update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp@87:6d95f853dab3, 2019-05-08 (annotated)
- Committer:
- joel_ssc
- Date:
- Wed May 08 13:24:04 2019 +0000
- Revision:
- 87:6d95f853dab3
- Parent:
- 86:ba3a118b0080
- Child:
- 88:1813f583cee9
caught up all but main.cpp to 18apr version
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 | 87:6d95f853dab3 | 25 | static int have_legfile = 0; |
joel_ssc | 87:6d95f853dab3 | 26 | |
joel_ssc | 87:6d95f853dab3 | 27 | static int save_state = 0; // state to hold while find_neutral runs ( if necessary) |
joel_ssc | 87:6d95f853dab3 | 28 | int begin_state = 0; |
joel_ssc | 87:6d95f853dab3 | 29 | static int neutral_via_leg = 0; // flag for entry of find_neutral via leg_pos and setval==0 |
joel_ssc | 87:6d95f853dab3 | 30 | static int setval = -1; // has neutral been set, found in neutral.txt |
joel_ssc | 86:ba3a118b0080 | 31 | |
tnhnrl | 65:2ac186553959 | 32 | static bool file_opened = false; |
tnhnrl | 65:2ac186553959 | 33 | |
tnhnrl | 73:f6f378311c8d | 34 | void FSM() { // FSM loop runs at 10 hz |
tnhnrl | 65:2ac186553959 | 35 | if(fsm_loop) { |
tnhnrl | 73:f6f378311c8d | 36 | // led one removed |
tnhnrl | 65:2ac186553959 | 37 | fsm_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 38 | current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 65:2ac186553959 | 39 | } |
tnhnrl | 65:2ac186553959 | 40 | } |
tnhnrl | 65:2ac186553959 | 41 | |
tnhnrl | 65:2ac186553959 | 42 | void log_function() { |
tnhnrl | 65:2ac186553959 | 43 | // log loop runs at 1 hz |
joel_ssc | 82:0981b9ada820 | 44 | if (log_loop) { //start logloop8 |
tnhnrl | 65:2ac186553959 | 45 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 65:2ac186553959 | 46 | |
joel_ssc | 82:0981b9ada820 | 47 | if(current_state != 0) { //first if - not in sit_idle/keyboard state |
tnhnrl | 65:2ac186553959 | 48 | if (!file_opened) { //if the log file is not open, open it |
joel_ssc | 82:0981b9ada820 | 49 | mbedLogger().appendLogFile(current_state, 1); //open MBED file once |
tnhnrl | 80:4e5d306d695b | 50 | //sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 65:2ac186553959 | 51 | |
tnhnrl | 65:2ac186553959 | 52 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 56:48a8a5a65b82 | 53 | |
joel_ssc | 82:0981b9ada820 | 54 | xbee().printf(">>>>>>>> Recording. Log file re opened. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 55 | } |
joel_ssc | 82:0981b9ada820 | 56 | else { |
tnhnrl | 65:2ac186553959 | 57 | |
joel_ssc | 82:0981b9ada820 | 58 | //just record to the Mbed file system |
tnhnrl | 65:2ac186553959 | 59 | |
joel_ssc | 82:0981b9ada820 | 60 | mbedLogger().appendLogFile(current_state, 1); //writing data |
joel_ssc | 82:0981b9ada820 | 61 | //sdLogger().appendLogFile(current_state, 1); //writing data |
joel_ssc | 82:0981b9ada820 | 62 | } |
joel_ssc | 82:0981b9ada820 | 63 | } //end first if |
tnhnrl | 65:2ac186553959 | 64 | |
tnhnrl | 65:2ac186553959 | 65 | //when the current FSM state is zero (SIT_IDLE), close the file |
joel_ssc | 82:0981b9ada820 | 66 | else { //start first else for current_state ==0 sit idle/keyboard |
tnhnrl | 65:2ac186553959 | 67 | //this can only happen once |
tnhnrl | 65:2ac186553959 | 68 | if (file_opened) { |
tnhnrl | 67:c86a4b464682 | 69 | //WRITE ONCE |
tnhnrl | 67:c86a4b464682 | 70 | mbedLogger().appendLogFile(current_state, 1); //write the idle state, then close |
tnhnrl | 80:4e5d306d695b | 71 | //sdLogger().appendLogFile(current_state, 1); //write the idle state, then close |
tnhnrl | 67:c86a4b464682 | 72 | |
tnhnrl | 65:2ac186553959 | 73 | mbedLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 80:4e5d306d695b | 74 | //sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 65:2ac186553959 | 75 | |
tnhnrl | 65:2ac186553959 | 76 | file_opened = false; |
