update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp@104:426224a55f5f, 2019-09-13 (annotated)
- Committer:
- joel_ssc
- Date:
- Fri Sep 13 19:15:40 2019 +0000
- Revision:
- 104:426224a55f5f
- Parent:
- 102:0f430de62447
slight change includes reset_PI
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" |
joel_ssc | 104:426224a55f5f | 3 | //Raspberry Pi reset pin set high at beginning of code |
joel_ssc | 104:426224a55f5f | 4 | DigitalOut reset_pin(p11,1); |
tnhnrl | 65:2ac186553959 | 5 | |
tnhnrl | 65:2ac186553959 | 6 | ////////////////////////////////////////////////////////////////// NEW TICKER |
tnhnrl | 65:2ac186553959 | 7 | Ticker systemTicker; |
tnhnrl | 65:2ac186553959 | 8 | bool setup_complete = false; |
tnhnrl | 65:2ac186553959 | 9 | volatile unsigned int bTick = 0; |
tnhnrl | 65:2ac186553959 | 10 | volatile unsigned int timer_counter = 0; |
tnhnrl | 65:2ac186553959 | 11 | |
tnhnrl | 65:2ac186553959 | 12 | 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 | 13 | unsigned int val = bTick; |
tnhnrl | 65:2ac186553959 | 14 | if( val ) |
tnhnrl | 65:2ac186553959 | 15 | bTick = 0; |
tnhnrl | 65:2ac186553959 | 16 | return( val ); |
tnhnrl | 65:2ac186553959 | 17 | } |
tnhnrl | 65:2ac186553959 | 18 | ////////////////////////////////////////////////////////////////// NEW TICKER |
tnhnrl | 32:f2f8ae34aadc | 19 | |
tnhnrl | 65:2ac186553959 | 20 | 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 | 21 | 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 | 22 | |
tnhnrl | 65:2ac186553959 | 23 | void loop_trigger() { fsm_loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 24 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 25 | |
joel_ssc | 82:0981b9ada820 | 26 | static int current_state = 0; |
joel_ssc | 87:6d95f853dab3 | 27 | static int have_legfile = 0; |
joel_ssc | 87:6d95f853dab3 | 28 | |
joel_ssc | 87:6d95f853dab3 | 29 | static int save_state = 0; // state to hold while find_neutral runs ( if necessary) |
joel_ssc | 87:6d95f853dab3 | 30 | int begin_state = 0; |
joel_ssc | 87:6d95f853dab3 | 31 | static int neutral_via_leg = 0; // flag for entry of find_neutral via leg_pos and setval==0 |
joel_ssc | 87:6d95f853dab3 | 32 | static int setval = -1; // has neutral been set, found in neutral.txt |
joel_ssc | 86:ba3a118b0080 | 33 | |
tnhnrl | 65:2ac186553959 | 34 | static bool file_opened = false; |
tnhnrl | 65:2ac186553959 | 35 | |
tnhnrl | 73:f6f378311c8d | 36 | void FSM() { // FSM loop runs at 10 hz |
tnhnrl | 65:2ac186553959 | 37 | if(fsm_loop) { |
tnhnrl | 73:f6f378311c8d | 38 | // led one removed |
tnhnrl | 65:2ac186553959 | 39 | fsm_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 40 | current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 65:2ac186553959 | 41 | } |
tnhnrl | 65:2ac186553959 | 42 | } |
tnhnrl | 65:2ac186553959 | 43 | |
joel_ssc | 102:0f430de62447 | 44 | void log_function(int option) { |
tnhnrl | 65:2ac186553959 | 45 | // log loop runs at 1 hz |
joel_ssc | 102:0f430de62447 | 46 | // option =1 normal short output |
joel_ssc | 102:0f430de62447 | 47 | // option = 2 longer output, state name and actual time value, etc |
joel_ssc | 82:0981b9ada820 | 48 | if (log_loop) { //start logloop8 |
tnhnrl | 65:2ac186553959 | 49 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
joel_ssc | 88:1813f583cee9 | 50 | if((current_state != SIT_IDLE) && (current_state != FLYING_IDLE)) { //first if - not in sit_idle/keyboard state |
tnhnrl | 65:2ac186553959 | 51 | if (!file_opened) { //if the log file is not open, open it |
joel_ssc | 102:0f430de62447 | 52 | mbedLogger().appendLogFile(current_state, option); //open MBED file once |
tnhnrl | 80:4e5d306d695b | 53 | //sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 65:2ac186553959 | 54 | |
tnhnrl | 65:2ac186553959 | 55 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 56:48a8a5a65b82 | 56 | |
joel_ssc | 82:0981b9ada820 | 57 | xbee().printf(">>>>>>>> Recording. Log file re opened. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 58 | } |
joel_ssc | 82:0981b9ada820 | 59 | else { |
tnhnrl | 65:2ac186553959 | 60 | |
joel_ssc | 82:0981b9ada820 | 61 | //just record to the Mbed file system |
tnhnrl | 65:2ac186553959 | 62 | |
joel_ssc | 102:0f430de62447 | 63 | mbedLogger().appendLogFile(current_state, option); //writing data |
joel_ssc | 82:0981b9ada820 | 64 | //sdLogger().appendLogFile(current_state, 1); //writing data |
joel_ssc | 82:0981b9ada820 | 65 | } |
joel_ssc | 82:0981b9ada820 | 66 | } //end first if |
tnhnrl | 65:2ac186553959 | 67 | |
tnhnrl | 65:2ac186553959 | 68 | //when the current FSM state is zero (SIT_IDLE), close the file |
joel_ssc | 82:0981b9ada820 | 69 | else { //start first else for current_state ==0 sit idle/keyboard |
tnhnrl | 65:2ac186553959 | 70 | //this can only happen once |
tnhnrl | 65:2ac186553959 | 71 | if (file_opened) { |
tnhnrl | 67:c86a4b464682 | 72 | //WRITE ONCE |
joel_ssc | 102:0f430de62447 | 73 | mbedLogger().appendLogFile(current_state, option); //write the idle state, then close |
tnhnrl | 80:4e5d306d695b | 74 | //sdLogger().appendLogFile(current_state, 1); //write the idle state, then close |
tnhnrl | 67:c86a4b464682 | 75 | |
tnhnrl | 65:2ac186553959 | 76 | mbedLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 80:4e5d306d695b | 77 | //sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 65:2ac186553959 | 78 | |
