FBRLogger final version
Dependencies: EthernetInterface MSCAN Nanopb SDFileSystem mbed-rtos mbed
main.cpp@10:9a743e7cf78e, 2013-03-06 (annotated)
- Committer:
- veskokaradzhov
- Date:
- Wed Mar 06 20:42:57 2013 +0000
- Revision:
- 10:9a743e7cf78e
- Parent:
- 9:634a74d5aa41
- Child:
- 11:594a9f668ccf
FBR Logger (probably) final version
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; |
veskokaradzhov | 9:634a74d5aa41 | 28 | |
veskokaradzhov | 9:634a74d5aa41 | 29 | CANComms can(&car, false, false, 0.0); |
intrinseca | 8:99cca8c964e6 | 30 | SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board |
intrinseca | 2:2400fab06b33 | 31 | |
intrinseca | 8:99cca8c964e6 | 32 | EthernetInterface eth; |
intrinseca | 8:99cca8c964e6 | 33 | TCPSocketServer server; |
intrinseca | 8:99cca8c964e6 | 34 | TCPSocketConnection client; |
intrinseca | 2:2400fab06b33 | 35 | |
intrinseca | 3:32206cf84eb4 | 36 | AnalogIn analogInputs[] = {p15, p16, p17, p18, p19, p20}; |
intrinseca | 2:2400fab06b33 | 37 | |
intrinseca | 8:99cca8c964e6 | 38 | Thread* write_thread; |
intrinseca | 8:99cca8c964e6 | 39 | Thread* can_thread; |
intrinseca | 8:99cca8c964e6 | 40 | |
intrinseca | 2:2400fab06b33 | 41 | Ticker sample; |
intrinseca | 8:99cca8c964e6 | 42 | DigitalOut led1(LED1); |
intrinseca | 8:99cca8c964e6 | 43 | DigitalOut led2(LED2); |
intrinseca | 8:99cca8c964e6 | 44 | DigitalOut led3(LED3); |
intrinseca | 1:5f51069d5e09 | 45 | |
intrinseca | 1:5f51069d5e09 | 46 | char logFileName[50]; |
intrinseca | 8:99cca8c964e6 | 47 | FileHandle* logFile; |
intrinseca | 8:99cca8c964e6 | 48 | char logIndex = 0; |
intrinseca | 8:99cca8c964e6 | 49 | char write_buf[256]; |
intrinseca | 1:5f51069d5e09 | 50 | |
intrinseca | 8:99cca8c964e6 | 51 | char net_buf[1024]; |
intrinseca | 8:99cca8c964e6 | 52 | int net_buf_len; |
intrinseca | 1:5f51069d5e09 | 53 | |
intrinseca | 1:5f51069d5e09 | 54 | bool file_exists(const char * filename) |
intrinseca | 1:5f51069d5e09 | 55 | { |
intrinseca | 3:32206cf84eb4 | 56 | if (FILE * file = fopen(filename, "r")) { |
intrinseca | 1:5f51069d5e09 | 57 | fclose(file); |
intrinseca | 1:5f51069d5e09 | 58 | return true; |
intrinseca | 1:5f51069d5e09 | 59 | } |
intrinseca | 1:5f51069d5e09 | 60 | return false; |
intrinseca | 1:5f51069d5e09 | 61 | } |
intrinseca | 1:5f51069d5e09 | 62 | |
intrinseca | 8:99cca8c964e6 | 63 | void take_sample(void const * arg) |
intrinseca | 4:66928695da01 | 64 | { |
intrinseca | 8:99cca8c964e6 | 65 | //float raw_x = analogInputs[5].read(); |
intrinseca | 8:99cca8c964e6 | 66 | //float norm_x = raw_x - ACCEL_BIAS; |
intrinseca | 8:99cca8c964e6 | 67 | |
intrinseca | 8:99cca8c964e6 | 68 | //printf("raw: %.4f norm: %.4f sens:%.4f", raw_x, norm_x, ACCEL_SENSITIVITY); |
intrinseca | 8:99cca8c964e6 | 69 | |
intrinseca | 8:99cca8c964e6 | 70 | //car.accel_x = (analogInputs[4].read() - ACCEL_BIAS) / ACCEL_SENSITIVITY; |
intrinseca | 8:99cca8c964e6 | 71 | //car.accel_y = (analogInputs[5].read() - ACCEL_BIAS) / ACCEL_SENSITIVITY; |
intrinseca | 8:99cca8c964e6 | 72 | car.accel_x = 0.23 + ((3.3 * analogInputs[5].read()) - 2.5) / 0.312; |
