FBRLogger final version
Dependencies: EthernetInterface MSCAN Nanopb SDFileSystem mbed-rtos mbed
main.cpp@8:99cca8c964e6, 2013-03-01 (annotated)
- Committer:
- intrinseca
- Date:
- Fri Mar 01 12:43:17 2013 +0000
- Revision:
- 8:99cca8c964e6
- Parent:
- 6:9d9e7c9adc7c
- Child:
- 9:634a74d5aa41
buggy logging
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
intrinseca | 6:9d9e7c9adc7c | 1 | #include "SDFileSystem.h" |
intrinseca | 2:2400fab06b33 | 2 | #include "CANComms.h" |
intrinseca | 2:2400fab06b33 | 3 | #include "State.h" |
intrinseca | 1:5f51069d5e09 | 4 | #include <stdint.h> |
intrinseca | 3:32206cf84eb4 | 5 | #include <fstream> |
intrinseca | 8:99cca8c964e6 | 6 | #include <sstream> |
intrinseca | 3:32206cf84eb4 | 7 | #include <iomanip> |
intrinseca | 8:99cca8c964e6 | 8 | #include <cstring> |
intrinseca | 4:66928695da01 | 9 | #include "pb.h" |
intrinseca | 4:66928695da01 | 10 | #include "pb_encode.h" |
intrinseca | 4:66928695da01 | 11 | #include "fbr.pb.h" |
intrinseca | 8:99cca8c964e6 | 12 | #include "EthernetInterface.h" |
intrinseca | 8:99cca8c964e6 | 13 | #include "rtos.h" |
intrinseca | 8:99cca8c964e6 | 14 | #include "MSCANHeader.h" |
intrinseca | 3:32206cf84eb4 | 15 | |
intrinseca | 8:99cca8c964e6 | 16 | #define LOGGING_INTERVAL 0.025 |
intrinseca | 3:32206cf84eb4 | 17 | #define ANALOG_SCALE 3.3 |
intrinseca | 1:5f51069d5e09 | 18 | |
intrinseca | 8:99cca8c964e6 | 19 | //potential divider scaling factor ~= 2/3 |
intrinseca | 8:99cca8c964e6 | 20 | //#define ACCEL_SCALE 22.0 / (22.0 + 10.0) |
intrinseca | 8:99cca8c964e6 | 21 | #define ACCEL_SCALE 1 |
intrinseca | 8:99cca8c964e6 | 22 | //#define ACCEL_BIAS 0.5 |
intrinseca | 8:99cca8c964e6 | 23 | #define ACCEL_BIAS 2.5 / 3.3 |
intrinseca | 5:3c4f35ea3cd9 | 24 | //312mV per g at 5V full scale |
intrinseca | 8:99cca8c964e6 | 25 | #define ACCEL_SENSITIVITY (0.312 * ACCEL_SCALE) / ANALOG_SCALE |
intrinseca | 5:3c4f35ea3cd9 | 26 | |
intrinseca | 2:2400fab06b33 | 27 | State car; |
intrinseca | 8:99cca8c964e6 | 28 | CAN* can; |
intrinseca | 8:99cca8c964e6 | 29 | SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board |
intrinseca | 2:2400fab06b33 | 30 | |
intrinseca | 8:99cca8c964e6 | 31 | EthernetInterface eth; |
intrinseca | 8:99cca8c964e6 | 32 | TCPSocketServer server; |
intrinseca | 8:99cca8c964e6 | 33 | TCPSocketConnection client; |
intrinseca | 2:2400fab06b33 | 34 | |
intrinseca | 3:32206cf84eb4 | 35 | AnalogIn analogInputs[] = {p15, p16, p17, p18, p19, p20}; |
intrinseca | 2:2400fab06b33 | 36 | |
intrinseca | 8:99cca8c964e6 | 37 | Thread* write_thread; |
intrinseca | 8:99cca8c964e6 | 38 | Thread* can_thread; |
intrinseca | 8:99cca8c964e6 | 39 | |