tnhnrl | 65:2ac186553959 | 79 | file_opened = false; |
tnhnrl | 65:2ac186553959 | 80 | |
tnhnrl | 74:d281aaef9766 | 81 | xbee().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 82 | } |
joel_ssc | 82:0981b9ada820 | 83 | } //end first else |
tnhnrl | 74:d281aaef9766 | 84 | } //END OF LOG LOOP8 |
tnhnrl | 65:2ac186553959 | 85 | |
tnhnrl | 65:2ac186553959 | 86 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 87 | } |
tnhnrl | 56:48a8a5a65b82 | 88 | |
tnhnrl | 72:250b2665755c | 89 | //single system timer to run hardware/electronics timing |
tnhnrl | 65:2ac186553959 | 90 | static void system_timer(void) { |
tnhnrl | 65:2ac186553959 | 91 | bTick = 1; |
tnhnrl | 65:2ac186553959 | 92 | |
tnhnrl | 56:48a8a5a65b82 | 93 | timer_counter++; |
tnhnrl | 56:48a8a5a65b82 | 94 | |
tnhnrl | 56:48a8a5a65b82 | 95 | //only start these updates when everything is properly setup (through setup function) |
tnhnrl | 56:48a8a5a65b82 | 96 | if (setup_complete) { |
tnhnrl | 74:d281aaef9766 | 97 | if ( (timer_counter % 5) == 0) { //this runs at 0.005 second intervals (200 Hz) |
tnhnrl | 65:2ac186553959 | 98 | 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 | 99 | } |
tnhnrl | 65:2ac186553959 | 100 | |
tnhnrl | 65:2ac186553959 | 101 | if ( (timer_counter % 10) == 0) { |
tnhnrl | 65:2ac186553959 | 102 | bce().update(); //update() inside LinearActuator class (running at 0.01 second intervals) |
tnhnrl | 65:2ac186553959 | 103 | batt().update(); |
tnhnrl | 65:2ac186553959 | 104 | } |
tnhnrl | 65:2ac186553959 | 105 | |
tnhnrl | 65:2ac186553959 | 106 | if ( (timer_counter % 20) == 0 ) { // 0.02 second intervals |
tnhnrl | 74:d281aaef9766 | 107 | rudder().runServo(); |
tnhnrl | 65:2ac186553959 | 108 | } |
tnhnrl | 65:2ac186553959 | 109 | |
tnhnrl | 65:2ac186553959 | 110 | if ( (timer_counter % 50) == 0 ) { // 0.05 second intervals |
tnhnrl | 67:c86a4b464682 | 111 | imu().runIMU(); |
tnhnrl | 65:2ac186553959 | 112 | } |
tnhnrl | 73:f6f378311c8d | 113 | |
tnhnrl | 65:2ac186553959 | 114 | if ( (timer_counter % 100) == 0) { // 100,000 microseconds = 0.1 second intervals |
tnhnrl | 65:2ac186553959 | 115 | depthLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 116 | pitchLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 117 | headingLoop().runOuterLoop(); |
joel_ssc | 87:6d95f853dab3 | 118 | altimLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 119 | } |
tnhnrl | 73:f6f378311c8d | 120 | |
tnhnrl | 73:f6f378311c8d | 121 | if ( (timer_counter % 1000) == 0) { // update at 1.0 second intervals |
tnhnrl | 73:f6f378311c8d | 122 | //gui().updateGUI(); |
tnhnrl | 73:f6f378311c8d | 123 | } |
tnhnrl | 74:d281aaef9766 | 124 | |
tnhnrl | 74:d281aaef9766 | 125 | if ( (timer_counter % 30000) == 0) { // update at 30.0 second intervals |
tnhnrl | 74:d281aaef9766 | 126 | //pc().printf("XB!\n"); |
tnhnrl | 74:d281aaef9766 | 127 | } |
tnhnrl | 56:48a8a5a65b82 | 128 | } |
tnhnrl | 56:48a8a5a65b82 | 129 | } |
joel_ssc | 104:426224a55f5f | 130 | void reset_Pi(){ |
joel_ssc | 104:426224a55f5f | 131 | reset_pin = 0; |
joel_ssc | 104:426224a55f5f | 132 | wait_ms(20); |
joel_ssc | 104:426224a55f5f | 133 | reset_pin = 1; |
joel_ssc | 104:426224a55f5f | 134 | xbee().printf("\n\rWaking up Raspberry PI\n\r"); |
joel_ssc | 104:426224a55f5f | 135 | } |
danstrider | 10:085ab7328054 | 136 | void setup() { |
joel_ssc | 82:0981b9ada820 | 137 | // xbee().baud(115200); // comment out so default is 9600 for USB communications |
joel_ssc | 102:0f430de62447 | 138 | xbee().printf("\n\n\r 2019-13-09 FSG PCB XBee\n\n\r"); |
tnhnrl | 74:d281aaef9766 | 139 | |
tnhnrl | 74:d281aaef9766 | 140 | //pc().baud(57600); |
tnhnrl | 65:2ac186553959 | 141 | |
danstrider | 10:085ab7328054 | 142 | // start up the system timer |
tnhnrl | 65:2ac186553959 | 143 | //systemTimer().start(); |
tnhnrl | 20:8987a9ae2bc7 | 144 | |
danstrider | 10:085ab7328054 | 145 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
tnhnrl | 65:2ac186553959 | 146 | adc().initialize(); |
tnhnrl | 67:c86a4b464682 | 147 | //one central interrupt is updating the ADC (not using the start function) |
tnhnrl | 65:2ac186553959 | 148 | |
tnhnrl | 65:2ac186553959 | 149 | // setup and run the rudder(servo) pwm signal (start the ticker) |
tnhnrl | 65:2ac186553959 | 150 | //rudder().init(); |
tnhnrl | 74:d281aaef9766 | 151 | xbee().printf("Rudder servo initialized!\n\r"); |
danstrider | 10:085ab7328054 | 152 | |
danstrider | 10:085ab7328054 | 153 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 154 | imu().initialize(); |
tnhnrl | 65:2ac186553959 | 155 | //imu().start(); |
danstrider | 10:085ab7328054 | 156 | |
tnhnrl | 48:20e681885161 | 157 | // construct the MBED local file system |
danstrider | 10:085ab7328054 | 158 | local(); |
tnhnrl | 48:20e681885161 | 159 | |
tnhnrl | 79:3688c3a0d7f4 | 160 | // construct the SD card file system TEST 10/23/18 |
joel_ssc | 97:2b4f78a54227 | 161 | // need an if test that the sd fileststem setup in staticdefs.cpp succeeded, THEN use the sd filesystem |
tnhnrl | 80:4e5d306d695b | 162 | //sd_card(); |
joel_ssc | 82:0981b9ada820 | 163 | // mbedLogger().initializeDiagFile(); |
danstrider | 10:085ab7328054 | 164 | // load config data from files |
joel_ssc | 86:ba3a118b0080 | 165 | configFileIO().load_StartTime(); |