tnhnrl | 65:2ac186553959 | 77 | |
tnhnrl | 74:d281aaef9766 | 78 | xbee().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 79 | } |
joel_ssc | 82:0981b9ada820 | 80 | } //end first else |
tnhnrl | 74:d281aaef9766 | 81 | } //END OF LOG LOOP8 |
tnhnrl | 65:2ac186553959 | 82 | |
tnhnrl | 65:2ac186553959 | 83 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 84 | } |
tnhnrl | 56:48a8a5a65b82 | 85 | |
tnhnrl | 72:250b2665755c | 86 | //single system timer to run hardware/electronics timing |
tnhnrl | 65:2ac186553959 | 87 | static void system_timer(void) { |
tnhnrl | 65:2ac186553959 | 88 | bTick = 1; |
tnhnrl | 65:2ac186553959 | 89 | |
tnhnrl | 56:48a8a5a65b82 | 90 | timer_counter++; |
tnhnrl | 56:48a8a5a65b82 | 91 | |
tnhnrl | 56:48a8a5a65b82 | 92 | //only start these updates when everything is properly setup (through setup function) |
tnhnrl | 56:48a8a5a65b82 | 93 | if (setup_complete) { |
tnhnrl | 74:d281aaef9766 | 94 | if ( (timer_counter % 5) == 0) { //this runs at 0.005 second intervals (200 Hz) |
tnhnrl | 65:2ac186553959 | 95 | 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 | 96 | } |
tnhnrl | 65:2ac186553959 | 97 | |
tnhnrl | 65:2ac186553959 | 98 | if ( (timer_counter % 10) == 0) { |
tnhnrl | 65:2ac186553959 | 99 | bce().update(); //update() inside LinearActuator class (running at 0.01 second intervals) |
tnhnrl | 65:2ac186553959 | 100 | batt().update(); |
tnhnrl | 65:2ac186553959 | 101 | } |
tnhnrl | 65:2ac186553959 | 102 | |
tnhnrl | 65:2ac186553959 | 103 | if ( (timer_counter % 20) == 0 ) { // 0.02 second intervals |
tnhnrl | 74:d281aaef9766 | 104 | rudder().runServo(); |
tnhnrl | 65:2ac186553959 | 105 | } |
tnhnrl | 65:2ac186553959 | 106 | |
tnhnrl | 65:2ac186553959 | 107 | if ( (timer_counter % 50) == 0 ) { // 0.05 second intervals |
tnhnrl | 67:c86a4b464682 | 108 | imu().runIMU(); |
tnhnrl | 65:2ac186553959 | 109 | } |
tnhnrl | 73:f6f378311c8d | 110 | |
tnhnrl | 65:2ac186553959 | 111 | if ( (timer_counter % 100) == 0) { // 100,000 microseconds = 0.1 second intervals |
tnhnrl | 65:2ac186553959 | 112 | depthLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 113 | pitchLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 114 | headingLoop().runOuterLoop(); |
joel_ssc | 87:6d95f853dab3 | 115 | altimLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 116 | } |
tnhnrl | 73:f6f378311c8d | 117 | |
tnhnrl | 73:f6f378311c8d | 118 | if ( (timer_counter % 1000) == 0) { // update at 1.0 second intervals |
tnhnrl | 73:f6f378311c8d | 119 | //gui().updateGUI(); |
tnhnrl | 73:f6f378311c8d | 120 | } |
tnhnrl | 74:d281aaef9766 | 121 | |
tnhnrl | 74:d281aaef9766 | 122 | if ( (timer_counter % 30000) == 0) { // update at 30.0 second intervals |
tnhnrl | 74:d281aaef9766 | 123 | //pc().printf("XB!\n"); |
tnhnrl | 74:d281aaef9766 | 124 | } |
tnhnrl | 56:48a8a5a65b82 | 125 | } |
tnhnrl | 56:48a8a5a65b82 | 126 | } |
tnhnrl | 56:48a8a5a65b82 | 127 | |
danstrider | 10:085ab7328054 | 128 | void setup() { |
joel_ssc | 82:0981b9ada820 | 129 | // xbee().baud(115200); // comment out so default is 9600 for USB communications |
tnhnrl | 81:7ff2c6467892 | 130 | xbee().printf("\n\n\r 2018-11-08 FSG PCB XBee\n\n\r"); |
tnhnrl | 74:d281aaef9766 | 131 | |
tnhnrl | 74:d281aaef9766 | 132 | //pc().baud(57600); |
tnhnrl | 65:2ac186553959 | 133 | |
danstrider | 10:085ab7328054 | 134 | // start up the system timer |
tnhnrl | 65:2ac186553959 | 135 | //systemTimer().start(); |
tnhnrl | 20:8987a9ae2bc7 | 136 | |
danstrider | 10:085ab7328054 | 137 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
tnhnrl | 65:2ac186553959 | 138 | adc().initialize(); |
tnhnrl | 67:c86a4b464682 | 139 | //one central interrupt is updating the ADC (not using the start function) |
tnhnrl | 65:2ac186553959 | 140 | |
