385 lines
12 KiB
C
385 lines
12 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>
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#include <SD.h> //Format sd cart with FAT or FAT16. FAT32 for >1GB Cards on Teensy4.1
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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 serialCommandEcho_Enabled=true;
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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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void printFileListing();
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void printDirectory(File dir, int numTabs,String parent);
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void printFile(String filename);
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void removeFile(String filename);
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void serialCommandLoop();
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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(BUILTIN_SDCARD)) {
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Serial.println("Card failed, or not present");
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display.println(F("SD Init 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.c_str()) && 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.println(); 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.c_str(), 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.print("currentAll,throttle,brake,speed,trip_Front,trip_Rear,trip,currentConsumed_Front,currentConsumed_Rear,currentConsumed,watthoursConsumed,");
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dataFile.println("temp_ESCFront,temp_ESCRear,temp_Air,looptime_duration");
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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((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0); dataFile.print(",");
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dataFile.print(escFront.getTrip()); dataFile.print(",");
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dataFile.print(escRear.getTrip()); dataFile.print(",");
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dataFile.print(trip); dataFile.print(",");
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dataFile.print(escFront.getCurrentConsumed(),3); dataFile.print(",");
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dataFile.print(escRear.getCurrentConsumed(),3); dataFile.print(",");
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dataFile.print(currentConsumed,3); dataFile.print(",");
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dataFile.print(watthoursConsumed,3); dataFile.print(",");
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dataFile.print(temp_ESCFront,2); dataFile.print(",");
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dataFile.print(temp_ESCRear,2); dataFile.print(",");
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dataFile.print(temp_Air,2); dataFile.print(",");
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dataFile.print(looptime_duration); //dataFile.print(",");
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looptime_duration=0; //reset
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dataFile.println("");
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dataFile.close();
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}else{ //dataFile not available
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error_sdfile_unavailable=true;
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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.c_str(), 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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String getLogFilename() {
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return datalogging_filename;
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}
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bool loadTripSD()
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{
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//stats.txt containt lines with driven distance or consume current.
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//the lowest line is the latest data
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//data is usually written rather slowly
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File myFile = SD.open("stats.txt", FILE_WRITE);
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if (myFile) {
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myFile.print("ini=");
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myFile.println(now());
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myFile.flush();
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delay(100);
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myFile.close();
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Serial.println("TripSD: time written");
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}else{
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return false;
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}
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myFile = SD.open("stats.txt");
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if (myFile) {
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while (myFile.available()) {
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String line=myFile.readStringUntil('\n');
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Serial.print("TripSD Read Line:");
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Serial.println(line);
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if (line.substring(0,4)=="trp="){
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overallTrip=(line.substring(4)).toFloat();
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}else if (line.substring(0,4)=="occ="){
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overallCurrentConsumed=(line.substring(4)).toFloat();
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}else if (line.substring(0,4)=="owh="){
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overallWatthoursConsumed=(line.substring(4)).toFloat();
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}else if (line.substring(0,4)=="vlt="){
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lastTripVoltage=(line.substring(4)).toFloat();
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}
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}
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Serial.print("TripSD trip:");
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Serial.println(overallTrip);
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display.print(F("TripSD=")); display.println(overallTrip);
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Serial.print("TripSD current:");
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Serial.println(overallCurrentConsumed);
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Serial.print("TripSD watthours:");
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Serial.println(overallWatthoursConsumed);
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display.print(F("Cur. SD=")); display.println(overallCurrentConsumed); display.display();
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Serial.print("TripSD voltage:");
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Serial.println(lastTripVoltage);
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display.print(F("Volt. SD=")); display.println(lastTripVoltage); display.display();
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myFile.flush();
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delay(10);
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myFile.close();
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}else{
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return false;
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}
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return true;
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}
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void writeTrip(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
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if (datalogging) {
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File myFile = SD.open("stats.txt", FILE_WRITE);
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if (myFile) {
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myFile.print("trp=");
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myFile.println(overallTrip);
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myFile.print("occ=");
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myFile.println(overallCurrentConsumed);
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myFile.print("owh=");
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myFile.println(overallWatthoursConsumed);
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myFile.print("vlt=");
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float _voltage=(escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0;
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myFile.println(_voltage,2);
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myFile.close();
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}
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}
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}
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void resetTrip() {