joel_ssc | 86:ba3a118b0080 | 166 | // mbedLogger().setLogTime(); replaced by call in configfileIO |
joel_ssc | 82:0981b9ada820 | 167 | int print_diag = 0; // do not print to diag file before it is named |
joel_ssc | 82:0981b9ada820 | 168 | configFileIO().load_LogVers_config(print_diag); // version numbers of the log and diag files from "logvers.txt" |
joel_ssc | 82:0981b9ada820 | 169 | mbedLogger().initializeDiagFile(print_diag); |
joel_ssc | 82:0981b9ada820 | 170 | print_diag=1; |
joel_ssc | 82:0981b9ada820 | 171 | configFileIO().load_LogVers_config(print_diag); // Cnow print info to diag file |
joel_ssc | 82:0981b9ada820 | 172 | mbedLogger().initializeDiagFile(print_diag); |
joel_ssc | 87:6d95f853dab3 | 173 | |
tnhnrl | 65:2ac186553959 | 174 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 65:2ac186553959 | 175 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 65:2ac186553959 | 176 | |
tnhnrl | 65:2ac186553959 | 177 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 178 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 179 | |
tnhnrl | 65:2ac186553959 | 180 | configFileIO().load_RUDDER_config(); // load the rudder servo inner loop parameters from the file "SERVO.txt" |
tnhnrl | 65:2ac186553959 | 181 | configFileIO().load_HEADING_config(); // load the rudder servo outer loop HEADING control parameters from the file "HEADING.txt" (contains neutral position) |
joel_ssc | 102:0f430de62447 | 182 | |
joel_ssc | 102:0f430de62447 | 183 | char buf[256]; |
joel_ssc | 102:0f430de62447 | 184 | sprintf(buf, "INIT of Loop operators line 174 main.cpp headingLoop().init() is coming\n"); |
joel_ssc | 102:0f430de62447 | 185 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 186 | |
joel_ssc | 102:0f430de62447 | 187 | |
joel_ssc | 102:0f430de62447 | 188 | |
joel_ssc | 102:0f430de62447 | 189 | |
danstrider | 10:085ab7328054 | 190 | // set up the linear actuators. adc has to be running first. |
tnhnrl | 65:2ac186553959 | 191 | bce().setPIDHighLimit(bce().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 192 | bce().init(); |
tnhnrl | 65:2ac186553959 | 193 | //bce().start(); //removed start, it's handled by the interrupt |
tnhnrl | 67:c86a4b464682 | 194 | bce().runLinearActuator(); |
mkelly10 | 12:a0519d11d2b6 | 195 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 196 | |
tnhnrl | 65:2ac186553959 | 197 | batt().setPIDHighLimit(batt().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 198 | batt().init(); |
tnhnrl | 65:2ac186553959 | 199 | batt().runLinearActuator(); // _init = true; |
tnhnrl | 65:2ac186553959 | 200 | //batt().start();//removed start, it's handled by the interrupt |
mkelly10 | 12:a0519d11d2b6 | 201 | batt().pause(); // start by not moving |
joel_ssc | 102:0f430de62447 | 202 | //char buf[256]; |
joel_ssc | 102:0f430de62447 | 203 | sprintf(buf, "INIT of Loop operators line 196 main.cpp headingLoop().init() is coming\n"); |
joel_ssc | 102:0f430de62447 | 204 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 205 | |
joel_ssc | 102:0f430de62447 | 206 | |
tnhnrl | 65:2ac186553959 | 207 | // set up the depth, pitch, and rudder outer loop controllers |
danstrider | 10:085ab7328054 | 208 | depthLoop().init(); |
tnhnrl | 65:2ac186553959 | 209 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 210 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 211 | |
danstrider | 10:085ab7328054 | 212 | pitchLoop().init(); |
tnhnrl | 65:2ac186553959 | 213 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 214 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
joel_ssc | 102:0f430de62447 | 215 | sprintf(buf, "INIT of Loop operators line 208 main.cpp headingLoop().init() is coming\n"); |
joel_ssc | 87:6d95f853dab3 | 216 | mbedLogger().appendDiagFile(buf,3); |
tnhnrl | 55:f4ec445c42fe | 217 | |
joel_ssc | 102:0f430de62447 | 218 | |
joel_ssc | 87:6d95f853dab3 | 219 | configFileIO().load_setneutral_status(); // "neutral.txt" has flag for whether neutral has been set, and neutral values |
joel_ssc | 87:6d95f853dab3 | 220 | sprintf(buf, "\n in setup(): load_setneutral_status succeeded: setval = %d \n\r", configFileIO().neutralStruct.setval); |
joel_ssc | 87:6d95f853dab3 | 221 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 222 | setval = configFileIO().neutralStruct.setval; |
joel_ssc | 87:6d95f853dab3 | 223 | sprintf(buf, "\n in setup(): after load_setneutral_status setval = %d \n\r", setval); |
joel_ssc | 87:6d95f853dab3 | 224 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 225 | configFileIO().load_swim_config(); // load in more parameters bmm_dive_mm, bce, fn_timeout, max_mbed-runtime_hr, altim_blank_m, altim_abort_m |
joel_ssc | 102:0f430de62447 | 226 | sprintf(buf, "\n in setup(): after load_swim_config: fn_timeout = %d\n\r", configFileIO().swimConstants.fn_timeout); |
joel_ssc | 102:0f430de62447 | 227 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 228 | sprintf(buf, "\n in setup(): after load_swim_config: altim_blank_m = %.1f\n\r", configFileIO().swimConstants.altim_blank_m); |
joel_ssc | 102:0f430de62447 | 229 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 230 | sprintf(buf, "\n in setup(): after load_swim_config: bce_dive_mm = %.1f\n\r", configFileIO().swimConstants.bce_dive_mm); |
joel_ssc | 102:0f430de62447 | 231 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 232 | sprintf(buf, "depth loop: P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), |