tnhnrl | 65:2ac186553959 | 141 | // setup and run the rudder(servo) pwm signal (start the ticker) |
tnhnrl | 65:2ac186553959 | 142 | //rudder().init(); |
tnhnrl | 74:d281aaef9766 | 143 | xbee().printf("Rudder servo initialized!\n\r"); |
danstrider | 10:085ab7328054 | 144 | |
danstrider | 10:085ab7328054 | 145 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 146 | imu().initialize(); |
tnhnrl | 65:2ac186553959 | 147 | //imu().start(); |
danstrider | 10:085ab7328054 | 148 | |
tnhnrl | 48:20e681885161 | 149 | // construct the MBED local file system |
danstrider | 10:085ab7328054 | 150 | local(); |
tnhnrl | 48:20e681885161 | 151 | |
tnhnrl | 79:3688c3a0d7f4 | 152 | // construct the SD card file system TEST 10/23/18 |
tnhnrl | 80:4e5d306d695b | 153 | //sd_card(); |
joel_ssc | 82:0981b9ada820 | 154 | // mbedLogger().initializeDiagFile(); |
danstrider | 10:085ab7328054 | 155 | // load config data from files |
joel_ssc | 86:ba3a118b0080 | 156 | configFileIO().load_StartTime(); |
joel_ssc | 86:ba3a118b0080 | 157 | // mbedLogger().setLogTime(); replaced by call in configfileIO |
joel_ssc | 82:0981b9ada820 | 158 | int print_diag = 0; // do not print to diag file before it is named |
joel_ssc | 82:0981b9ada820 | 159 | configFileIO().load_LogVers_config(print_diag); // version numbers of the log and diag files from "logvers.txt" |
joel_ssc | 82:0981b9ada820 | 160 | mbedLogger().initializeDiagFile(print_diag); |
joel_ssc | 82:0981b9ada820 | 161 | print_diag=1; |
joel_ssc | 82:0981b9ada820 | 162 | configFileIO().load_LogVers_config(print_diag); // Cnow print info to diag file |
joel_ssc | 82:0981b9ada820 | 163 | mbedLogger().initializeDiagFile(print_diag); |
joel_ssc | 87:6d95f853dab3 | 164 | |
tnhnrl | 65:2ac186553959 | 165 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 65:2ac186553959 | 166 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 65:2ac186553959 | 167 | |
tnhnrl | 65:2ac186553959 | 168 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 169 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 170 | |
tnhnrl | 65:2ac186553959 | 171 | configFileIO().load_RUDDER_config(); // load the rudder servo inner loop parameters from the file "SERVO.txt" |
tnhnrl | 65:2ac186553959 | 172 | configFileIO().load_HEADING_config(); // load the rudder servo outer loop HEADING control parameters from the file "HEADING.txt" (contains neutral position) |
tnhnrl | 43:891baf306e0a | 173 | |
danstrider | 10:085ab7328054 | 174 | // set up the linear actuators. adc has to be running first. |
tnhnrl | 65:2ac186553959 | 175 | bce().setPIDHighLimit(bce().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 176 | bce().init(); |
tnhnrl | 65:2ac186553959 | 177 | //bce().start(); //removed start, it's handled by the interrupt |
tnhnrl | 67:c86a4b464682 | 178 | bce().runLinearActuator(); |
mkelly10 | 12:a0519d11d2b6 | 179 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 180 | |
tnhnrl | 65:2ac186553959 | 181 | batt().setPIDHighLimit(batt().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 182 | batt().init(); |
tnhnrl | 65:2ac186553959 | 183 | batt().runLinearActuator(); // _init = true; |
tnhnrl | 65:2ac186553959 | 184 | //batt().start();//removed start, it's handled by the interrupt |
mkelly10 | 12:a0519d11d2b6 | 185 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 186 | |
tnhnrl | 65:2ac186553959 | 187 | // set up the depth, pitch, and rudder outer loop controllers |
danstrider | 10:085ab7328054 | 188 | depthLoop().init(); |
tnhnrl | 65:2ac186553959 | 189 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 190 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 191 | |
danstrider | 10:085ab7328054 | 192 | pitchLoop().init(); |