intrinseca | 2:2400fab06b33 | 40 | Ticker sample; |
intrinseca | 8:99cca8c964e6 | 41 | DigitalOut led1(LED1); |
intrinseca | 8:99cca8c964e6 | 42 | DigitalOut led2(LED2); |
intrinseca | 8:99cca8c964e6 | 43 | DigitalOut led3(LED3); |
intrinseca | 1:5f51069d5e09 | 44 | |
intrinseca | 1:5f51069d5e09 | 45 | char logFileName[50]; |
intrinseca | 8:99cca8c964e6 | 46 | FileHandle* logFile; |
intrinseca | 8:99cca8c964e6 | 47 | char logIndex = 0; |
intrinseca | 8:99cca8c964e6 | 48 | char write_buf[256]; |
intrinseca | 1:5f51069d5e09 | 49 | |
intrinseca | 8:99cca8c964e6 | 50 | char net_buf[1024]; |
intrinseca | 8:99cca8c964e6 | 51 | int net_buf_len; |
intrinseca | 1:5f51069d5e09 | 52 | |
intrinseca | 1:5f51069d5e09 | 53 | bool file_exists(const char * filename) |
intrinseca | 1:5f51069d5e09 | 54 | { |
intrinseca | 3:32206cf84eb4 | 55 | if (FILE * file = fopen(filename, "r")) { |
intrinseca | 1:5f51069d5e09 | 56 | fclose(file); |
intrinseca | 1:5f51069d5e09 | 57 | return true; |
intrinseca | 1:5f51069d5e09 | 58 | } |
intrinseca | 1:5f51069d5e09 | 59 | return false; |
intrinseca | 1:5f51069d5e09 | 60 | } |
intrinseca | 1:5f51069d5e09 | 61 | |
intrinseca | 8:99cca8c964e6 | 62 | void take_sample(void const * arg) |
intrinseca | 4:66928695da01 | 63 | { |
intrinseca | 8:99cca8c964e6 | 64 | //float raw_x = analogInputs[5].read(); |
intrinseca | 8:99cca8c964e6 | 65 | //float norm_x = raw_x - ACCEL_BIAS; |
intrinseca | 8:99cca8c964e6 | 66 | |
intrinseca | 8:99cca8c964e6 | 67 | //printf("raw: %.4f norm: %.4f sens:%.4f", raw_x, norm_x, ACCEL_SENSITIVITY); |
intrinseca | 8:99cca8c964e6 | 68 | |
intrinseca | 8:99cca8c964e6 | 69 | //car.accel_x = (analogInputs[4].read() - ACCEL_BIAS) / ACCEL_SENSITIVITY; |
intrinseca | 8:99cca8c964e6 | 70 | //car.accel_y = (analogInputs[5].read() - ACCEL_BIAS) / ACCEL_SENSITIVITY; |
intrinseca | 8:99cca8c964e6 | 71 | car.accel_x = 0.23 + ((3.3 * analogInputs[5].read()) - 2.5) / 0.312; |
intrinseca | 8:99cca8c964e6 | 72 | car.accel_y = 0.23 + ((3.3 * analogInputs[4].read()) - 2.5) / 0.312; |
intrinseca | 8:99cca8c964e6 | 73 | |
intrinseca | 8:99cca8c964e6 | 74 | //printf("%.4f %.4f\n", car.accel_x, car.accel_y); |
intrinseca | 8:99cca8c964e6 | 75 | |
intrinseca | 8:99cca8c964e6 | 76 | led1 = !led1; |
intrinseca | 8:99cca8c964e6 | 77 | write_thread->signal_set(0x1); |
intrinseca | 4:66928695da01 | 78 | } |
intrinseca | 4:66928695da01 | 79 | |
intrinseca | 8:99cca8c964e6 | 80 | void write(void const* args) |
intrinseca | 2:2400fab06b33 | 81 | { |
intrinseca | 3:32206cf84eb4 | 82 | ofstream out; |
intrinseca | 4:66928695da01 | 83 | telemetry_message telemetry; |
intrinseca | 8:99cca8c964e6 | 84 | |