joel_ssc | 102:0f430de62447 | 233 | depthLoop().getControllerD(), depthLoop().getOutputOffset()); |
joel_ssc | 102:0f430de62447 | 234 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 235 | |
joel_ssc | 102:0f430de62447 | 236 | headingLoop().init(); |
joel_ssc | 102:0f430de62447 | 237 | xbee().printf("heading Loop initialized! line 230\n\r"); |
joel_ssc | 102:0f430de62447 | 238 | |
joel_ssc | 102:0f430de62447 | 239 | sprintf(buf, "INIT of Loop operators line 230 headingLoop().init() is finished\n"); |
joel_ssc | 102:0f430de62447 | 240 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 241 | // mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 102:0f430de62447 | 242 | |
joel_ssc | 102:0f430de62447 | 243 | |
joel_ssc | 102:0f430de62447 | 244 | |
joel_ssc | 102:0f430de62447 | 245 | configFileIO().load_Altimeter_config(); // load the altimeter filter parameters from the file "altim.txt" // edit by CAM |
joel_ssc | 102:0f430de62447 | 246 | sprintf(buf, "loaded altimeter configuration line 237 \n"); |
joel_ssc | 102:0f430de62447 | 247 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 248 | sprintf(buf,"line 239: altimeter reading (meters) = %f\n", sensors().getAltimeterReading_m()); |
joel_ssc | 102:0f430de62447 | 249 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 250 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 102:0f430de62447 | 251 | |
joel_ssc | 102:0f430de62447 | 252 | xbee().printf("altimeter config loaded line 245\n\r"); |
joel_ssc | 102:0f430de62447 | 253 | |
joel_ssc | 102:0f430de62447 | 254 | |
joel_ssc | 102:0f430de62447 | 255 | altimLoop().init(); |
joel_ssc | 102:0f430de62447 | 256 | xbee().printf("altimLoop().init() run line 247\n\r"); |
joel_ssc | 102:0f430de62447 | 257 | sprintf(buf, "ran altimLoop().init() after reading config line 244 \n"); |
joel_ssc | 102:0f430de62447 | 258 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 259 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 102:0f430de62447 | 260 | |
joel_ssc | 102:0f430de62447 | 261 | |
joel_ssc | 102:0f430de62447 | 262 | sprintf(buf, "AltimLoop.init() succeeded! after loading altim.txt values and init() line 250\n"); |
joel_ssc | 102:0f430de62447 | 263 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 264 | |
joel_ssc | 102:0f430de62447 | 265 | sprintf(buf, "in setup(): before load_setneutral_status setval = %d line 253\n\r", setval); |
joel_ssc | 102:0f430de62447 | 266 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 267 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 102:0f430de62447 | 268 | |
joel_ssc | 102:0f430de62447 | 269 | |
joel_ssc | 102:0f430de62447 | 270 | |
joel_ssc | 102:0f430de62447 | 271 | // |
joel_ssc | 102:0f430de62447 | 272 | // configFileIO().load_setneutral_status(); // "neutral.txt" has flag for whether neutral has been set, and neutral values |
joel_ssc | 102:0f430de62447 | 273 | // sprintf(buf, "\n in setup(): load_setneutral_status succeeded: setval = %d \n\r", configFileIO().neutralStruct.setval); |
joel_ssc | 102:0f430de62447 | 274 | // mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 275 | // setval = configFileIO().neutralStruct.setval; |
joel_ssc | 102:0f430de62447 | 276 | // sprintf(buf, "\n in setup(): after load_setneutral_status setval = %d \n\r", setval); |
joel_ssc | 102:0f430de62447 | 277 | // mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 278 | // configFileIO().load_swim_config(); // load in more parameters bmm_dive_mm, bce, fn_timeout, max_mbed-runtime_hr, altim_blank_m, altim_abort_m |
joel_ssc | 102:0f430de62447 | 279 | // sprintf(buf, "\n in setup(): after load_swim_config: fn_timeout = %d\n\r", configFileIO().swimConstants.fn_timeout); |
joel_ssc | 102:0f430de62447 | 280 | // mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 281 | // sprintf(buf, "\n in setup(): after load_swim_config: altim_blank_m = %.1f\n\r", configFileIO().swimConstants.altim_blank_m); |
joel_ssc | 102:0f430de62447 | 282 | // mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 283 | // sprintf(buf, "\n in setup(): after load_swim_config: bce_dive_mm = %.1f\n\r", configFileIO().swimConstants.bce_dive_mm); |
joel_ssc | 102:0f430de62447 | 284 | // mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 285 | |
tnhnrl | 65:2ac186553959 | 286 | //removed start, it's handled by the interrupt |
tnhnrl | 65:2ac186553959 | 287 | //headingLoop().setCommand(stateMachine().getHeadingCommand()); // FIX LATER |
tnhnrl | 65:2ac186553959 | 288 | //heading flag that adjust the PID error is set in the constructor |
tnhnrl | 65:2ac186553959 | 289 | |
tnhnrl | 65:2ac186553959 | 290 | //systemTicker.attach_us(&system_timer, 10000); // Interrupt timer running at 0.01 seconds (slower than original ADC time interval) |
tnhnrl | 65:2ac186553959 | 291 | |
tnhnrl | 65:2ac186553959 | 292 | |
tnhnrl | 20:8987a9ae2bc7 | 293 | |
tnhnrl | 20:8987a9ae2bc7 | 294 | // show that the PID gains are loading from the file |
joel_ssc | 82:0981b9ada820 | 295 | 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 | 296 | bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); |
joel_ssc | 82:0981b9ada820 | 297 | 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 | 298 | batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); |