tnhnrl | 65:2ac186553959 | 193 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 194 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
joel_ssc | 87:6d95f853dab3 | 195 | char buf[256]; |
joel_ssc | 87:6d95f853dab3 | 196 | sprintf(buf, "INIT of Loop operators headingLoop().init() is coming\n"); |
joel_ssc | 87:6d95f853dab3 | 197 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 198 | headingLoop().init(); |
joel_ssc | 87:6d95f853dab3 | 199 | altimLoop().init(); |
joel_ssc | 87:6d95f853dab3 | 200 | sprintf(buf, "AltimLOOP.init() succeeded! even with just default values - no starting file\n"); |
joel_ssc | 87:6d95f853dab3 | 201 | mbedLogger().appendDiagFile(buf,3); |
tnhnrl | 55:f4ec445c42fe | 202 | |
joel_ssc | 87:6d95f853dab3 | 203 | sprintf(buf, "in setup(): before load_setneutral_status setval = %d \n\r", setval); |
joel_ssc | 87:6d95f853dab3 | 204 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 205 | |
joel_ssc | 87:6d95f853dab3 | 206 | configFileIO().load_setneutral_status(); // "neutral.txt" has flag for whether neutral has been set, and neutral values |
joel_ssc | 87:6d95f853dab3 | 207 | sprintf(buf, "\n in setup(): load_setneutral_status succeeded: setval = %d \n\r", configFileIO().neutralStruct.setval); |
joel_ssc | 87:6d95f853dab3 | 208 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 209 | setval = configFileIO().neutralStruct.setval; |
joel_ssc | 87:6d95f853dab3 | 210 | sprintf(buf, "\n in setup(): after load_setneutral_status setval = %d \n\r", setval); |
joel_ssc | 87:6d95f853dab3 | 211 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 212 | |
tnhnrl | 65:2ac186553959 | 213 | //removed start, it's handled by the interrupt |
tnhnrl | 65:2ac186553959 | 214 | //headingLoop().setCommand(stateMachine().getHeadingCommand()); // FIX LATER |
tnhnrl | 65:2ac186553959 | 215 | //heading flag that adjust the PID error is set in the constructor |
tnhnrl | 65:2ac186553959 | 216 | |
tnhnrl | 65:2ac186553959 | 217 | //systemTicker.attach_us(&system_timer, 10000); // Interrupt timer running at 0.01 seconds (slower than original ADC time interval) |
tnhnrl | 65:2ac186553959 | 218 | |
tnhnrl | 65:2ac186553959 | 219 | |
tnhnrl | 20:8987a9ae2bc7 | 220 | |
tnhnrl | 20:8987a9ae2bc7 | 221 | // show that the PID gains are loading from the file |
joel_ssc | 82:0981b9ada820 | 222 | 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 | 223 | bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); |
joel_ssc | 82:0981b9ada820 | 224 | 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 | 225 | batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); |
joel_ssc | 82:0981b9ada820 | 226 | 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 | 227 | rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); |
joel_ssc | 82:0981b9ada820 | 228 | 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 | 229 | depthLoop().getControllerD(), depthLoop().getOutputOffset()); |
joel_ssc | 82:0981b9ada820 | 230 | 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 | 231 | pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); |
joel_ssc | 82:0981b9ada820 | 232 | 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 | 233 | headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(), headingLoop().getDeadband()); |
tnhnrl | 65:2ac186553959 | 234 | |
tnhnrl | 74:d281aaef9766 | 235 | xbee().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 236 | |
tnhnrl | 17:7c16b5671d0e | 237 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 238 | sequenceController().loadSequence(); |
joel_ssc | 87:6d95f853dab3 | 239 | |
joel_ssc | 82:0981b9ada820 | 240 | //xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r"); |
