0a | 166 | |
danstrider | 10:085ab7328054 | 167 | // set up the linear actuators. adc has to be running first. |
tnhnrl | 65:2ac186553959 | 168 | bce().setPIDHighLimit(bce().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 169 | bce().init(); |
tnhnrl | 65:2ac186553959 | 170 | //bce().start(); //removed start, it's handled by the interrupt |
tnhnrl | 67:c86a4b464682 | 171 | bce().runLinearActuator(); |
mkelly10 | 12:a0519d11d2b6 | 172 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 173 | |
tnhnrl | 65:2ac186553959 | 174 | batt().setPIDHighLimit(batt().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 175 | batt().init(); |
tnhnrl | 65:2ac186553959 | 176 | batt().runLinearActuator(); // _init = true; |
tnhnrl | 65:2ac186553959 | 177 | //batt().start();//removed start, it's handled by the interrupt |
mkelly10 | 12:a0519d11d2b6 | 178 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 179 | |
tnhnrl | 65:2ac186553959 | 180 | // set up the depth, pitch, and rudder outer loop controllers |
danstrider | 10:085ab7328054 | 181 | depthLoop().init(); |
tnhnrl | 65:2ac186553959 | 182 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 183 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 184 | |
danstrider | 10:085ab7328054 | 185 | pitchLoop().init(); |
tnhnrl | 65:2ac186553959 | 186 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 187 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
tnhnrl | 55:f4ec445c42fe | 188 | |
tnhnrl | 55:f4ec445c42fe | 189 | headingLoop().init(); |
tnhnrl | 65:2ac186553959 | 190 | //removed start, it's handled by the interrupt |
tnhnrl | 65:2ac186553959 | 191 | //headingLoop().setCommand(stateMachine().getHeadingCommand()); // FIX LATER |
tnhnrl | 65:2ac186553959 | 192 | //heading flag that adjust the PID error is set in the constructor |
tnhnrl | 65:2ac186553959 | 193 | |
tnhnrl | 65:2ac186553959 | 194 | //systemTicker.attach_us(&system_timer, 10000); // Interrupt timer running at 0.01 seconds (slower than original ADC time interval) |
tnhnrl | 65:2ac186553959 | 195 | |
tnhnrl | 65:2ac186553959 | 196 | |
tnhnrl | 20:8987a9ae2bc7 | 197 | |
tnhnrl | 20:8987a9ae2bc7 | 198 | // show that the PID gains are loading from the file |
joel_ssc | 82:0981b9ada820 | 199 | xbee().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(), |
joel_ssc | 82:0981b9ada820 | 200 | bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); |
joel_ssc | 82:0981b9ada820 | 201 | xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), |
joel_ssc | 82:0981b9ada820 | 202 | batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); |
joel_ssc | 82:0981b9ada820 | 203 | xbee().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(), |
joel_ssc | 82:0981b9ada820 | 204 | rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); |
joel_ssc | 82:0981b9ada820 | 205 | xbee().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), |
joel_ssc | 82:0981b9ada820 | 206 | depthLoop().getControllerD(), depthLoop().getOutputOffset()); |
joel_ssc | 82:0981b9ada820 | 207 | xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), |
joel_ssc | 82:0981b9ada820 | 208 | pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); |
joel_ssc | 82:0981b9ada820 | 209 | xbee().printf("heading P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f deg (deadband: %0.1f)\r\n", headingLoop().getControllerP(), |
joel_ssc | 82:0981b9ada820 | 210 | headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(), headingLoop().getDeadband()); |
tnhnrl | 65:2ac186553959 | 211 | |
tnhnrl | 74:d281aaef9766 | 212 | xbee().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 213 | |
tnhnrl | 17:7c16b5671d0e | 214 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 215 | sequenceController().loadSequence(); |
joel_ssc | 82:0981b9ada820 | 216 | char buf[256]; |
joel_ssc | 82:0981b9ada820 | 217 | //xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r"); |
joel_ssc | 82:0981b9ada820 | 218 | sprintf(buf, "\n\n\r in setup(): starting legController().loadleg() \n\n\r"); |