joel_ssc | 82:0981b9ada820 | 299 | 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 | 300 | rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); |
joel_ssc | 82:0981b9ada820 | 301 | 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 | 302 | depthLoop().getControllerD(), depthLoop().getOutputOffset()); |
joel_ssc | 82:0981b9ada820 | 303 | 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 | 304 | pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); |
joel_ssc | 82:0981b9ada820 | 305 | 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 | 306 | headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(), headingLoop().getDeadband()); |
tnhnrl | 65:2ac186553959 | 307 | |
tnhnrl | 74:d281aaef9766 | 308 | xbee().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 309 | |
tnhnrl | 17:7c16b5671d0e | 310 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 311 | sequenceController().loadSequence(); |
joel_ssc | 87:6d95f853dab3 | 312 | |
joel_ssc | 82:0981b9ada820 | 313 | //xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r"); |
joel_ssc | 87:6d95f853dab3 | 314 | sprintf(buf, " in setup(): starting legController().loadleg() \n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 315 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 316 | have_legfile = legController().loadLeg(); // this should be 1 if the legfile reader has found 1 or more legs |
joel_ssc | 87:6d95f853dab3 | 317 | |
joel_ssc | 87:6d95f853dab3 | 318 | current_state = legController().legStructLoaded[0].state; |
joel_ssc | 88:1813f583cee9 | 319 | begin_state = current_state; |
joel_ssc | 87:6d95f853dab3 | 320 | sprintf(buf, "in setup(): have_legfile = %d current_state = %d (sit_idle= 0 or 1)\n", have_legfile, current_state); |
joel_ssc | 87:6d95f853dab3 | 321 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 322 | sprintf(buf, "in setup(): LEG_POSITION_DIVE = %d START_SWIM = %d \n", LEG_POSITION_DIVE, START_SWIM); |
joel_ssc | 87:6d95f853dab3 | 323 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 324 | |
joel_ssc | 87:6d95f853dab3 | 325 | sprintf(buf, "Time is a mystery, here is a message before the basic call\n"); |
joel_ssc | 86:ba3a118b0080 | 326 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 327 | int jj; |
joel_ssc | 86:ba3a118b0080 | 328 | long int kk; |
joel_ssc | 86:ba3a118b0080 | 329 | time_t secval; |
joel_ssc | 102:0f430de62447 | 330 | xbee().printf("legcontroller read and Time line 323\n\r"); |
joel_ssc | 86:ba3a118b0080 | 331 | sprintf(buf, "sizeof int=%d size of long int = %d size of time_t = %d\n", (sizeof jj), (sizeof kk), (sizeof secval)); |
joel_ssc | 86:ba3a118b0080 | 332 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 333 | |
joel_ssc | 86:ba3a118b0080 | 334 | secval = mbedLogger().getSystemTime(); |
joel_ssc | 86:ba3a118b0080 | 335 | sprintf(buf, "Time as a basic string = %s\n", ctime(&secval)); |
joel_ssc | 86:ba3a118b0080 | 336 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 337 | |
joel_ssc | 86:ba3a118b0080 | 338 | sprintf(buf, "Time is still amystery, here is a message after the basic call\n"); |
joel_ssc | 82:0981b9ada820 | 339 | mbedLogger().appendDiagFile(buf,0); |
tnhnrl | 32:f2f8ae34aadc | 340 | |
joel_ssc | 82:0981b9ada820 | 341 | //set time of logger (to current or close-to-current time) now set earlier at line 149 |
joel_ssc | 82:0981b9ada820 | 342 | // mbedLogger().setLogTime(); |
tnhnrl | 65:2ac186553959 | 343 | //sdLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 344 | |
tnhnrl | 47:fb3c7929d3f3 | 345 | //create log files if not present on file system |
tnhnrl | 47:fb3c7929d3f3 | 346 | mbedLogger().initializeLogFile(); |
joel_ssc | 82:0981b9ada820 | 347 | |
joel_ssc | 102:0f430de62447 | 348 | mbedLogger().appendLogFile(current_state, 2); //write the idle state, then close |
joel_ssc | 82:0981b9ada820 | 349 | //sdLogger().appendLogFile(current_state, 1); //write the idle state, then close |
joel_ssc | 82:0981b9ada820 | 350 | |
joel_ssc | 82:0981b9ada820 | 351 | mbedLogger().appendLogFile(current_state, 0); //close log file added jcw nov 9 2018 for test |
joel_ssc | 82:0981b9ada820 | 352 | //sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 80:4e5d306d695b | 353 | //sdLogger().initializeLogFile(); // works 10/23/18 |
tnhnrl | 65:2ac186553959 | 354 | |
tnhnrl | 68:8f549749b8ce | 355 | setup_complete = true; |
tnhnrl | 65:2ac186553959 | 356 | } |
tnhnrl | 58:94b7fd55185e | 357 | |
joel_ssc | 84:eccd8e837134 | 358 | void cycle_logfiles(int logversion, int diagversion) { |
joel_ssc | 84:eccd8e837134 | 359 | //int logversion; |
joel_ssc | 84:eccd8e837134 | 360 | //int diagversion; |
joel_ssc | 84:eccd8e837134 | 361 | char bufx[256]; |
joel_ssc | 84:eccd8e837134 | 362 | 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 | 363 | mbedLogger().appendDiagFile(bufx,0); |
joel_ssc | 84:eccd8e837134 | 364 | mbedLogger().appendLogFile(current_state, 0); //both files are now closed |
joel_ssc | 84:eccd8e837134 | 365 | //use the present values and increment |
joel_ssc | 84:eccd8e837134 | 366 | //logversion = configFileIO().logFilesStruct.logversion + 1; |
joel_ssc | 84:eccd8e837134 | 367 | //diagversion = configFileIO().logFilesStruct.diagversion + 1; |
joel_ssc | 84:eccd8e837134 | 368 | configFileIO().saveLogVersData(logversion+1, diagversion+1); // updates the file logvers.txt |
