scottp
295abb37ee
Firmware for an autonomous wave-measurement buoy (ATmega2560-based WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU, samples GPS and battery state, and reports back over Iridium SBD satellite telemetry. Originally developed 2012-2024. This is the first public release. Code, documentation, and field-tested operating modes (Capture, Sleep, Position, ManualTest, SelfTest, LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE. See README.md for an overview and build instructions, CONTRIBUTING.md for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
522 lines
14 KiB
C++
522 lines
14 KiB
C++
// SPDX-License-Identifier: Apache-2.0
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// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
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//
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// This file is part of WII5 Buoy firmware.
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// See LICENSE for full terms.
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/**
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* @file WII5Controller.cpp
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* @brief Main controller: mode dispatch, watchdog, and the top-level loop.
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*/
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/*
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Controller - Main controller, for loops and processing within WII5.
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Basically the controller is in charge of what is called for setup and loop.
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SPLIT:
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* Setup - helpers and stuff to setup code - doesn't not need to be here
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* Mode, setMode, calculateMode etc
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* Console and Settings
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HOWTO USE "yield" Here
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NOT READY - Causes infinite loops
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* create a "yield" in the sketch and call
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* wii5Controller.yield()l
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* And any other important entries, e.g. Network
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* And in loop() call yield at the start of loop
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TEMPLATE:
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LOOPS:
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loop:
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- This is the actual loop and it just calls the others, depending on mode
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- Calls loopWDT
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- Based on mode, calls
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.
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- Call loopSafe - always?
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loopWDT:
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- Just update the WDT and spin on
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loopSafe:
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- All the commands that must be always run
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- Calls
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. sh3dNodeIO.loop();
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. wii5Commands.processButtons();
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. console.loop();
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. wii5Commands.processConsoleAT();
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. wii5Commands.processConsoleStandard();
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. wii5Iridium.loop();
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. wii5Communications.loop();
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loopDefault:
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- Old - everything, instead, this is now loopOther
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loopOther:
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- Everything else
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- Calls
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. wii5Sparton.loop();
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. wii5RadioLoRa.loop();
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. wii5Commands.processNetwork();
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. wii5Gps.loop();
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. wii5Battery.loop();
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. wii5Weather_18B20.loop();
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loopNotCapturing:
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Other places loop* is called from
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safeDelay (not complete)
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*/
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#include <Arduino.h>
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#include <TimeLib.h>
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#include <WII5.h>
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#include <WII5Controller.h>
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#include <WII5Strings.h>
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#include <MemoryFree.h>
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#include <avr/wdt.h>
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// Debugging etc - move to header file
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#define DEBUG_SLEEP
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void WII5Controller::begin() {
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uptime = 0;
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minuteWait = 0;
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wii5ModeSleep.begin();
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wii5ModeCapture.begin();
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wii5ModeLowBattery.begin();
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wii5ModeManualTest.begin();
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wii5ModePosition.begin();
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wii5ModeSelfTest.begin();
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mode = WII5MODE_BOOT; // Not using setMode here
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currentSD = 0;
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#ifdef WII5_DEBUG_SERIAL
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SerialDebug.print(F("CONTROL:BOOTUP:freememory="));
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SerialDebug.print(freeMemory());
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SerialDebug.println();
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#endif
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// SD Card pins - should use Power object
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pinMode(POWER_STORAGE_1_PIN, OUTPUT);
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pinMode(STORAGE_SD1_MATHS_PIN, OUTPUT);
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pinMode(STORAGE_SD2_MATHS_PIN, OUTPUT);
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#ifdef WII5_WDT_INTERNAL
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wdt_enable(WDTO_8S);
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#endif
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}
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// Delay with SafeLoop
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void WII5Controller::safeDelay(uint32_t waits) {
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delayWait = 0;
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while (delayWait < waits) {
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loopWDT();
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loopSafe();
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}
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}
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void WII5Controller::setLastHello(WII5_PORTS p, WII5_DEVICES d) {
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lastHelloReceived = now();
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lastHelloElapsed = 0;
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lastHelloPort = p;
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lastHelloDevice = d;
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}
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bool WII5Controller::checkLastHello(WII5_DEVICES d, uint32_t msOld) {
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// Expected device, and time is newer than we needed - TRUE!
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if ((d == lastHelloDevice) && (lastHelloElapsed < msOld)) {
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return true;
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}
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return false;
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}
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// Main Loop - broken up for easy reading
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void WII5Controller::loop() {
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loopWDT();
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loopSafe();
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// The *reasonably* accurate minute count
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if (minuteWait > 60000) {
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// TODO - use uptime += (minuteWait / 60000)
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// minuteWait = (minuteWait % 60000);
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// And log if it is over 5 minutes.