intrinseca | 8:99cca8c964e6 | 85 | printf("Starting write thread\n"); |
intrinseca | 8:99cca8c964e6 | 86 | |
intrinseca | 8:99cca8c964e6 | 87 | int buf_msg_count = 0; |
intrinseca | 8:99cca8c964e6 | 88 | |
intrinseca | 8:99cca8c964e6 | 89 | net_buf_len = 0; |
intrinseca | 8:99cca8c964e6 | 90 | |
intrinseca | 8:99cca8c964e6 | 91 | telemetry.has_rpm = true; |
intrinseca | 8:99cca8c964e6 | 92 | telemetry.has_throttle_pos = true; |
intrinseca | 8:99cca8c964e6 | 93 | telemetry.has_manifold_pres = true; |
intrinseca | 8:99cca8c964e6 | 94 | telemetry.has_air_temp = true; |
intrinseca | 8:99cca8c964e6 | 95 | telemetry.has_coolant_temp = true; |
intrinseca | 8:99cca8c964e6 | 96 | telemetry.has_lambda = true; |
intrinseca | 8:99cca8c964e6 | 97 | telemetry.has_speed = true; |
intrinseca | 8:99cca8c964e6 | 98 | telemetry.has_accel_x = true; |
intrinseca | 8:99cca8c964e6 | 99 | telemetry.has_accel_y = true; |
intrinseca | 8:99cca8c964e6 | 100 | telemetry.has_gear = true; |
intrinseca | 8:99cca8c964e6 | 101 | telemetry.has_oil_temp = true; |
intrinseca | 8:99cca8c964e6 | 102 | telemetry.has_warnings = true; |
intrinseca | 8:99cca8c964e6 | 103 | telemetry.has_voltage = true; |
intrinseca | 8:99cca8c964e6 | 104 | |
intrinseca | 8:99cca8c964e6 | 105 | while(true) { |
intrinseca | 8:99cca8c964e6 | 106 | led2 = true; |
intrinseca | 8:99cca8c964e6 | 107 | Thread::signal_wait(0x1); |
intrinseca | 8:99cca8c964e6 | 108 | led2 = false; |
intrinseca | 8:99cca8c964e6 | 109 | |
intrinseca | 8:99cca8c964e6 | 110 | telemetry.rpm = car.rpm; |
intrinseca | 8:99cca8c964e6 | 111 | telemetry.throttle_pos = car.throttle_pos; |
intrinseca | 8:99cca8c964e6 | 112 | telemetry.manifold_pres = car.manifold_pres; |
intrinseca | 8:99cca8c964e6 | 113 | telemetry.air_temp = car.air_temp; |
intrinseca | 8:99cca8c964e6 | 114 | telemetry.coolant_temp = car.coolant_temp; |
intrinseca | 8:99cca8c964e6 | 115 | telemetry.lambda = car.lambda; |
intrinseca | 8:99cca8c964e6 | 116 | telemetry.speed = car.speed; |
intrinseca | 8:99cca8c964e6 | 117 | telemetry.gear = car.gear; |
intrinseca | 8:99cca8c964e6 | 118 | telemetry.oil_temp = car.oil_temp; |
intrinseca | 8:99cca8c964e6 | 119 | telemetry.warnings = car.warnings; |
intrinseca | 8:99cca8c964e6 | 120 | telemetry.voltage = car.voltage; |
intrinseca | 8:99cca8c964e6 | 121 | telemetry.accel_y = car.accel_y; |
intrinseca | 8:99cca8c964e6 | 122 | telemetry.accel_x = car.accel_x; |
intrinseca | 8:99cca8c964e6 | 123 | |
intrinseca | 8:99cca8c964e6 | 124 | //printf("Getting Size\n"); |
intrinseca | 8:99cca8c964e6 | 125 | pb_ostream_t pb_size = {0}; |
intrinseca | 8:99cca8c964e6 | 126 | pb_encode(&pb_size, telemetry_message_fields, &telemetry); |