joel_ssc | 84:eccd8e837134 | 369 | configFileIO().load_LogVers_config(0); // now read them back into the structure |
joel_ssc | 84:eccd8e837134 | 370 | mbedLogger().initializeDiagFile(0); //don't print before initializing |
joel_ssc | 84:eccd8e837134 | 371 | |
joel_ssc | 84:eccd8e837134 | 372 | |
joel_ssc | 84:eccd8e837134 | 373 | mbedLogger().initializeLogFile(); |
joel_ssc | 84:eccd8e837134 | 374 | mbedLogger().initializeDiagFile(1); |
joel_ssc | 84:eccd8e837134 | 375 | |
joel_ssc | 84:eccd8e837134 | 376 | } |
joel_ssc | 84:eccd8e837134 | 377 | |
tnhnrl | 68:8f549749b8ce | 378 | /*************************** v1.8 **************************/ |
tnhnrl | 68:8f549749b8ce | 379 | |
tnhnrl | 73:f6f378311c8d | 380 | int main() { |
tnhnrl | 73:f6f378311c8d | 381 | setup(); //setup electronics/hardware |
joel_ssc | 82:0981b9ada820 | 382 | // on landing, check orientation, if upside down, fix that first |
joel_ssc | 88:1813f583cee9 | 383 | // systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
joel_ssc | 86:ba3a118b0080 | 384 | led2()=1; led4()=0; |
tnhnrl | 65:2ac186553959 | 385 | unsigned int tNow = 0; |
joel_ssc | 82:0981b9ada820 | 386 | int vernum=0; |
joel_ssc | 82:0981b9ada820 | 387 | int diagnum=0; |
joel_ssc | 82:0981b9ada820 | 388 | char buf[256]; |
tnhnrl | 75:92e79d23d29a | 389 | xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r"); |
joel_ssc | 87:6d95f853dab3 | 390 | sprintf(buf, "\n\n\r 2019-may-07 FSG PCB XBee line315 in main (setup complete) \n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 391 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 392 | int fn_timeout = 240; // need to get this into config file |
joel_ssc | 88:1813f583cee9 | 393 | int save_timeout = 300; |
joel_ssc | 87:6d95f853dab3 | 394 | |
joel_ssc | 87:6d95f853dab3 | 395 | |
joel_ssc | 84:eccd8e837134 | 396 | //tNow=5; sprintf(buf, "log file config values logfile= %s diag file= %s\n", configFileIO().logFilesStruct.logFileName, |
joel_ssc | 84:eccd8e837134 | 397 | // configFileIO().logFilesStruct.diagFileName); tNow=0; |
joel_ssc | 87:6d95f853dab3 | 398 | // mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 82:0981b9ada820 | 399 | vernum = configFileIO().logFilesStruct.logversion; |
joel_ssc | 82:0981b9ada820 | 400 | diagnum = configFileIO().logFilesStruct.diagversion; |
joel_ssc | 82:0981b9ada820 | 401 | sprintf(buf, "translated values LOG FILE VERSION number (vernum)=%d diag file version number(diagnum) = %d\n", vernum, diagnum); |
joel_ssc | 82:0981b9ada820 | 402 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 82:0981b9ada820 | 403 | sprintf(buf, "logfiles_struct values - direct LOG FILE VERSION ().logversion=%d diag file version().diagversion = %d\n", |
joel_ssc | 82:0981b9ada820 | 404 | configFileIO().logFilesStruct.logversion, configFileIO().logFilesStruct.diagversion); |
joel_ssc | 82:0981b9ada820 | 405 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 406 | //sprintf(buf, "try another message after closing file up and then will exit\n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 407 | //mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 408 | |
joel_ssc | 84:eccd8e837134 | 409 | |
joel_ssc | 84:eccd8e837134 | 410 | // increment the log file names once |
joel_ssc | 84:eccd8e837134 | 411 | //cycle_logfiles(vernum,diagnum); |
joel_ssc | 84:eccd8e837134 | 412 | //sprintf(buf, "This message should be in a new diag file\n\n\r"); |
joel_ssc | 84:eccd8e837134 | 413 | //mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 414 | // mbedLogger().appendLogFile(current_state, 1); |
joel_ssc | 82:0981b9ada820 | 415 | //wait(5); |
joel_ssc | 82:0981b9ada820 | 416 | //exit(0); |
tnhnrl | 56:48a8a5a65b82 | 417 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
joel_ssc | 82:0981b9ada820 | 418 | int keeprunning = 1; |
tnhnrl | 65:2ac186553959 | 419 | |
joel_ssc | 82:0981b9ada820 | 420 | if(have_legfile) { |
joel_ssc | 82:0981b9ada820 | 421 | //install the leg variables in a structure, and set the state there. |
joel_ssc | 82:0981b9ada820 | 422 | stateMachine().getLegParams(); //should set up everything with proper LEG_POSITION_DIVE state |
joel_ssc | 87:6d95f853dab3 | 423 | sprintf(buf, "have_legfile succeeded main: line 318 \n\r"); |
joel_ssc | 86:ba3a118b0080 | 424 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 82:0981b9ada820 | 425 | } |
joel_ssc | 87:6d95f853dab3 | 426 | |
joel_ssc | 86:ba3a118b0080 | 427 | if(!have_legfile) { |
joel_ssc | 86:ba3a118b0080 | 428 | sprintf(buf, "have_legfile failed! .... will exit\n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 429 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 430 | keeprunning = 0; |
joel_ssc | 85:dd8176285b6e | 431 | } |
joel_ssc | 98:81db9332212d | 432 | // another digitalIn option is is_connected() how can one get both 0 and 1 here? |
joel_ssc | 87:6d95f853dab3 | 433 | if(motorDisconnect().read() == 1) { |
joel_ssc | 87:6d95f853dab3 | 434 | sprintf(buf, "motorDisconnect.read() = 1 surprising!\n\n\r"); |
joel_ssc | 87:6d95f853dab3 | 435 | mbedLogger().appendDiagFile(buf,3); led1()=1; led4()=1; |
joel_ssc | 87:6d95f853dab3 | 436 | } |
joel_ssc | 87:6d95f853dab3 | 437 | if(motorDisconnect().read() == 0) { |
joel_ssc | 87:6d95f853dab3 | 438 | sprintf(buf, "motorDisconnect.read() = 0 I expected that\n\n\r"); |