intrinseca | 8:99cca8c964e6 | 73 | car.accel_y = 0.23 + ((3.3 * analogInputs[4].read()) - 2.5) / 0.312; |
intrinseca | 8:99cca8c964e6 | 74 | |
intrinseca | 8:99cca8c964e6 | 75 | //printf("%.4f %.4f\n", car.accel_x, car.accel_y); |
intrinseca | 8:99cca8c964e6 | 76 | |
intrinseca | 8:99cca8c964e6 | 77 | led1 = !led1; |
intrinseca | 8:99cca8c964e6 | 78 | write_thread->signal_set(0x1); |
intrinseca | 4:66928695da01 | 79 | } |
intrinseca | 4:66928695da01 | 80 | |
intrinseca | 8:99cca8c964e6 | 81 | void write(void const* args) |
intrinseca | 2:2400fab06b33 | 82 | { |
intrinseca | 3:32206cf84eb4 | 83 | ofstream out; |
intrinseca | 4:66928695da01 | 84 | telemetry_message telemetry; |
intrinseca | 8:99cca8c964e6 | 85 | |
intrinseca | 8:99cca8c964e6 | 86 | printf("Starting write thread\n"); |
intrinseca | 8:99cca8c964e6 | 87 | |
intrinseca | 8:99cca8c964e6 | 88 | int buf_msg_count = 0; |
intrinseca | 8:99cca8c964e6 | 89 | |
intrinseca | 8:99cca8c964e6 | 90 | net_buf_len = 0; |
intrinseca | 8:99cca8c964e6 | 91 | |
intrinseca | 8:99cca8c964e6 | 92 | telemetry.has_rpm = true; |
intrinseca | 8:99cca8c964e6 | 93 | telemetry.has_throttle_pos = true; |
intrinseca | 8:99cca8c964e6 | 94 | telemetry.has_manifold_pres = true; |
intrinseca | 8:99cca8c964e6 | 95 | telemetry.has_air_temp = true; |
intrinseca | 8:99cca8c964e6 | 96 | telemetry.has_coolant_temp = true; |
intrinseca | 8:99cca8c964e6 | 97 | telemetry.has_lambda = true; |
intrinseca | 8:99cca8c964e6 | 98 | telemetry.has_speed = true; |
intrinseca | 8:99cca8c964e6 | 99 | telemetry.has_accel_x = true; |
intrinseca | 8:99cca8c964e6 | 100 | telemetry.has_accel_y = true; |
intrinseca | 8:99cca8c964e6 | 101 | telemetry.has_gear = true; |
intrinseca | 8:99cca8c964e6 | 102 | telemetry.has_oil_temp = true; |
intrinseca | 8:99cca8c964e6 | 103 | telemetry.has_warnings = true; |
intrinseca | 8:99cca8c964e6 | 104 | telemetry.has_voltage = true; |
intrinseca | 8:99cca8c964e6 | 105 | |
intrinseca | 8:99cca8c964e6 | 106 | while(true) { |
intrinseca | 8:99cca8c964e6 | 107 | led2 = true; |
intrinseca | 8:99cca8c964e6 | 108 | Thread::signal_wait(0x1); |
intrinseca | 8:99cca8c964e6 | 109 | led2 = false; |
intrinseca | 8:99cca8c964e6 | 110 | |
intrinseca | 8:99cca8c964e6 | 111 | telemetry.rpm = car.rpm; |
intrinseca | 8:99cca8c964e6 | 112 | telemetry.throttle_pos = car.throttle_pos; |
intrinseca | 8:99cca8c964e6 | 113 | telemetry.manifold_pres = car.manifold_pres; |
intrinseca | 8:99cca8c964e6 | 114 | telemetry.air_temp = car.air_temp; |
intrinseca | 8:99cca8c964e6 | 115 | telemetry.coolant_temp = car.coolant_temp; |
intrinseca | 8:99cca8c964e6 | 116 | telemetry.lambda = car.lambda; |
intrinseca | 8:99cca8c964e6 | 117 | telemetry.speed = car.speed; |
intrinseca | 8:99cca8c964e6 | 118 | telemetry.gear = car.gear; |
intrinseca | 8:99cca8c964e6 | 119 | telemetry.oil_temp = car.oil_temp; |
intrinseca | 8:99cca8c964e6 | 120 | telemetry.warnings = car.warnings; |
intrinseca | 8:99cca8c964e6 | 121 | telemetry.voltage = car.voltage; |
intrinseca | 8:99cca8c964e6 | 122 | telemetry.accel_y = car.accel_y; |
intrinseca | 8:99cca8c964e6 | 123 | telemetry.accel_x = car.accel_x; |