joel_ssc | 82:0981b9ada820 | 219 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 85:dd8176285b6e | 220 | have_legfile = legController().loadLeg(); // this should be 1 if the legfile reader has found 1 or more legs |
tnhnrl | 32:f2f8ae34aadc | 221 | |
joel_ssc | 82:0981b9ada820 | 222 | //set time of logger (to current or close-to-current time) now set earlier at line 149 |
joel_ssc | 82:0981b9ada820 | 223 | // mbedLogger().setLogTime(); |
tnhnrl | 65:2ac186553959 | 224 | //sdLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 225 | |
tnhnrl | 47:fb3c7929d3f3 | 226 | //create log files if not present on file system |
tnhnrl | 47:fb3c7929d3f3 | 227 | mbedLogger().initializeLogFile(); |
joel_ssc | 82:0981b9ada820 | 228 | |
joel_ssc | 82:0981b9ada820 | 229 | mbedLogger().appendLogFile(current_state, 1); //write the idle state, then close |
joel_ssc | 82:0981b9ada820 | 230 | //sdLogger().appendLogFile(current_state, 1); //write the idle state, then close |
joel_ssc | 82:0981b9ada820 | 231 | |
joel_ssc | 82:0981b9ada820 | 232 | mbedLogger().appendLogFile(current_state, 0); //close log file added jcw nov 9 2018 for test |
joel_ssc | 82:0981b9ada820 | 233 | //sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 80:4e5d306d695b | 234 | //sdLogger().initializeLogFile(); // works 10/23/18 |
tnhnrl | 65:2ac186553959 | 235 | |
tnhnrl | 68:8f549749b8ce | 236 | setup_complete = true; |
tnhnrl | 65:2ac186553959 | 237 | } |
tnhnrl | 58:94b7fd55185e | 238 | |
joel_ssc | 84:eccd8e837134 | 239 | void cycle_logfiles(int logversion, int diagversion) { |
joel_ssc | 84:eccd8e837134 | 240 | //int logversion; |
joel_ssc | 84:eccd8e837134 | 241 | //int diagversion; |
joel_ssc | 84:eccd8e837134 | 242 | char bufx[256]; |
joel_ssc | 84:eccd8e837134 | 243 | sprintf(bufx, "\n\n\r in cycle_logfiles(%d, %d): starting new diag file. Will add 1 to these values \n\n\r", logversion, diagversion); |
joel_ssc | 84:eccd8e837134 | 244 | mbedLogger().appendDiagFile(bufx,0); |
joel_ssc | 84:eccd8e837134 | 245 | mbedLogger().appendLogFile(current_state, 0); //both files are now closed |
joel_ssc | 84:eccd8e837134 | 246 | //use the present values and increment |
joel_ssc | 84:eccd8e837134 | 247 | //logversion = configFileIO().logFilesStruct.logversion + 1; |
joel_ssc | 84:eccd8e837134 | 248 | //diagversion = configFileIO().logFilesStruct.diagversion + 1; |
joel_ssc | 84:eccd8e837134 | 249 | configFileIO().saveLogVersData(logversion+1, diagversion+1); // updates the file logvers.txt |
joel_ssc | 84:eccd8e837134 | 250 | configFileIO().load_LogVers_config(0); // now read them back into the structure |
joel_ssc | 84:eccd8e837134 | 251 | mbedLogger().initializeDiagFile(0); //don't print before initializing |
joel_ssc | 84:eccd8e837134 | 252 | |
joel_ssc | 84:eccd8e837134 | 253 | |
joel_ssc | 84:eccd8e837134 | 254 | mbedLogger().initializeLogFile(); |
joel_ssc | 84:eccd8e837134 | 255 | mbedLogger().initializeDiagFile(1); |
joel_ssc | 84:eccd8e837134 | 256 | |
joel_ssc | 84:eccd8e837134 | 257 | } |
joel_ssc | 84:eccd8e837134 | 258 | |
tnhnrl | 68:8f549749b8ce | 259 | /*************************** v1.8 **************************/ |
tnhnrl | 68:8f549749b8ce | 260 | |
tnhnrl | 73:f6f378311c8d | 261 | int main() { |
tnhnrl | 73:f6f378311c8d | 262 | setup(); //setup electronics/hardware |
joel_ssc | 82:0981b9ada820 | 263 | // on landing, check orientation, if upside down, fix that first |
tnhnrl | 72:250b2665755c | 264 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
tnhnrl | 68:8f549749b8ce | 265 | |
tnhnrl | 65:2ac186553959 | 266 | unsigned int tNow = 0; |
joel_ssc | 82:0981b9ada820 | 267 | int vernum=0; |
joel_ssc | 82:0981b9ada820 | 268 | int diagnum=0; |
joel_ssc | 82:0981b9ada820 | 269 | char buf[256]; |
tnhnrl | 75:92e79d23d29a | 270 | xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r"); |
joel_ssc | 82:0981b9ada820 | 271 | sprintf(buf, "\n\n\r 2018-08-14 FSG PCB XBee line234main (setup complete) \n\n\r"); |