joel_ssc | 87:6d95f853dab3 | 439 | mbedLogger().appendDiagFile(buf,3); led1()=1; led3()=1; |
joel_ssc | 87:6d95f853dab3 | 440 | } |
joel_ssc | 86:ba3a118b0080 | 441 | |
joel_ssc | 84:eccd8e837134 | 442 | while (keeprunning) { |
joel_ssc | 84:eccd8e837134 | 443 | if( read_ticker() ) { // read_ticker runs at the speed of 10 kHz (adc timing) |
tnhnrl | 65:2ac186553959 | 444 | ++tNow; |
mkelly10 | 51:c5c40272ecc3 | 445 | |
tnhnrl | 81:7ff2c6467892 | 446 | //Note to self: Retest data transmission code. |
tnhnrl | 81:7ff2c6467892 | 447 | //This is currently running at 0.1 second intervals (10 hz) and was working well for data transmission |
tnhnrl | 74:d281aaef9766 | 448 | if (current_state == TX_MBED_LOG or current_state == RX_SEQUENCE) { |
tnhnrl | 73:f6f378311c8d | 449 | if ( (tNow % 100) == 0 ) { // 0.01 second intervals (100 Hz) |
tnhnrl | 66:0f20870117b7 | 450 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 451 | FSM(); |
tnhnrl | 66:0f20870117b7 | 452 | } |
joel_ssc | 82:0981b9ada820 | 453 | } // end if(currentstate..) |
joel_ssc | 84:eccd8e837134 | 454 | |
tnhnrl | 67:c86a4b464682 | 455 | //NOT TRANSMITTING DATA, NORMAL OPERATIONS |
joel_ssc | 84:eccd8e837134 | 456 | else { // **88** |
joel_ssc | 84:eccd8e837134 | 457 | //FSM |
joel_ssc | 97:2b4f78a54227 | 458 | setval = configFileIO().neutralStruct.setval; |
joel_ssc | 88:1813f583cee9 | 459 | // preamble to running the FSM |
joel_ssc | 97:2b4f78a54227 | 460 | if (setval == 0 && (begin_state != FLYING_IDLE) && ( current_state == LEG_POSITION_DIVE) && (fabs(imu().getRoll()) < 30)) { |
joel_ssc | 95:1aac4086928a | 461 | // begin_state is first state found in setup() |
joel_ssc | 95:1aac4086928a | 462 | //These tests mean: - second start,plus already upright |
joel_ssc | 88:1813f583cee9 | 463 | // from setup() current_state = legController().legStructLoaded[0].state; either start_swim or leg_pos_dive |
joel_ssc | 88:1813f583cee9 | 464 | save_state = current_state; |
joel_ssc | 88:1813f583cee9 | 465 | neutral_via_leg =1; |
joel_ssc | 88:1813f583cee9 | 466 | save_timeout = legController().legStructLoaded[0].timeout; |
joel_ssc | 102:0f430de62447 | 467 | fn_timeout = configFileIO().swimConstants.fn_timeout; |
joel_ssc | 97:2b4f78a54227 | 468 | current_state = START_SWIM; // does runStatemachine know about this value? |
joel_ssc | 97:2b4f78a54227 | 469 | sprintf(buf, "in main(): setval==0, but upright, so pre-empt leg_pos_dive to start_swim\n set state directly start_swim\n"); |
joel_ssc | 88:1813f583cee9 | 470 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 97:2b4f78a54227 | 471 | stateMachine().setstate_frommain(START_SWIM, fn_timeout); // this will change state inside runstatemachine, change state val inthe right structure, first |
joel_ssc | 88:1813f583cee9 | 472 | } |
joel_ssc | 95:1aac4086928a | 473 | //setval is now updated in log_data() above, line 45 or so |
joel_ssc | 88:1813f583cee9 | 474 | if ( (neutral_via_leg == 1) && (setval == 1) && current_state == RISE) { // usual endstate of FIND_NEUTRAL new state for after successful find neutral |
joel_ssc | 88:1813f583cee9 | 475 | current_state = save_state; //setval reset at line 366 when find_neutral succeeds |
joel_ssc | 88:1813f583cee9 | 476 | stateMachine().setstate_frommain(current_state, save_timeout); //back to what you were doing |
joel_ssc | 88:1813f583cee9 | 477 | sprintf(buf, "in main(): presumably after find_neutral exits to RISE, but successful in setting setval\n"); |
joel_ssc | 88:1813f583cee9 | 478 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 88:1813f583cee9 | 479 | neutral_via_leg = 0; |
joel_ssc | 88:1813f583cee9 | 480 | } |
joel_ssc | 95:1aac4086928a | 481 | if ( (neutral_via_leg == 1) && (setval != 1) && current_state == RISE) { // failed endstate of FIND_NEUTRAL new state |
joel_ssc | 88:1813f583cee9 | 482 | |
joel_ssc | 95:1aac4086928a | 483 | sprintf(buf, "in main(): line 409 after find_neutral fail and exits to RISE, UNSUCCESSFULLY\n"); |
joel_ssc | 88:1813f583cee9 | 484 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 88:1813f583cee9 | 485 | neutral_via_leg = 0; |
joel_ssc | 88:1813f583cee9 | 486 | } |
joel_ssc | 88:1813f583cee9 | 487 | // end preamble |
tnhnrl | 68:8f549749b8ce | 488 | if ( (tNow % 100) == 0 ) { // 0.1 second intervals |
tnhnrl | 66:0f20870117b7 | 489 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 490 | FSM(); |
joel_ssc | 84:eccd8e837134 | 491 | |
tnhnrl | 73:f6f378311c8d | 492 | //get commands and update GUI |
tnhnrl | 73:f6f378311c8d | 493 | gui().getCommandFSM(); |
joel_ssc | 84:eccd8e837134 | 494 | } |
joel_ssc | 84:eccd8e837134 | 495 | //LOGGING |
joel_ssc | 84:eccd8e837134 | 496 | if ( (tNow % 1000) == 0 ) { // 1.0 second intervals |
joel_ssc | 84:eccd8e837134 | 497 | log_loop = true; |
joel_ssc | 102:0f430de62447 | 498 | if((tNow % 20000) ==0) {log_function(2);} // long data string every 20 seconds |
joel_ssc | 102:0f430de62447 | 499 | else {log_function(1); } //otherwise short |
joel_ssc | 102:0f430de62447 | 500 | // 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 | 102:0f430de62447 | 501 | // mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 502 | led3()=0; led2()=0; led1()=0; led4()=0; |
joel_ssc | 86:ba3a118b0080 | 503 | } |
joel_ssc | 87:6d95f853dab3 | 504 | if ( (tNow % 2000) == 0 ) { // 2 second intervals |