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uptime++;
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minuteWait = minuteWait - 60000;
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}
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// TODO timeout
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switch (mode) {
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case WII5MODE_BOOT:
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// Safety: Automatically moves on
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console.log(LOG_DEBUG, F("WII5: Boot up process complete"));
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// Pretty safe to run
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loopOther();
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statusDump();
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setMode(WII5MODE_START);
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break;
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case WII5MODE_START:
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// Safety: Automatically moves on
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loopOther();
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setMode(calculateCurrentMode());
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break;
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case WII5MODE_DEMO:
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// Safety: TODO This one never exits. Needs work.
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// modeWait is screwed
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loopOther();
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if (modeWait > 60000) {
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console.log(LOG_DEBUG, F("Demonstration mode, try T; for test"));
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modeWait = 0;
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}
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if (modeWait > (WII5TIME_1DAY * 1000)) {
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// Stuck here... now what. Move to sleep?
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mode = WII5MODE_SLEEP; modeWait = 0;
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}
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break;
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case WII5MODE_SLEEP:
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// Safety: Sleep mode handles exit
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wii5ModeSleep.loop();
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// TODO Maybe?
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loopOther();
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break;
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case WII5MODE_LOWBATTERY:
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// Safety: Battery mode handles exit
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wii5ModeLowBattery.loop();
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loopOther();
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break;
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case WII5MODE_POSITION:
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// Safety: Either temporary timed mode, or changed by sattelite comms
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wii5ModePosition.loop();
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loopOther();
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break;
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case WII5MODE_CAPTURE:
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wii5ModeCapture.loop();
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loopOther();
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break;
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case WII5MODE_MANUALTEST:
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wii5ModeManualTest.loop();
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if (modeWait > (WII5TIME_1DAY * 1000)) {
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// Stuck here... now what. Move to sleep? Check saved mode is sleep or capture
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console.log(LOG_FATAL, F("FATAL * FATAL * FATAL * reset is being called from manual test loop"));
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console.flush();
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sh3dNodeUtil.reset();
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}
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loopOther();
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break;
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case WII5MODE_SELFTEST:
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wii5ModeSelfTest.loop();
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// loopSafe plus some
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loopOther();
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if (modeWait > (WII5TIME_1DAY * 1000)) {
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// Stuck here... now what. Move to sleep? Check saved mode is sleep or capture
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console.log(LOG_FATAL, F("FATAL * FATAL * FATAL * reset is being called from self test loop"));
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console.flush();
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sh3dNodeUtil.reset();
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}
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break;
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default:
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console.log(LOG_FATAL, F("Invalide Mode, old=%d, new=%d"), mode, WII5MODE_CAPTURE);
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mode = WII5MODE_CAPTURE;
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}
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}
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// loopSafe - Minimal safe loop, to allow for callback from Iridium etc
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void WII5Controller::loopSafe() {
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// Buttons, LEDs etc
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sh3dNodeIO.loop();
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wii5Commands.processButtons();
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// Serial port
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console.loop();
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wii5Commands.processConsoleAT();
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wii5Commands.processConsoleStandard();
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// Undesirable: Do not use these in loopSafe
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// - Gps - lots of data
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// - Sparton - lots of data
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// - Iridium - lots of data and potential cost
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// - Battery - Changes mode on us
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wii5Iridium.loop();
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wii5Communications.loop();
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wii5Maths.loop();
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}
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void WII5Controller::loopWDT() {
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#ifdef WDT_RESET
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// TODO consider compile this out and have specific version
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// TODO or don't call loopWDT inside TestMode and have own version
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// TODO manual test mode timeout
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// TODO Test the buoy - has it been more than 3 days since we sent a message - maybe reboot?