joel_ssc | 82:0981b9ada820 | 272 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 82:0981b9ada820 | 273 | sprintf(buf, "finished setting up and will exit\n\n\r"); |
joel_ssc | 82:0981b9ada820 | 274 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 275 | //tNow=5; sprintf(buf, "log file config values logfile= %s diag file= %s\n", configFileIO().logFilesStruct.logFileName, |
joel_ssc | 84:eccd8e837134 | 276 | // configFileIO().logFilesStruct.diagFileName); tNow=0; |
joel_ssc | 82:0981b9ada820 | 277 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 82:0981b9ada820 | 278 | vernum = configFileIO().logFilesStruct.logversion; |
joel_ssc | 82:0981b9ada820 | 279 | diagnum = configFileIO().logFilesStruct.diagversion; |
joel_ssc | 82:0981b9ada820 | 280 | sprintf(buf, "translated values LOG FILE VERSION number (vernum)=%d diag file version number(diagnum) = %d\n", vernum, diagnum); |
joel_ssc | 82:0981b9ada820 | 281 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 82:0981b9ada820 | 282 | sprintf(buf, "logfiles_struct values - direct LOG FILE VERSION ().logversion=%d diag file version().diagversion = %d\n", |
joel_ssc | 82:0981b9ada820 | 283 | configFileIO().logFilesStruct.logversion, configFileIO().logFilesStruct.diagversion); |
joel_ssc | 82:0981b9ada820 | 284 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 85:dd8176285b6e | 285 | sprintf(buf, "try another message after closing file up and then will exit\n\n\r"); |
joel_ssc | 82:0981b9ada820 | 286 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 287 | |
joel_ssc | 84:eccd8e837134 | 288 | |
joel_ssc | 84:eccd8e837134 | 289 | // increment the log file names once |
joel_ssc | 84:eccd8e837134 | 290 | //cycle_logfiles(vernum,diagnum); |
joel_ssc | 84:eccd8e837134 | 291 | //sprintf(buf, "This message should be in a new diag file\n\n\r"); |
joel_ssc | 84:eccd8e837134 | 292 | //mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 293 | // mbedLogger().appendLogFile(current_state, 1); |
joel_ssc | 82:0981b9ada820 | 294 | //wait(5); |
joel_ssc | 82:0981b9ada820 | 295 | //exit(0); |
tnhnrl | 56:48a8a5a65b82 | 296 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
joel_ssc | 82:0981b9ada820 | 297 | int keeprunning = 1; |
tnhnrl | 65:2ac186553959 | 298 | |
joel_ssc | 82:0981b9ada820 | 299 | if(have_legfile) { |
joel_ssc | 82:0981b9ada820 | 300 | //install the leg variables in a structure, and set the state there. |
joel_ssc | 82:0981b9ada820 | 301 | stateMachine().getLegParams(); //should set up everything with proper LEG_POSITION_DIVE state |
joel_ssc | 82:0981b9ada820 | 302 | } |
joel_ssc | 85:dd8176285b6e | 303 | if(upside_down ) { // should this be done inside the statemachine? |
joel_ssc | 85:dd8176285b6e | 304 | //turn right side up ; |
joel_ssc | 85:dd8176285b6e | 305 | upside_down =0; |
joel_ssc | 85:dd8176285b6e | 306 | } |
joel_ssc | 84:eccd8e837134 | 307 | while (keeprunning) { |
joel_ssc | 84:eccd8e837134 | 308 | if( read_ticker() ) { // read_ticker runs at the speed of 10 kHz (adc timing) |
tnhnrl | 65:2ac186553959 | 309 | ++tNow; |
mkelly10 | 51:c5c40272ecc3 | 310 | |
tnhnrl | 81:7ff2c6467892 | 311 | //Note to self: Retest data transmission code. |
tnhnrl | 81:7ff2c6467892 | 312 | //This is currently running at 0.1 second intervals (10 hz) and was working well for data transmission |
tnhnrl | 74:d281aaef9766 | 313 | if (current_state == TX_MBED_LOG or current_state == RX_SEQUENCE) { |
tnhnrl | 73:f6f378311c8d | 314 | if ( (tNow % 100) == 0 ) { // 0.01 second intervals (100 Hz) |
tnhnrl | 66:0f20870117b7 | 315 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 316 | FSM(); |
tnhnrl | 66:0f20870117b7 | 317 | } |
joel_ssc | 82:0981b9ada820 | 318 | } // end if(currentstate..) |
joel_ssc | 84:eccd8e837134 | 319 | |
tnhnrl | 67:c86a4b464682 | 320 | //NOT TRANSMITTING DATA, NORMAL OPERATIONS |
joel_ssc | 84:eccd8e837134 | 321 | else { // **88** |
joel_ssc | 84:eccd8e837134 | 322 | //FSM |
tnhnrl | 68:8f549749b8ce | 323 | if ( (tNow % 100) == 0 ) { // 0.1 second intervals |