joel_ssc | 87:6d95f853dab3 | 241 | sprintf(buf, " in setup(): starting legController().loadleg() \n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 242 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 243 | have_legfile = legController().loadLeg(); // this should be 1 if the legfile reader has found 1 or more legs |
joel_ssc | 87:6d95f853dab3 | 244 | |
joel_ssc | 87:6d95f853dab3 | 245 | current_state = legController().legStructLoaded[0].state; |
joel_ssc | 87:6d95f853dab3 | 246 | sprintf(buf, "in setup(): have_legfile = %d current_state = %d (sit_idle= 0 or 1)\n", have_legfile, current_state); |
joel_ssc | 87:6d95f853dab3 | 247 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 248 | sprintf(buf, "in setup(): LEG_POSITION_DIVE = %d START_SWIM = %d \n", LEG_POSITION_DIVE, START_SWIM); |
joel_ssc | 87:6d95f853dab3 | 249 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 250 | |
joel_ssc | 87:6d95f853dab3 | 251 | sprintf(buf, "Time is a mystery, here is a message before the basic call\n"); |
joel_ssc | 86:ba3a118b0080 | 252 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 253 | int jj; |
joel_ssc | 86:ba3a118b0080 | 254 | long int kk; |
joel_ssc | 86:ba3a118b0080 | 255 | time_t secval; |
joel_ssc | 86:ba3a118b0080 | 256 | |
joel_ssc | 86:ba3a118b0080 | 257 | 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 | 258 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 259 | |
joel_ssc | 86:ba3a118b0080 | 260 | secval = mbedLogger().getSystemTime(); |
joel_ssc | 86:ba3a118b0080 | 261 | sprintf(buf, "Time as a basic string = %s\n", ctime(&secval)); |
joel_ssc | 86:ba3a118b0080 | 262 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 263 | |
joel_ssc | 86:ba3a118b0080 | 264 | sprintf(buf, "Time is still amystery, here is a message after the basic call\n"); |
joel_ssc | 82:0981b9ada820 | 265 | mbedLogger().appendDiagFile(buf,0); |
tnhnrl | 32:f2f8ae34aadc | 266 | |
joel_ssc | 82:0981b9ada820 | 267 | //set time of logger (to current or close-to-current time) now set earlier at line 149 |
joel_ssc | 82:0981b9ada820 | 268 | // mbedLogger().setLogTime(); |
tnhnrl | 65:2ac186553959 | 269 | //sdLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 270 | |
tnhnrl | 47:fb3c7929d3f3 | 271 | //create log files if not present on file system |
tnhnrl | 47:fb3c7929d3f3 | 272 | mbedLogger().initializeLogFile(); |
joel_ssc | 82:0981b9ada820 | 273 | |
joel_ssc | 82:0981b9ada820 | 274 | mbedLogger().appendLogFile(current_state, 1); //write the idle state, then close |
joel_ssc | 82:0981b9ada820 | 275 | //sdLogger().appendLogFile(current_state, 1); //write the idle state, then close |
joel_ssc | 82:0981b9ada820 | 276 | |
joel_ssc | 82:0981b9ada820 | 277 | mbedLogger().appendLogFile(current_state, 0); //close log file added jcw nov 9 2018 for test |
joel_ssc | 82:0981b9ada820 | 278 | //sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 80:4e5d306d695b | 279 | //sdLogger().initializeLogFile(); // works 10/23/18 |
tnhnrl | 65:2ac186553959 | 280 | |
tnhnrl | 68:8f549749b8ce | 281 | setup_complete = true; |
tnhnrl | 65:2ac186553959 | 282 | } |
tnhnrl | 58:94b7fd55185e | 283 | |
joel_ssc | 84:eccd8e837134 | 284 | void cycle_logfiles(int logversion, int diagversion) { |
joel_ssc | 84:eccd8e837134 | 285 | //int logversion; |
joel_ssc | 84:eccd8e837134 | 286 | //int diagversion; |
joel_ssc | 84:eccd8e837134 | 287 | char bufx[256]; |
joel_ssc | 84:eccd8e837134 | 288 | 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 | 289 | mbedLogger().appendDiagFile(bufx,0); |
joel_ssc | 84:eccd8e837134 | 290 | mbedLogger().appendLogFile(current_state, 0); //both files are now closed |
joel_ssc | 84:eccd8e837134 | 291 | //use the present values and increment |
joel_ssc | 84:eccd8e837134 | 292 | //logversion = configFileIO().logFilesStruct.logversion + 1; |
joel_ssc | 84:eccd8e837134 | 293 | //diagversion = configFileIO().logFilesStruct.diagversion + 1; |