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if (datalogging) {
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File myFile = SD.open("stats.txt", FILE_WRITE);
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if (myFile) {
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myFile.print("trp=");
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myFile.println(0);
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myFile.print("occ=");
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myFile.println(0);
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myFile.print("owh=");
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myFile.println(0);
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myFile.print("vlt=");
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myFile.println(0);
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myFile.flush();
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delay(10);
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myFile.close();
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}
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}
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}
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void serialCommandLoop() {
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#define MAX_MESSAGE_LENGTH 80
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uint8_t timeoutcounter=MAX_MESSAGE_LENGTH;
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while (Serial.available() > 0 && timeoutcounter>0)
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{
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timeoutcounter--;
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static char message[MAX_MESSAGE_LENGTH];
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static unsigned int message_pos = 0;
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char inByte = Serial.read();
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if (inByte == '\r') {
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break; //ignore CR
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}
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if ( inByte != '\n' && (message_pos < MAX_MESSAGE_LENGTH - 1) )
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{
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message[message_pos] = inByte;
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message_pos++;
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}
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else
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{
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message[message_pos] = '\0';
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String smessage=String(message);
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if(smessage.equals("echo off")) {
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serialCommandEcho_Enabled=false;
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}else if(smessage.equals("echo on")) {
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serialCommandEcho_Enabled=true;
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}
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if (serialCommandEcho_Enabled) { //Echo Command
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Serial.print("$"); Serial.println(message);
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}
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//Handle Commands
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if(smessage.equals("test")) {
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Serial.println("OK");
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}else if(smessage.equals("ls")) {
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printFileListing();
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}else if(smessage.startsWith("cat")) {
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printFile(smessage.substring(4));
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}else if(smessage.startsWith("rm")) {
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removeFile(smessage.substring(3));
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}else if(smessage.equals("log off")) {
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datalogging=false;
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Serial.print("Log disabled: "); Serial.println(datalogging_filename);
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}else if(smessage.equals("log on")) {
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datalogging=true;
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Serial.print("Log enabled: "); Serial.println(datalogging_filename);
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}
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message_pos = 0;
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}
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}
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}
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void printFileListing() {
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File root;
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root = SD.open("/");
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printDirectory(root, 0,"");
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}
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void printDirectory(File dir, int numTabs,String parent) {
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bool printSize=false;
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bool printFullDirectoryNames=true;
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while (true) {
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File entry = dir.openNextFile();
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if (! entry) {
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// no more files
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break;
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}
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if (!printFullDirectoryNames) {
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for (uint8_t i = 0; i < numTabs; i++) {
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Serial.print('\t');
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}
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}
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if (!entry.isDirectory() || !printFullDirectoryNames) {
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Serial.print(parent+entry.name());
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}
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if (entry.isDirectory()) {
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if (!printFullDirectoryNames) {
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Serial.println("/");
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}
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printDirectory(entry, numTabs + 1,parent+entry.name()+"/");
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} else {
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if (printSize) {
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// files have sizes, directories do not
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Serial.print("\t\t");
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Serial.print(entry.size(), DEC);
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}
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Serial.println();
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}
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entry.close();
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}
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}
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void printFile(String filename) {
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File dataFile = SD.open(filename.c_str(), FILE_READ);
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// if the file is available, write to it:
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if (dataFile) {
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while (dataFile.available()) {
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Serial.write(dataFile.read());
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}
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dataFile.close();
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}
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// if the file isn't open, pop up an error:
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else {
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Serial.print("error opening "); Serial.println(filename);
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}
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}
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void removeFile(String filename) {
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SD.remove(filename.c_str());
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if (SD.exists(filename.c_str())) {
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Serial.println("File still exists");
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} else {
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Serial.println("OK");
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}
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}
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#endif |