intrinseca | 8:99cca8c964e6 | 124 | |
intrinseca | 8:99cca8c964e6 | 125 | //printf("Getting Size\n"); |
intrinseca | 8:99cca8c964e6 | 126 | pb_ostream_t pb_size = {0}; |
intrinseca | 8:99cca8c964e6 | 127 | pb_encode(&pb_size, telemetry_message_fields, &telemetry); |
intrinseca | 8:99cca8c964e6 | 128 | |
intrinseca | 8:99cca8c964e6 | 129 | //printf("Sending %d bytes\n", pb_size.bytes_written); |
intrinseca | 8:99cca8c964e6 | 130 | |
intrinseca | 8:99cca8c964e6 | 131 | memcpy(write_buf, (char*)&pb_size.bytes_written, 4); |
intrinseca | 8:99cca8c964e6 | 132 | pb_ostream_t pb_out = pb_ostream_from_buffer((uint8_t*)&write_buf[4], sizeof(write_buf) - 4); |
intrinseca | 8:99cca8c964e6 | 133 | |
intrinseca | 8:99cca8c964e6 | 134 | //printf("%2X%2X%2X%2X", write_buf[0], write_buf[1], write_buf[2], write_buf[3]); |
intrinseca | 8:99cca8c964e6 | 135 | |
intrinseca | 8:99cca8c964e6 | 136 | //printf("Encoding PB\n"); |
intrinseca | 8:99cca8c964e6 | 137 | if(!pb_encode(&pb_out, telemetry_message_fields, &telemetry)) { |
intrinseca | 8:99cca8c964e6 | 138 | printf("Encoder Error\n"); |
intrinseca | 8:99cca8c964e6 | 139 | } |
intrinseca | 8:99cca8c964e6 | 140 | |
intrinseca | 8:99cca8c964e6 | 141 | if(net_buf_len + pb_out.bytes_written + 4 > sizeof(net_buf)) { |
intrinseca | 8:99cca8c964e6 | 142 | //printf("Writing to Network\n"); |
intrinseca | 8:99cca8c964e6 | 143 | if(client.is_connected()) { |
intrinseca | 8:99cca8c964e6 | 144 | client.send_all(net_buf, net_buf_len); |
intrinseca | 8:99cca8c964e6 | 145 | } |
intrinseca | 8:99cca8c964e6 | 146 | led3 = !led3; |
veskokaradzhov | 9:634a74d5aa41 | 147 | |
intrinseca | 8:99cca8c964e6 | 148 | //printf("Net Buf Emptied, %d messages\n", buf_msg_count); |
intrinseca | 8:99cca8c964e6 | 149 | logFile->write(net_buf, net_buf_len); |
intrinseca | 8:99cca8c964e6 | 150 | logFile->fsync(); |
intrinseca | 8:99cca8c964e6 | 151 | |
intrinseca | 8:99cca8c964e6 | 152 | net_buf_len = 0; |
intrinseca | 8:99cca8c964e6 | 153 | buf_msg_count = 0; |
intrinseca | 8:99cca8c964e6 | 154 | } |
intrinseca | 8:99cca8c964e6 | 155 | |
intrinseca | 8:99cca8c964e6 | 156 | buf_msg_count++; |
intrinseca | 8:99cca8c964e6 | 157 | memcpy(&net_buf[net_buf_len], write_buf, pb_out.bytes_written + 4); |
intrinseca | 8:99cca8c964e6 | 158 | net_buf_len += (pb_out.bytes_written + 4); |
intrinseca | 8:99cca8c964e6 | 159 | |
intrinseca | 8:99cca8c964e6 | 160 | //printf("Sent\n"); |
intrinseca | 8:99cca8c964e6 | 161 | } |
intrinseca | 8:99cca8c964e6 | 162 | } |
intrinseca | 8:99cca8c964e6 | 163 | |
intrinseca | 8:99cca8c964e6 | 164 | void can_thread_start(void const* args) |
intrinseca | 8:99cca8c964e6 | 165 | { |
intrinseca | 8:99cca8c964e6 | 166 | CANMessage msg; |
intrinseca | 8:99cca8c964e6 | 167 | MSCANHeader header; |
intrinseca | 8:99cca8c964e6 | 168 | |
intrinseca | 8:99cca8c964e6 | 169 | printf("CAN Thread Running\n"); |
intrinseca | 8:99cca8c964e6 | 170 | |
intrinseca | 8:99cca8c964e6 | 171 | while(true) { |
veskokaradzhov | 9:634a74d5aa41 | 172 | can.receive(); |
veskokaradzhov | 9:634a74d5aa41 | 173 | |
intrinseca | 8:99cca8c964e6 | 174 | } |