joel_ssc | 84:eccd8e837134 | 294 | configFileIO().saveLogVersData(logversion+1, diagversion+1); // updates the file logvers.txt |
joel_ssc | 84:eccd8e837134 | 295 | configFileIO().load_LogVers_config(0); // now read them back into the structure |
joel_ssc | 84:eccd8e837134 | 296 | mbedLogger().initializeDiagFile(0); //don't print before initializing |
joel_ssc | 84:eccd8e837134 | 297 | |
joel_ssc | 84:eccd8e837134 | 298 | |
joel_ssc | 84:eccd8e837134 | 299 | mbedLogger().initializeLogFile(); |
joel_ssc | 84:eccd8e837134 | 300 | mbedLogger().initializeDiagFile(1); |
joel_ssc | 84:eccd8e837134 | 301 | |
joel_ssc | 84:eccd8e837134 | 302 | } |
joel_ssc | 84:eccd8e837134 | 303 | |
tnhnrl | 68:8f549749b8ce | 304 | /*************************** v1.8 **************************/ |
tnhnrl | 68:8f549749b8ce | 305 | |
tnhnrl | 73:f6f378311c8d | 306 | int main() { |
tnhnrl | 73:f6f378311c8d | 307 | setup(); //setup electronics/hardware |
joel_ssc | 82:0981b9ada820 | 308 | // on landing, check orientation, if upside down, fix that first |
tnhnrl | 72:250b2665755c | 309 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
joel_ssc | 86:ba3a118b0080 | 310 | led2()=1; led4()=0; |
tnhnrl | 65:2ac186553959 | 311 | unsigned int tNow = 0; |
joel_ssc | 82:0981b9ada820 | 312 | int vernum=0; |
joel_ssc | 82:0981b9ada820 | 313 | int diagnum=0; |
joel_ssc | 82:0981b9ada820 | 314 | char buf[256]; |
tnhnrl | 75:92e79d23d29a | 315 | xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r"); |
joel_ssc | 87:6d95f853dab3 | 316 | sprintf(buf, "\n\n\r 2019-may-07 FSG PCB XBee line315 in main (setup complete) \n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 317 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 318 | |
joel_ssc | 87:6d95f853dab3 | 319 | |
joel_ssc | 84:eccd8e837134 | 320 | //tNow=5; sprintf(buf, "log file config values logfile= %s diag file= %s\n", configFileIO().logFilesStruct.logFileName, |
joel_ssc | 84:eccd8e837134 | 321 | // configFileIO().logFilesStruct.diagFileName); tNow=0; |
joel_ssc | 87:6d95f853dab3 | 322 | // mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 82:0981b9ada820 | 323 | vernum = configFileIO().logFilesStruct.logversion; |
joel_ssc | 82:0981b9ada820 | 324 | diagnum = configFileIO().logFilesStruct.diagversion; |
joel_ssc | 82:0981b9ada820 | 325 | sprintf(buf, "translated values LOG FILE VERSION number (vernum)=%d diag file version number(diagnum) = %d\n", vernum, diagnum); |
joel_ssc | 82:0981b9ada820 | 326 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 82:0981b9ada820 | 327 | sprintf(buf, "logfiles_struct values - direct LOG FILE VERSION ().logversion=%d diag file version().diagversion = %d\n", |
joel_ssc | 82:0981b9ada820 | 328 | configFileIO().logFilesStruct.logversion, configFileIO().logFilesStruct.diagversion); |
joel_ssc | 82:0981b9ada820 | 329 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 330 | //sprintf(buf, "try another message after closing file up and then will exit\n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 331 | //mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 332 | |
joel_ssc | 84:eccd8e837134 | 333 | |
joel_ssc | 84:eccd8e837134 | 334 | // increment the log file names once |
joel_ssc | 84:eccd8e837134 | 335 | //cycle_logfiles(vernum,diagnum); |
joel_ssc | 84:eccd8e837134 | 336 | //sprintf(buf, "This message should be in a new diag file\n\n\r"); |
joel_ssc | 84:eccd8e837134 | 337 | //mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 84:eccd8e837134 | 338 | // mbedLogger().appendLogFile(current_state, 1); |
joel_ssc | 82:0981b9ada820 | 339 | //wait(5); |
joel_ssc | 82:0981b9ada820 | 340 | //exit(0); |
tnhnrl | 56:48a8a5a65b82 | 341 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
joel_ssc | 82:0981b9ada820 | 342 | int keeprunning = 1; |