intrinseca | 8:99cca8c964e6 | 127 | |
intrinseca | 8:99cca8c964e6 | 128 | //printf("Sending %d bytes\n", pb_size.bytes_written); |
intrinseca | 8:99cca8c964e6 | 129 | |
intrinseca | 8:99cca8c964e6 | 130 | memcpy(write_buf, (char*)&pb_size.bytes_written, 4); |
intrinseca | 8:99cca8c964e6 | 131 | pb_ostream_t pb_out = pb_ostream_from_buffer((uint8_t*)&write_buf[4], sizeof(write_buf) - 4); |
intrinseca | 8:99cca8c964e6 | 132 | |
intrinseca | 8:99cca8c964e6 | 133 | //printf("%2X%2X%2X%2X", write_buf[0], write_buf[1], write_buf[2], write_buf[3]); |
intrinseca | 8:99cca8c964e6 | 134 | |
intrinseca | 8:99cca8c964e6 | 135 | //printf("Encoding PB\n"); |
intrinseca | 8:99cca8c964e6 | 136 | if(!pb_encode(&pb_out, telemetry_message_fields, &telemetry)) { |
intrinseca | 8:99cca8c964e6 | 137 | printf("Encoder Error\n"); |
intrinseca | 8:99cca8c964e6 | 138 | } |
intrinseca | 8:99cca8c964e6 | 139 | |
intrinseca | 8:99cca8c964e6 | 140 | if(net_buf_len + pb_out.bytes_written + 4 > sizeof(net_buf)) { |
intrinseca | 8:99cca8c964e6 | 141 | //printf("Writing to Network\n"); |
intrinseca | 8:99cca8c964e6 | 142 | if(client.is_connected()) { |
intrinseca | 8:99cca8c964e6 | 143 | client.send_all(net_buf, net_buf_len); |
intrinseca | 8:99cca8c964e6 | 144 | } |
intrinseca | 8:99cca8c964e6 | 145 | led3 = !led3; |
intrinseca | 8:99cca8c964e6 | 146 | |
intrinseca | 8:99cca8c964e6 | 147 | //printf("Net Buf Emptied, %d messages\n", buf_msg_count); |
intrinseca | 8:99cca8c964e6 | 148 | logFile->write(net_buf, net_buf_len); |
intrinseca | 8:99cca8c964e6 | 149 | logFile->fsync(); |
intrinseca | 8:99cca8c964e6 | 150 | |
intrinseca | 8:99cca8c964e6 | 151 | net_buf_len = 0; |
intrinseca | 8:99cca8c964e6 | 152 | buf_msg_count = 0; |
intrinseca | 8:99cca8c964e6 | 153 | } |
intrinseca | 8:99cca8c964e6 | 154 | |
intrinseca | 8:99cca8c964e6 | 155 | buf_msg_count++; |
intrinseca | 8:99cca8c964e6 | 156 | memcpy(&net_buf[net_buf_len], write_buf, pb_out.bytes_written + 4); |
intrinseca | 8:99cca8c964e6 | 157 | net_buf_len += (pb_out.bytes_written + 4); |
intrinseca | 8:99cca8c964e6 | 158 | |
intrinseca | 8:99cca8c964e6 | 159 | //printf("Sent\n"); |
intrinseca | 8:99cca8c964e6 | 160 | } |
intrinseca | 8:99cca8c964e6 | 161 | } |
intrinseca | 8:99cca8c964e6 | 162 | |
intrinseca | 8:99cca8c964e6 | 163 | void can_thread_start(void const* args) |
intrinseca | 8:99cca8c964e6 | 164 | { |
intrinseca | 8:99cca8c964e6 | 165 | CANMessage msg; |
intrinseca | 8:99cca8c964e6 | 166 | MSCANHeader header; |
intrinseca | 8:99cca8c964e6 | 167 | |
intrinseca | 8:99cca8c964e6 | 168 | printf("CAN Thread Running\n"); |
intrinseca | 8:99cca8c964e6 | 169 | |
intrinseca | 8:99cca8c964e6 | 170 | while(true) { |