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if (tempDisableWDT) return;
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if (wdtWait > 5100) {
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digitalWrite(WDT_RESET, LOW);
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wdtWait = 0;
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}
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// TODO setting pin all the time for 100 ms
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else if (wdtWait > 5000) {
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digitalWrite(WDT_RESET, HIGH);
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}
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#endif
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#ifdef WII5_WDT_INTERNAL
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wdt_reset();
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#endif
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}
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void WII5Controller::loopOther() {
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#ifdef WII5_IMU_SPARTON
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wii5Sparton.loop();
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#endif
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// LORA or Other Modems
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#ifdef WII5_RADIO_LORA
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wii5RadioLoRa.loop();
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wii5Commands.processNetwork();
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#endif
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#ifdef WII5_GPS
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wii5Gps.loop();
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#endif
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wii5Battery.loop();
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wii5Weather_18B20.loop();
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}
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WII5_MODES WII5Controller::getMode() {
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return mode;
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}
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bool WII5Controller::setMode(WII5_MODES newMode, bool nodelay) {
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// Ignore same mode change - really this is an error
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if (newMode == mode)
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return false;
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console.log(LOG_INFO, F("Controller: new mode set %d:%s"), newMode, wii5Strings.strMode(newMode));
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#ifdef WII5_DEBUG_SERIAL
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SerialDebug.print(F("CONTROL:MODE:mode="));
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SerialDebug.print(newMode);
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SerialDebug.print(F(":"));
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SerialDebug.print(wii5Strings.strMode(newMode));
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SerialDebug.println();
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#endif
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// TODO Delay ???
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// - Put in a "when ready or timeout" to change mode
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// Set the mode
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mode = newMode;
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modeWait = 0;
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// Reset all STEPS to start
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wii5ModeCapture.reset();
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wii5ModeLowBattery.reset();
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wii5ModePosition.reset();
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wii5ModeManualTest.reset();
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wii5ModeSelfTest.reset();
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wii5ModeSleep.reset();
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// Update status to tell users of mode change
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statusDump();
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return true;
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}
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// TODO move to SPI
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void WII5Controller::disableChipSelect() {
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#ifdef RADIO_CS
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digitalWrite(RADIO_CS, HIGH);
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#endif
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#ifdef STORAGE_CS
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digitalWrite(RADIO_CS, HIGH);
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#endif
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#ifdef SPIMEMORY_CS
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digitalWrite(SPIMEMORY_CS, HIGH);
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#endif
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}
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// TODO move to Status Dump
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void WII5Controller::statusDump(bool human) {
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// Basic status - mode, time, free memory
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// TODO 2024 - Add run count - check this still works in node? (yes)
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wii5Display.atCommandSend(F("status"), F("record=%lu,uptime=%lu,freeMemory=%d,run=%lu"),
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wii5Config.getRecordCount(),
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uptime, freeMemory(),
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sh3dNodeConfig.getRunCount()
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);
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period = 0;
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next = 0;
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size = 0;
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// CURRENT mode if we have one.
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if (mode != wii5Config.getDefaultMode()) {
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next = 0;
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// Calculate next depending on noce
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if (getMode() == WII5MODE_CAPTURE) {
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period = wii5Config.getCapturePeriod();
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size = wii5BinData.getSize(wii5Config.getCaptureBinaryType());
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}
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else if (getMode() == WII5MODE_POSITION) {
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period = wii5Config.getPositionPeriod();
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size = wii5BinData.getSize(wii5Config.getPositionBinaryType());
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}
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else if (getMode() == WII5MODE_SLEEP) {
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period = wii5Config.getSleepPeriod();
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size = wii5BinData.getSize(wii5Config.getSleepBinaryType());
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}
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next = wii5Display.minutesUntilNext(period);
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// Only show current if not the same as default
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wii5Display.atCommandSend(F("status"), F("modeType=current,mode=%s,modeTime=%lu,modePeriod=%lu,modeNext=%lu,binSize=%d,sd=%d"),
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wii5Strings.strMode(mode),
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(uint32_t)(modeWait / 60000), // Convert to Minutes
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period, next, size, currentSD
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);
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}
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// DEFAULT Mode
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next = 0;
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if (wii5Config.getDefaultMode() == WII5MODE_CAPTURE) {
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period = wii5Config.getCapturePeriod();
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size = wii5BinData.getSize(wii5Config.getCaptureBinaryType());
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}
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else if (wii5Config.getDefaultMode() == WII5MODE_POSITION) {
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period = wii5Config.getPositionPeriod();
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size = wii5BinData.getSize(wii5Config.getPositionBinaryType());
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}
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else if (wii5Config.getDefaultMode() == WII5MODE_SLEEP) {
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period = wii5Config.getSleepPeriod();
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size = wii5BinData.getSize(wii5Config.getSleepBinaryType());
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}
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next = wii5Display.minutesUntilNext(period);
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wii5Display.atCommandSend(F("status"), F("modeType=default,mode=%s,modeTime=%lu,modePeriod=%lu,modeNext=%lu,binSize=%d,sd=%d"),
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wii5Strings.strMode(wii5Config.getDefaultMode()),
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(uint32_t)(modeWait / 60000), // Convert to Minutes
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period, next, size, currentSD
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);
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wii5Display.atCommandSend(F("status"), F("version=%S,imei=%s"), F(WII5_SOFTWARE_VERSION), wii5Iridium.imei);
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wii5Display.atCommandSend(F("status"), F("voltage=%ld,temperature=%ld,lat=%ld,lon=%ld,alt=%ld"),
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wii5Battery.value, wii5Weather_18B20.value,
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long(wii5Gps.gps->location.lat() * GPS_POS_MULT),
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long(wii5Gps.gps->location.lng() * GPS_POS_MULT),
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long(wii5Gps.gps->altitude.meters() * GPS_ALT_MULT)
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);
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// Calculate Maths mode.