tnhnrl | 65:2ac186553959 | 343 | |
joel_ssc | 82:0981b9ada820 | 344 | if(have_legfile) { |
joel_ssc | 82:0981b9ada820 | 345 | //install the leg variables in a structure, and set the state there. |
joel_ssc | 82:0981b9ada820 | 346 | stateMachine().getLegParams(); //should set up everything with proper LEG_POSITION_DIVE state |
joel_ssc | 87:6d95f853dab3 | 347 | sprintf(buf, "have_legfile succeeded main: line 318 \n\r"); |
joel_ssc | 86:ba3a118b0080 | 348 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 82:0981b9ada820 | 349 | } |
joel_ssc | 87:6d95f853dab3 | 350 | |
joel_ssc | 86:ba3a118b0080 | 351 | if(!have_legfile) { |
joel_ssc | 86:ba3a118b0080 | 352 | sprintf(buf, "have_legfile failed! .... will exit\n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 353 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 354 | keeprunning = 0; |
joel_ssc | 85:dd8176285b6e | 355 | } |
joel_ssc | 87:6d95f853dab3 | 356 | if(motorDisconnect().read() == 1) { |
joel_ssc | 87:6d95f853dab3 | 357 | sprintf(buf, "motorDisconnect.read() = 1 surprising!\n\n\r"); |
joel_ssc | 87:6d95f853dab3 | 358 | mbedLogger().appendDiagFile(buf,3); led1()=1; led4()=1; |
joel_ssc | 87:6d95f853dab3 | 359 | } |
joel_ssc | 87:6d95f853dab3 | 360 | if(motorDisconnect().read() == 0) { |
joel_ssc | 87:6d95f853dab3 | 361 | sprintf(buf, "motorDisconnect.read() = 0 I expected that\n\n\r"); |
joel_ssc | 87:6d95f853dab3 | 362 | mbedLogger().appendDiagFile(buf,3); led1()=1; led3()=1; |
joel_ssc | 87:6d95f853dab3 | 363 | } |
joel_ssc | 86:ba3a118b0080 | 364 | |
joel_ssc | 84:eccd8e837134 | 365 | while (keeprunning) { |
joel_ssc | 84:eccd8e837134 | 366 | if( read_ticker() ) { // read_ticker runs at the speed of 10 kHz (adc timing) |
tnhnrl | 65:2ac186553959 | 367 | ++tNow; |
mkelly10 | 51:c5c40272ecc3 | 368 | |
tnhnrl | 81:7ff2c6467892 | 369 | //Note to self: Retest data transmission code. |
tnhnrl | 81:7ff2c6467892 | 370 | //This is currently running at 0.1 second intervals (10 hz) and was working well for data transmission |
tnhnrl | 74:d281aaef9766 | 371 | if (current_state == TX_MBED_LOG or current_state == RX_SEQUENCE) { |
tnhnrl | 73:f6f378311c8d | 372 | if ( (tNow % 100) == 0 ) { // 0.01 second intervals (100 Hz) |
tnhnrl | 66:0f20870117b7 | 373 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 374 | FSM(); |
tnhnrl | 66:0f20870117b7 | 375 | } |
joel_ssc | 82:0981b9ada820 | 376 | } // end if(currentstate..) |
joel_ssc | 84:eccd8e837134 | 377 | |
tnhnrl | 67:c86a4b464682 | 378 | //NOT TRANSMITTING DATA, NORMAL OPERATIONS |
joel_ssc | 84:eccd8e837134 | 379 | else { // **88** |
joel_ssc | 84:eccd8e837134 | 380 | //FSM |
tnhnrl | 68:8f549749b8ce | 381 | if ( (tNow % 100) == 0 ) { // 0.1 second intervals |
tnhnrl | 66:0f20870117b7 | 382 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 383 | FSM(); |
joel_ssc | 84:eccd8e837134 | 384 | |
tnhnrl | 73:f6f378311c8d | 385 | //get commands and update GUI |
tnhnrl | 73:f6f378311c8d | 386 | gui().getCommandFSM(); |
joel_ssc | 84:eccd8e837134 | 387 | } |
joel_ssc | 84:eccd8e837134 | 388 | //LOGGING |
joel_ssc | 84:eccd8e837134 | 389 | if ( (tNow % 1000) == 0 ) { // 1.0 second intervals |
joel_ssc | 84:eccd8e837134 | 390 | log_loop = true; |
joel_ssc | 84:eccd8e837134 | 391 | log_function(); |
joel_ssc | 87:6d95f853dab3 | 392 | //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 | 87:6d95f853dab3 | 393 | //mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 87:6d95f853dab3 | 394 | led3()=0; led2()=0; led1()=0; led4()=0; |
joel_ssc | 86:ba3a118b0080 | 395 | } |
joel_ssc | 87:6d95f853dab3 | 396 | if ( (tNow % 2000) == 0 ) { // 2 second intervals |
joel_ssc | 86:ba3a118b0080 | 397 | |
joel_ssc | 87:6d95f853dab3 | 398 | led3()=1; |