intrinseca | 8:99cca8c964e6 | 171 | while(can->read(msg)) { |
intrinseca | 8:99cca8c964e6 | 172 | /*printf("CAN Message %08X %d %02X%02X%02X%02X%02X%02X%02X%02X\n", msg.id, msg.len, |
intrinseca | 8:99cca8c964e6 | 173 | msg.data[0], |
intrinseca | 8:99cca8c964e6 | 174 | msg.data[1], |
intrinseca | 8:99cca8c964e6 | 175 | msg.data[2], |
intrinseca | 8:99cca8c964e6 | 176 | msg.data[3], |
intrinseca | 8:99cca8c964e6 | 177 | msg.data[4], |
intrinseca | 8:99cca8c964e6 | 178 | msg.data[5], |
intrinseca | 8:99cca8c964e6 | 179 | msg.data[6], |
intrinseca | 8:99cca8c964e6 | 180 | msg.data[7] |
intrinseca | 8:99cca8c964e6 | 181 | );*/ |
intrinseca | 8:99cca8c964e6 | 182 | |
intrinseca | 8:99cca8c964e6 | 183 | header.parse(msg.id); |
intrinseca | 8:99cca8c964e6 | 184 | |
intrinseca | 8:99cca8c964e6 | 185 | //printf("Processing data, block %d\n", block); |
intrinseca | 8:99cca8c964e6 | 186 | |
intrinseca | 8:99cca8c964e6 | 187 | if(header.from_id == MSCAN_ID_MS) { |
intrinseca | 8:99cca8c964e6 | 188 | if(header.var_blk == 0) { |
intrinseca | 8:99cca8c964e6 | 189 | car.rpm = (msg.data[0] << 8) | msg.data[1]; |
intrinseca | 8:99cca8c964e6 | 190 | } else if(header.var_blk == 1) { |
intrinseca | 8:99cca8c964e6 | 191 | car.manifold_pres = ((msg.data[2] << 8) | msg.data[3]) / 10.0; |
intrinseca | 8:99cca8c964e6 | 192 | car.air_temp = (((msg.data[4] << 8) | msg.data[5]) - 320.0) * 0.05555; |
intrinseca | 8:99cca8c964e6 | 193 | car.coolant_temp = (((msg.data[6] << 8) | msg.data[7]) - 320.0) * 0.05555; |
intrinseca | 8:99cca8c964e6 | 194 | } |
intrinseca | 8:99cca8c964e6 | 195 | else { |
intrinseca | 8:99cca8c964e6 | 196 | car.throttle_pos = ((msg.data[0] << 8) | msg.data[1]) / 10.0; |
intrinseca | 8:99cca8c964e6 | 197 | car.voltage = ((msg.data[2] << 8) | msg.data[3]) / 10.0; |
intrinseca | 8:99cca8c964e6 | 198 | } |
intrinseca | 8:99cca8c964e6 | 199 | } |
intrinseca | 8:99cca8c964e6 | 200 | } |
intrinseca | 8:99cca8c964e6 | 201 | |
intrinseca | 8:99cca8c964e6 | 202 | Thread::wait(1); |
intrinseca | 8:99cca8c964e6 | 203 | } |
intrinseca | 2:2400fab06b33 | 204 | } |
intrinseca | 2:2400fab06b33 | 205 | |
intrinseca | 3:32206cf84eb4 | 206 | int main() |
intrinseca | 3:32206cf84eb4 | 207 | { |
intrinseca | 8:99cca8c964e6 | 208 | RtosTimer sample_timer(take_sample, osTimerPeriodic); |
intrinseca | 3:32206cf84eb4 | 209 | |
intrinseca | 1:5f51069d5e09 | 210 | printf("FBR CAN Data Logger\n"); |
intrinseca | 1:5f51069d5e09 | 211 | |
intrinseca | 2:2400fab06b33 | 212 | mkdir("/sd/fbr", 0777); |
intrinseca | 3:32206cf84eb4 | 213 | |
intrinseca | 3:32206cf84eb4 | 214 | do { |
intrinseca | 1:5f51069d5e09 | 215 | sprintf(&logFileName[0], "/sd/fbr/log.%d", logIndex); |