tnhnrl | 66:0f20870117b7 | 324 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 325 | FSM(); |
joel_ssc | 84:eccd8e837134 | 326 | |
tnhnrl | 73:f6f378311c8d | 327 | //get commands and update GUI |
tnhnrl | 73:f6f378311c8d | 328 | gui().getCommandFSM(); |
joel_ssc | 84:eccd8e837134 | 329 | } |
joel_ssc | 84:eccd8e837134 | 330 | //LOGGING |
joel_ssc | 84:eccd8e837134 | 331 | if ( (tNow % 1000) == 0 ) { // 1.0 second intervals |
joel_ssc | 84:eccd8e837134 | 332 | log_loop = true; |
joel_ssc | 84:eccd8e837134 | 333 | log_function(); |
joel_ssc | 85:dd8176285b6e | 334 | sprintf(buf, "hit 1 second log interval in main loop tNow =%d imu.roll = %f not-unsampled \n\n\r", tNow, imu().getRoll()); |
joel_ssc | 84:eccd8e837134 | 335 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 336 | } |
joel_ssc | 84:eccd8e837134 | 337 | //update the log and diagnostics files |
joel_ssc | 85:dd8176285b6e | 338 | if ( (tNow % 31000) == 0 ) { // 1.0 hour intervals= 3600*1000 check for testing via 4 second intervals |
joel_ssc | 85:dd8176285b6e | 339 | sprintf(buf, "hit cycle seconds replace_logfiles interval in main loop tNow =%d \n\n\r", tNow); |
joel_ssc | 85:dd8176285b6e | 340 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 341 | vernum = configFileIO().logFilesStruct.logversion; |
joel_ssc | 84:eccd8e837134 | 342 | diagnum = configFileIO().logFilesStruct.diagversion; |
joel_ssc | 85:dd8176285b6e | 343 | sprintf(buf, "cycle log file names at tnow=%d at seconds. This message should be in old diag file\n\n\r", tNow); |
joel_ssc | 84:eccd8e837134 | 344 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 345 | cycle_logfiles(vernum,diagnum); |
joel_ssc | 85:dd8176285b6e | 346 | sprintf(buf, "cycled log files at tNow = %d at seconds, This message should be in a NEW diag file\n\n\r", tNow); |
joel_ssc | 85:dd8176285b6e | 347 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 348 | // close the log and diagnostics files |
joel_ssc | 84:eccd8e837134 | 349 | // increment the version numbers for each |
joel_ssc | 84:eccd8e837134 | 350 | // save the new version numbers |
joel_ssc | 84:eccd8e837134 | 351 | // initialize new log and diagnostics files |
tnhnrl | 66:0f20870117b7 | 352 | log_loop = true; |
tnhnrl | 66:0f20870117b7 | 353 | log_function(); |
tnhnrl | 66:0f20870117b7 | 354 | } |
joel_ssc | 84:eccd8e837134 | 355 | } // end else { at **88** |
joel_ssc | 84:eccd8e837134 | 356 | if(current_state == FB_EXIT) { |
joel_ssc | 84:eccd8e837134 | 357 | log_loop=true; |
joel_ssc | 84:eccd8e837134 | 358 | log_function(); |
joel_ssc | 84:eccd8e837134 | 359 | keeprunning=0; // and this will force exit to the main while() loop. |
joel_ssc | 85:dd8176285b6e | 360 | // switch state to EOL_WAIT, spit out xbee messages, wait 60 seconds or so. if keyboard comes back, do not exit |
joel_ssc | 84:eccd8e837134 | 361 | sprintf(buf, "INSIDE main loop: BUT now called to exit out of it via FB_EXIT\n\n\r"); |
joel_ssc | 84:eccd8e837134 | 362 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 363 | } |
joel_ssc | 82:0981b9ada820 | 364 | } // end if(read_ticker) { |
joel_ssc | 82:0981b9ada820 | 365 | } // end while(keeprunning) |
joel_ssc | 82:0981b9ada820 | 366 | mbedLogger().appendLogFile(current_state, 1); |
joel_ssc | 84:eccd8e837134 | 367 | sprintf(buf, "outside of main loop: exiting out of the leg loop via FB_EXIT\n\n\r"); |
joel_ssc | 82:0981b9ada820 | 368 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 369 | wait(25); |
joel_ssc | 84:eccd8e837134 | 370 | |
joel_ssc | 82:0981b9ada820 | 371 | mbedLogger().appendLogFile(current_state, 1); |
joel_ssc | 82:0981b9ada820 | 372 | mbedLogger().appendLogFile(current_state, 0); |
joel_ssc | 82:0981b9ada820 | 373 | sprintf(buf, "wait 25 more seconds? out of the leg loop via FB_EXIT\n\n\r"); |
joel_ssc | 82:0981b9ada820 | 374 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 82:0981b9ada820 | 375 | exit(0); |
joel_ssc | 82:0981b9ada820 | 376 | } // end main() |