joel_ssc | 87:6d95f853dab3 | 399 | sprintf(buf, "hit 2 second log interval in main loop current_state=%d tNow =%d imu.roll = %f not-unsampled \n\n\r", current_state, tNow, imu().getRoll()); |
joel_ssc | 87:6d95f853dab3 | 400 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 401 | } |
joel_ssc | 87:6d95f853dab3 | 402 | if ((tNow % 3000) == 0) { |
joel_ssc | 87:6d95f853dab3 | 403 | led2()=1; |
joel_ssc | 87:6d95f853dab3 | 404 | } |
joel_ssc | 84:eccd8e837134 | 405 | //update the log and diagnostics files |
joel_ssc | 87:6d95f853dab3 | 406 | if ( (tNow % 31000) == 0 ) { // 1.0 hour intervals= 3600*1000 check for testing via 31 second intervals |
joel_ssc | 85:dd8176285b6e | 407 | sprintf(buf, "hit cycle seconds replace_logfiles interval in main loop tNow =%d \n\n\r", tNow); |
joel_ssc | 85:dd8176285b6e | 408 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 409 | vernum = configFileIO().logFilesStruct.logversion; |
joel_ssc | 84:eccd8e837134 | 410 | diagnum = configFileIO().logFilesStruct.diagversion; |
joel_ssc | 85:dd8176285b6e | 411 | 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 | 412 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 413 | cycle_logfiles(vernum,diagnum); |
joel_ssc | 85:dd8176285b6e | 414 | 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 | 415 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 416 | // close the log and diagnostics files |
joel_ssc | 84:eccd8e837134 | 417 | // increment the version numbers for each |
joel_ssc | 84:eccd8e837134 | 418 | // save the new version numbers |
joel_ssc | 84:eccd8e837134 | 419 | // initialize new log and diagnostics files |
tnhnrl | 66:0f20870117b7 | 420 | log_loop = true; |
tnhnrl | 66:0f20870117b7 | 421 | log_function(); |
joel_ssc | 87:6d95f853dab3 | 422 | led3()=1; led1()=1; |
tnhnrl | 66:0f20870117b7 | 423 | } |
joel_ssc | 84:eccd8e837134 | 424 | } // end else { at **88** |
joel_ssc | 84:eccd8e837134 | 425 | if(current_state == FB_EXIT) { |
joel_ssc | 84:eccd8e837134 | 426 | log_loop=true; |
joel_ssc | 87:6d95f853dab3 | 427 | log_function(); led2()=1; led4()=1; |
joel_ssc | 84:eccd8e837134 | 428 | keeprunning=0; // and this will force exit to the main while() loop. |
joel_ssc | 85:dd8176285b6e | 429 | // 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 | 430 | sprintf(buf, "INSIDE main loop: BUT now called to exit out of it via FB_EXIT\n\n\r"); |
joel_ssc | 86:ba3a118b0080 | 431 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 84:eccd8e837134 | 432 | } |
joel_ssc | 87:6d95f853dab3 | 433 | if(tNow == 90000) { // don't wait forever -remove this for real operations!! |
joel_ssc | 87:6d95f853dab3 | 434 | keeprunning=0; |
joel_ssc | 87:6d95f853dab3 | 435 | } |
joel_ssc | 82:0981b9ada820 | 436 | } // end if(read_ticker) { |
joel_ssc | 82:0981b9ada820 | 437 | } // end while(keeprunning) |
joel_ssc | 87:6d95f853dab3 | 438 | |
joel_ssc | 82:0981b9ada820 | 439 | mbedLogger().appendLogFile(current_state, 1); |
joel_ssc | 87:6d95f853dab3 | 440 | 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 | 441 | mbedLogger().appendDiagFile(buf,3); |
joel_ssc | 86:ba3a118b0080 | 442 | led1()=1; led2() =1; led3()=1 ;led4() = 1; |
joel_ssc | 86:ba3a118b0080 | 443 | wait(5); |
joel_ssc | 86:ba3a118b0080 | 444 | |
joel_ssc | 82:0981b9ada820 | 445 | mbedLogger().appendLogFile(current_state, 1); |
joel_ssc | 82:0981b9ada820 | 446 | mbedLogger().appendLogFile(current_state, 0); |
joel_ssc | 86:ba3a118b0080 | 447 | sprintf(buf, "wait 5 more seconds? out of the leg loop via FB_EXIT\n\n\r"); |
joel_ssc | 82:0981b9ada820 | 448 | mbedLogger().appendDiagFile(buf,0); |
joel_ssc | 86:ba3a118b0080 | 449 | led1()=0; led2()=0; led3()= 0 ;led4()=0; |
joel_ssc | 82:0981b9ada820 | 450 | exit(0); |
joel_ssc | 82:0981b9ada820 | 451 | } // end main() |