intrinseca | 1:5f51069d5e09 | 216 | logIndex++; |
intrinseca | 1:5f51069d5e09 | 217 | } while(file_exists(&logFileName[0])); |
intrinseca | 3:32206cf84eb4 | 218 | |
intrinseca | 8:99cca8c964e6 | 219 | sprintf(&logFileName[0], "fbr/log.%d", logIndex - 1); |
intrinseca | 2:2400fab06b33 | 220 | printf("Log File: %s\n", &logFileName[0]); |
intrinseca | 8:99cca8c964e6 | 221 | |
intrinseca | 8:99cca8c964e6 | 222 | logFile = sd.open(logFileName, O_WRONLY | O_CREAT); |
intrinseca | 8:99cca8c964e6 | 223 | logFile->fsync(); |
intrinseca | 8:99cca8c964e6 | 224 | //fprintf(logFile, "FBR CANBUS Log File\n"); |
intrinseca | 8:99cca8c964e6 | 225 | //fclose(logFile); |
intrinseca | 8:99cca8c964e6 | 226 | |
intrinseca | 8:99cca8c964e6 | 227 | eth.init("192.168.0.2", "255.255.255.0", "0.0.0.0"); |
intrinseca | 8:99cca8c964e6 | 228 | eth.connect(1000); |
intrinseca | 8:99cca8c964e6 | 229 | |
intrinseca | 8:99cca8c964e6 | 230 | server.bind(8282); |
intrinseca | 8:99cca8c964e6 | 231 | server.listen(); |
intrinseca | 3:32206cf84eb4 | 232 | |
intrinseca | 1:5f51069d5e09 | 233 | printf("Listening Started\n"); |
intrinseca | 1:5f51069d5e09 | 234 | |
intrinseca | 8:99cca8c964e6 | 235 | write_thread = new Thread(write, NULL, osPriorityLow, 10240); |
intrinseca | 8:99cca8c964e6 | 236 | can_thread = new Thread(can_thread_start, NULL, osPriorityLow, 4096); |
intrinseca | 8:99cca8c964e6 | 237 | sample_timer.start(10); |
intrinseca | 8:99cca8c964e6 | 238 | |
intrinseca | 8:99cca8c964e6 | 239 | |
intrinseca | 8:99cca8c964e6 | 240 | can = new CAN(p30, p29); |
intrinseca | 8:99cca8c964e6 | 241 | can->frequency(500000); |
intrinseca | 8:99cca8c964e6 | 242 | //can->attach(&can_receive_isr); |
intrinseca | 8:99cca8c964e6 | 243 | printf("Can ISR Attached"); |
intrinseca | 8:99cca8c964e6 | 244 | |
intrinseca | 8:99cca8c964e6 | 245 | printf("Ready to Log\n"); |
intrinseca | 1:5f51069d5e09 | 246 | |
intrinseca | 8:99cca8c964e6 | 247 | TCPSocketConnection temp; |
intrinseca | 8:99cca8c964e6 | 248 | |
intrinseca | 8:99cca8c964e6 | 249 | while (true) { |
intrinseca | 8:99cca8c964e6 | 250 | printf("\nWait for new connection...\n"); |
intrinseca | 8:99cca8c964e6 | 251 | server.accept(temp); |
intrinseca | 8:99cca8c964e6 | 252 | |
intrinseca | 8:99cca8c964e6 | 253 | client.close(); |
intrinseca | 8:99cca8c964e6 | 254 | client = temp; |
intrinseca | 8:99cca8c964e6 | 255 | client.set_blocking(true, 1500); // Timeout after (1.5)s |
intrinseca | 8:99cca8c964e6 | 256 | |
intrinseca | 8:99cca8c964e6 | 257 | printf("Connection from: %s\n", client.get_address()); |
intrinseca | 1:5f51069d5e09 | 258 | } |
intrinseca | 3:32206cf84eb4 | 259 | } |