bobbycar/controller_teensy/include/logging.h

117 lines
4.9 KiB
C

#ifndef _LOGGING_H_
#define _LOGGING_H_
// SD Card Logging
#include <SPI.h> //SCK=13, MISO=12, MOSI=11
#include <SD.h> //Format sd cart with FAT or FAT16
#define SDCHIPSELECT 14
boolean datalogging=true;
String datalogging_filename="UNKNOWN.txt";
bool initLogging();
void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear);
void writeLogComment(unsigned long time, String msg);
bool initLogging() {
Serial.print("Initializing SD card...");
// see if the card is present and can be initialized:
if (!SD.begin(SDCHIPSELECT)) {
Serial.println("Card failed, or not present");
display.print(F("Fail!")); display.display();
datalogging=false; //disable logging
delay(1000);
return false;
}else{
Serial.println("Card initialized.");
display.print(F("LOG=")); display.display();
if (datalogging){
int filenumber=0;
char buffer[6];
sprintf(buffer, "%04d", filenumber);
datalogging_filename="LOG_"+String(buffer)+".TXT";
while(SD.exists(datalogging_filename) && filenumber<10000) {
Serial.print(datalogging_filename); Serial.println(" exists");
filenumber++;
sprintf(buffer, "%04d", filenumber);
datalogging_filename="LOG_"+String(buffer)+".TXT";
}
Serial.print(datalogging_filename); Serial.println(" is free");
display.print(datalogging_filename); display.display();
}
}
return true;
}
void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
static unsigned long last_datalogging_write=0;
static boolean logging_headerWritten=false;
if (datalogging) {
#define LOGGINGINTERVAL 100
if (loopmillis-last_datalogging_write>LOGGINGINTERVAL)
{
last_datalogging_write=loopmillis;
File dataFile = SD.open(datalogging_filename, FILE_WRITE);
if (dataFile) { // if the file is available, write to it
if (!logging_headerWritten) {
dataFile.print("time,cmd_FrontL,cmd_FrontR,cmd_RearL,cmd_RearR,");
dataFile.print("current_FrontL,current_FrontR,current_RearL,current_RearR,");
dataFile.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
dataFile.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
dataFile.println("currentAll,throttle,brake,speed,trip,currentConsumed,motorenabled,disarmedByDelay");
dataFile.print("#TIMESTAMP:"); dataFile.println(now());
logging_headerWritten=true;
}
dataFile.print(loopmillis/1000.0,3); dataFile.print(";");
dataFile.print(escFront.getCmdL()); dataFile.print(";");
dataFile.print(escFront.getCmdR()); dataFile.print(";");
dataFile.print(escRear.getCmdL()); dataFile.print(";");
dataFile.print(escRear.getCmdR()); dataFile.print(";");
dataFile.print(escFront.getFiltered_curL(),3); dataFile.print(";");
dataFile.print(escFront.getFiltered_curR(),3); dataFile.print(";");
dataFile.print(escRear.getFiltered_curL(),3); dataFile.print(";");
dataFile.print(escRear.getFiltered_curR(),3); dataFile.print(";");
dataFile.print(escFront.getFeedback_speedL_meas()); dataFile.print(";"); //Todo: check if speed for R wheels needs to be negated
dataFile.print(escFront.getFeedback_speedR_meas()); dataFile.print(";");
dataFile.print(escRear.getFeedback_speedL_meas()); dataFile.print(";");
dataFile.print(escRear.getFeedback_speedR_meas()); dataFile.print(";");
dataFile.print(escFront.getFeedback_boardTemp()); dataFile.print(";");
dataFile.print(escRear.getFeedback_boardTemp()); dataFile.print(";");
dataFile.print(escFront.getFeedback_batVoltage()); dataFile.print(";");
dataFile.print(escRear.getFeedback_batVoltage()); dataFile.print(";");
dataFile.print(filtered_currentAll,3); dataFile.print(";");
dataFile.print(throttle_pos); dataFile.print(";");
dataFile.print(brake_pos); dataFile.print(";");
dataFile.print((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0); dataFile.print(";");
dataFile.print(escFront.getTrip()); dataFile.print(";");
dataFile.print(escFront.getCurrentConsumed(),3); dataFile.print(";");
dataFile.println("");
dataFile.close();
}
}
}
}
void writeLogComment(unsigned long time, String msg) {
//SerialRef.print("#"); SerialRef.print(time/1000.0,3); SerialRef.print(","); SerialRef.print(msg); SerialRef.println();
if (datalogging) {
File dataFile = SD.open(datalogging_filename, FILE_WRITE);
if (dataFile) { // if the file is available, write to it
dataFile.print("#");
dataFile.print(time/1000.0,3);
dataFile.print(",");
dataFile.print(msg);
dataFile.println();
dataFile.close();
}
}
}
#endif