intrinseca | 2:2400fab06b33 | 175 | } |
intrinseca | 2:2400fab06b33 | 176 | |
intrinseca | 3:32206cf84eb4 | 177 | int main() |
intrinseca | 3:32206cf84eb4 | 178 | { |
intrinseca | 8:99cca8c964e6 | 179 | RtosTimer sample_timer(take_sample, osTimerPeriodic); |
intrinseca | 3:32206cf84eb4 | 180 | |
intrinseca | 1:5f51069d5e09 | 181 | printf("FBR CAN Data Logger\n"); |
intrinseca | 1:5f51069d5e09 | 182 | |
intrinseca | 2:2400fab06b33 | 183 | mkdir("/sd/fbr", 0777); |
intrinseca | 3:32206cf84eb4 | 184 | |
intrinseca | 3:32206cf84eb4 | 185 | do { |
intrinseca | 1:5f51069d5e09 | 186 | sprintf(&logFileName[0], "/sd/fbr/log.%d", logIndex); |
intrinseca | 1:5f51069d5e09 | 187 | logIndex++; |
intrinseca | 1:5f51069d5e09 | 188 | } while(file_exists(&logFileName[0])); |
intrinseca | 3:32206cf84eb4 | 189 | |
intrinseca | 8:99cca8c964e6 | 190 | sprintf(&logFileName[0], "fbr/log.%d", logIndex - 1); |
intrinseca | 2:2400fab06b33 | 191 | printf("Log File: %s\n", &logFileName[0]); |
veskokaradzhov | 9:634a74d5aa41 | 192 | |
intrinseca | 8:99cca8c964e6 | 193 | logFile = sd.open(logFileName, O_WRONLY | O_CREAT); |
intrinseca | 8:99cca8c964e6 | 194 | logFile->fsync(); |
intrinseca | 8:99cca8c964e6 | 195 | //fprintf(logFile, "FBR CANBUS Log File\n"); |
intrinseca | 8:99cca8c964e6 | 196 | //fclose(logFile); |
veskokaradzhov | 9:634a74d5aa41 | 197 | |
intrinseca | 8:99cca8c964e6 | 198 | eth.init("192.168.0.2", "255.255.255.0", "0.0.0.0"); |
intrinseca | 8:99cca8c964e6 | 199 | eth.connect(1000); |
intrinseca | 8:99cca8c964e6 | 200 | |
intrinseca | 8:99cca8c964e6 | 201 | server.bind(8282); |
intrinseca | 8:99cca8c964e6 | 202 | server.listen(); |
intrinseca | 3:32206cf84eb4 | 203 | |
intrinseca | 1:5f51069d5e09 | 204 | printf("Listening Started\n"); |
intrinseca | 1:5f51069d5e09 | 205 | |
intrinseca | 8:99cca8c964e6 | 206 | write_thread = new Thread(write, NULL, osPriorityLow, 10240); |
intrinseca | 8:99cca8c964e6 | 207 | can_thread = new Thread(can_thread_start, NULL, osPriorityLow, 4096); |
intrinseca | 8:99cca8c964e6 | 208 | sample_timer.start(10); |
intrinseca | 8:99cca8c964e6 | 209 | |
veskokaradzhov | 9:634a74d5aa41 | 210 | |
veskokaradzhov | 9:634a74d5aa41 | 211 | |
intrinseca | 8:99cca8c964e6 | 212 | |
intrinseca | 8:99cca8c964e6 | 213 | printf("Ready to Log\n"); |
intrinseca | 1:5f51069d5e09 | 214 | |
intrinseca | 8:99cca8c964e6 | 215 | TCPSocketConnection temp; |
intrinseca | 8:99cca8c964e6 | 216 | |
veskokaradzhov | 9:634a74d5aa41 | 217 | while (true) { // accept net connection |
intrinseca | 8:99cca8c964e6 | 218 | printf("\nWait for new connection...\n"); |
intrinseca | 8:99cca8c964e6 | 219 | server.accept(temp); |
intrinseca | 8:99cca8c964e6 | 220 | |
intrinseca | 8:99cca8c964e6 | 221 | client.close(); |
intrinseca | 8:99cca8c964e6 | 222 | client = temp; |
intrinseca | 8:99cca8c964e6 | 223 | client.set_blocking(true, 1500); // Timeout after (1.5)s |
intrinseca | 8:99cca8c964e6 | 224 | |
intrinseca | 8:99cca8c964e6 | 225 | printf("Connection from: %s\n", client.get_address()); |
intrinseca | 1:5f51069d5e09 | 226 | } |
intrinseca | 3:32206cf84eb4 | 227 | } |