joel_ssc | 86:ba3a118b0080 | 505 | |
joel_ssc | 87:6d95f853dab3 | 506 | led3()=1; |
joel_ssc | 92:52a91656458a | 507 | sprintf(buf, "main loop: current_state=%d tNow =%d imu.heading=%f headingLoop.heading= %f imu.roll = %f \n\n\r", |
joel_ssc | 92:52a91656458a | 508 | current_state, tNow,imu().getHeading(), headingLoop().getPosition(), imu().getRoll()); |
joel_ssc | 87:6d95f853dab3 | 509 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 510 | } |
joel_ssc | 87:6d95f853dab3 | 511 | if ((tNow % 3000) == 0) { |
joel_ssc | 87:6d95f853dab3 | 512 | led2()=1; |
joel_ssc | 87:6d95f853dab3 | 513 | } |
joel_ssc | 84:eccd8e837134 | 514 | //update the log and diagnostics files |
joel_ssc | 87:6d95f853dab3 | 515 | if ( (tNow % 31000) == 0 ) { // 1.0 hour intervals= 3600*1000 check for testing via 31 second intervals |
joel_ssc | 85:dd8176285b6e | 516 | sprintf(buf, "hit cycle seconds replace_logfiles interval in main loop tNow =%d \n\n\r", tNow); |
joel_ssc | 85:dd8176285b6e | 517 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 518 | vernum = configFileIO().logFilesStruct.logversion; |
joel_ssc | 84:eccd8e837134 | 519 | diagnum = configFileIO().logFilesStruct.diagversion; |
joel_ssc | 85:dd8176285b6e | 520 | 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 | 86:ba3a118b0080 | 521 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 522 | cycle_logfiles(vernum,diagnum); |
joel_ssc | 85:dd8176285b6e | 523 | 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 | 524 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 525 | // close the log and diagnostics files |
joel_ssc | 84:eccd8e837134 | 526 | // increment the version numbers for each |
joel_ssc | 84:eccd8e837134 | 527 | // save the new version numbers |
joel_ssc | 84:eccd8e837134 | 528 | // initialize new log and diagnostics files |
tnhnrl | 66:0f20870117b7 | 529 | log_loop = true; |
joel_ssc | 102:0f430de62447 | 530 | log_function(2); |
joel_ssc | 87:6d95f853dab3 | 531 | led3()=1; led1()=1; |
tnhnrl | 66:0f20870117b7 | 532 | } |
joel_ssc | 84:eccd8e837134 | 533 | } // end else { at **88** |
joel_ssc | 84:eccd8e837134 | 534 | if(current_state == FB_EXIT) { |
joel_ssc | 84:eccd8e837134 | 535 | log_loop=true; |
joel_ssc | 102:0f430de62447 | 536 | log_function(2); |
joel_ssc | 92:52a91656458a | 537 | led2()=1; |
joel_ssc | 92:52a91656458a | 538 | led4()=1; |
joel_ssc | 84:eccd8e837134 | 539 | keeprunning=0; // and this will force exit to the main while() loop. |
joel_ssc | 85:dd8176285b6e | 540 | // 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 | 541 | sprintf(buf, "INSIDE main loop: BUT now called to exit out of it via FB_EXIT\n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 542 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 543 | // and put out the end_leg message file |
joel_ssc | 102:0f430de62447 | 544 | configFileIO().writeEndleg_reason(); |
joel_ssc | 84:eccd8e837134 | 545 | } |
joel_ssc | 92:52a91656458a | 546 | if(tNow == 90000) { // don't wait forever -remove this for real operations!! |
joel_ssc | 102:0f430de62447 | 547 | // if(tNow == 1000 * configFileIO().swimConstants.max_mbed_runtime_hr * 3600) { |
joel_ssc | 92:52a91656458a | 548 | keeprunning=0; |
joel_ssc | 102:0f430de62447 | 549 | |
joel_ssc | 92:52a91656458a | 550 | sprintf(buf, "INSIDE main loop: Triggered FINAL timeout at 90 seconds\n\n\r"); |
joel_ssc | 92:52a91656458a | 551 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 552 | sprintf(buf, "AT FINAL TIMEOUT: before changing endleg-reason to 8: endleg_reason= %d\n\n\r", configFileIO().swimConstants.endleg_reason); |
joel_ssc | 102:0f430de62447 | 553 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 102:0f430de62447 | 554 | configFileIO().swimConstants.endleg_reason = 8; // timed out on mbed_max_runtime_hr |
joel_ssc | 102:0f430de62447 | 555 | configFileIO().writeEndleg_reason(); |
joel_ssc | 92:52a91656458a | 556 | } |
joel_ssc | 82:0981b9ada820 | 557 | } // end if(read_ticker) { |
joel_ssc | 82:0981b9ada820 | 558 | } // end while(keeprunning) |
joel_ssc | 87:6d95f853dab3 | 559 | |
joel_ssc | 102:0f430de62447 | 560 | mbedLogger().appendLogFile(current_state, 2); |
joel_ssc | 87:6d95f853dab3 | 561 | sprintf(buf, "outside of main loop: exiting out of the leg loop via FB_EXIT tNow= %d \n\n\r", tNow); |
joel_ssc | 86:ba3a118b0080 | 562 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 563 | led1()=1; led2() =1; led3()=1 ;led4() = 1; |
joel_ssc | 86:ba3a118b0080 | 564 | wait(5); |
joel_ssc | 86:ba3a118b0080 | 565 | |
joel_ssc | 102:0f430de62447 | 566 | mbedLogger().appendLogFile(current_state, 2); |
joel_ssc | 82:0981b9ada820 | 567 | mbedLogger().appendLogFile(current_state, 0); |
joel_ssc | 86:ba3a118b0080 | 568 | sprintf(buf, "wait 5 more seconds? out of the leg loop via FB_EXIT\n\n\r"); |
joel_ssc | 82:0981b9ada820 | 569 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 86:ba3a118b0080 | 570 | led1()=0; led2()=0; led3()= 0 ;led4()=0; |
joel_ssc | 88:1813f583cee9 | 571 | configFileIO().save_FinalTime(); // saves last time before closing shop |
joel_ssc | 104:426224a55f5f | 572 | |
joel_ssc | 104:426224a55f5f | 573 | reset_Pi(); |
joel_ssc | 104:426224a55f5f | 574 | |
joel_ssc | 82:0981b9ada820 | 575 | exit(0); |
joel_ssc | 82:0981b9ada820 | 576 | } // end main() |