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