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wii5Display.atCommandSend(F("status"), F("maths_on=%d,maths_held_remaining=%lu,maths_power_remaining=%lu"),
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wii5Maths.isRunning(), wii5Maths.remainingHold() / 60, wii5Maths.remainingUntil() / 60
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);
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// Tell the Maths CPU to advertise this info
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wii5Display.atCommandSend(F("status"), F("update"));
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if (human) {
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console.log(LOG_INFO, F("# WII5: Waves In Ice 5 - 2019. Board:%S Version:%S ID=%lu"),
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F(WII5_BOARD_NAME),
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F(WII5_SOFTWARE_VERSION),
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wii5Config.getDeviceId()
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);
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}
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}
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WII5_MODES WII5Controller::calculateDefaultMode() {
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return wii5Config.getDefaultMode();
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}
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// TODO move to Status Dump
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WII5_MODES WII5Controller::calculateCurrentMode() {
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// TODO Urgent - temporary Modes
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// TODO Urgent - find everywhere setDefaultMode is called, probably should be setCurrentMode
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// TODO check we have valid date/time
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// TODO check temporaryMode
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// TODO check defaultMode
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// return WII5MODE_CAPTURE;
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// return WII5MODE_DEMO;
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return wii5Config.getDefaultMode();
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}
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// What was the last default mode - for reboot and post sleep
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// TODO - Proabably move to sh3dNodeConfig (EEPROM) data
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void WII5Controller::setDefaultMode() {
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// Get default mode from EEPROM and disable the Temporary Mode there
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setMode(calculateDefaultMode());
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}
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void WII5Controller::setCurrentMode() {
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// Get temporary mode from EEPROM, check it is valid, else fall back to Default
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setMode(calculateCurrentMode());
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}
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void WII5Controller::shared5On() {
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// Turn it on - and feel free to
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digitalWrite(SHARED_5VOLT_PIN, HIGH);
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}
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void WII5Controller::shared5Off() {
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// Turn 5 Volts off - ONLY if safe to do so
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if (wii5Maths.isRunning() || wii5Iridium.isRunning() || wii5Sparton.isRunning() || (sh3dNodeIO.led2Get() != LED_OFF)) {
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// Keep it on !
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digitalWrite(SHARED_5VOLT_PIN, HIGH);
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}
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else {
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// Yep, power off time
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digitalWrite(SHARED_5VOLT_PIN, LOW);
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}
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}
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uint8_t WII5Controller::getSD() {
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return currentSD;
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}
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void WII5Controller::setSDOff() {
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sdBlock.cardForceClose();
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digitalWrite(POWER_STORAGE_1_PIN, LOW);
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digitalWrite(STORAGE_SD1_MATHS_PIN, HIGH);
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digitalWrite(STORAGE_SD2_MATHS_PIN, LOW);
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currentSD = 0;
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}
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// TODO 2024 - delay - really ! Probably ok for now - consider safeDelay
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void WII5Controller::setSD1() {
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digitalWrite(POWER_STORAGE_1_PIN, LOW);
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delay(500);
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digitalWrite(STORAGE_SD1_MATHS_PIN, HIGH);
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digitalWrite(STORAGE_SD2_MATHS_PIN, LOW);
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digitalWrite(STORAGE_CS, HIGH);
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delay(500);
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digitalWrite(POWER_STORAGE_1_PIN, HIGH);
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delay(500);
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currentSD = 1;
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}
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// TODO 2024 - delay - really ! Probably ok for now - consider safeDelay
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void WII5Controller::setSD2() {
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digitalWrite(POWER_STORAGE_1_PIN, LOW);
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delay(500);
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digitalWrite(STORAGE_SD1_MATHS_PIN, LOW);
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digitalWrite(STORAGE_SD2_MATHS_PIN, HIGH);
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digitalWrite(STORAGE_CS, HIGH);
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delay(500);
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digitalWrite(POWER_STORAGE_1_PIN, HIGH);
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delay(500);
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currentSD = 2;
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}
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WII5Controller wii5Controller;
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