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.
264 lines
8.3 KiB
C++
264 lines
8.3 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 WII5ModeSleep.cpp
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* @brief Sleep mode: long sleeps between wake-ups; powers down the Maths CPU.
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*/
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/*
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Sleeping.... Not a short one, this is the full deal.
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* Start
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- Are we holding - jump to hold
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- Or calculate next sleep time
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* Wait
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- Shut down Devices
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* Sleep
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- Sleep for n seconds
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* Update
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- Start doing an update
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* Wait Gps
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* Wait Iridium
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* Wait Maths
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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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void WII5ModeSleep::reset() {
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step = WII5SLEEP_START; stepWait = 0;
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lastStep = WII5SLEEP_SLEEPING;
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}
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void WII5ModeSleep::begin() {
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step = WII5SLEEP_START; stepWait = 0;
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lastStep = WII5SLEEP_SLEEPING;
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}
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void WII5ModeSleep::loop() {
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first = (step != lastStep);
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lastStep = step;
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switch (step) {
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case WII5SLEEP_START:
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// TODO - Check we have valid time
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// TODO - Check this is a timed mode - and change back to default
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// - If default, stays here forever
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// First time - LED on
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if (first) {
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console.log(LOG_INFO, F("Sleep: Waiting up to 60 seconds before power down"));
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sh3dNodeIO.led1Set( LED_DOUBLE );
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}
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// Check maths on hold - it always wins
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else if (wii5Maths.remainingHold() > 0) {
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console.log(LOG_ERROR, F("Sleep: Maths holding, switching to wait"));
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step = WII5SLEEP_BUTTONS; stepWait = 0;
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}
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// TODO 2024 - Removed time at boot start
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// Check if GPS is old and been an hour since we checked it, force it now
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// else if ((wii5Gps.sinceOnLast > (WII5TIME_1HOUR * 1000)) && (!wii5Gps.isTimeValid())) {
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// console.log(LOG_ERROR, F("Sleep: Internal clock / time is not valid, turn on GPS"));
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// step = WII5SLEEP_TIME; stepWait = 0;
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// }
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// Normal mode - calculate next period - Wait 60 seconds first (TODO 2024)
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else if (stepWait > 60000) {
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// Convert minutes to seconds - note, getSleepPeriod will not return over 24 hours.
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sleepNextSeconds = (uint32_t)wii5Config.getSleepPeriod() * (uint32_t)60;
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// Check if we have any thing we need to do
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// e.g. Check are we allowed to sleep (rules)
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// Log our intent
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// What about auto switching to Capture - can we do that? Should we
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#ifdef DEBUG_SLEEP
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console.log(LOG_DEBUG, F("Sleep: step -> wait"));
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#endif
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step = WII5SLEEP_WAIT; stepWait = 0;
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}
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break;
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case WII5SLEEP_WAIT:
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// Has everything finished - e.g. Maths. Give it a bit of time. How long? Need to think about it.
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if (first) {
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#ifdef WII5_GPS
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wii5Gps.off();
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#endif
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wii5Communications.stop();
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wii5Iridium.stop();
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wii5Sparton.stop();
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// Maths off ?
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// wii5Maths.off();
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wii5Controller.setSDOff(); // Force off then power down SD
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wii5Controller.shared5Off();
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}
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// TODO 2024 - Wait 20 seconds afterall off before sleeping
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else if (stepWait > 20000) {
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#ifdef DEBUG_SLEEP
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console.log(LOG_DEBUG, F("Sleep: stop devices - step -> sleeping"));
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#endif
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step = WII5SLEEP_SLEEPING; stepWait = 0;
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}
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break;
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case WII5SLEEP_SLEEPING:
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// Something up - should never be here
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if (sleepNextSeconds < 10) {
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console.log(LOG_ERROR, F("Sleep: Time < 10 seconds, skipping to UPDATE mode"));
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step = WII5SLEEP_UPDATE;
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}
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else {
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if (sleepNextSeconds > 21600) {
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console.log(LOG_ERROR, F("Sleep: ERROR > 6 hours (21600) seconds, changing to 1 hour"));
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sleepNextSeconds = 3600;
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}
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// Actual sleep
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console.log(LOG_INFO, F("Sleep: sleeping %d hours = %lu seconds"), int(sleepNextSeconds / 3600), sleepNextSeconds);
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// Sleep, turning off Maths
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wii5Setup.sleepBefore();
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// TODO 2024 - Consider sleep loop - not actually WDT but rather just tight loop, therefore leaving WDT normal for now
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sh3dNodeUtil.sleep(sleepNextSeconds);
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wii5Setup.sleepAfter();
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// }
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console.log(LOG_INFO, F("Sleep: Woke up - requested=%lu, actual=%lu, reasons=%d"), sleepNextSeconds, sh3dNodeUtil.sleepLastSeconds, sh3dNodeUtil.sleepLastReason);
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switch(sh3dNodeUtil.sleepLastReason) {
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case 0:
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console.log(LOG_FATAL, F("Unknwon error inside sleep function"));
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// TODO What next? - not sure how to deal with this
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// TODO put it in an error counter... if the counter gets too large or rescent
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// Then switch back to default mode.
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step = WII5SLEEP_START; stepWait = 0;
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break;
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// Normal exit
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case 1:
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// TODO 12 hours is up - turn on GPS etc and send/receive data
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step = WII5SLEEP_UPDATE;
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break;
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// TODO Identify that this needs to stay on for some seconds for
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// button Processing
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// These are like a reboot - coming out of sleep. Beep like one
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case 10:
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case 11:
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wii5Setup.bootbeep();
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step = WII5SLEEP_BUTTONS;
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break;
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default:
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console.log(LOG_ERROR, F("Sleep: Unknown mode = %d"), step);
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step = WII5SLEEP_UPDATE;
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break;
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}
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}
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break;
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case WII5SLEEP_BUTTONS:
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if (first) {
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sh3dNodeIO.led1Set( LED_DOUBLE );
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console.log(LOG_ERROR, F("Sleep: BUTTONS process Waiting for Maths and another 10 seconds for buttons"));
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wii5Maths.stop();
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}
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// Maths stopped and 30 seconds
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else if (wii5Maths.isOff() && (stepWait > 30000)) {
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console.log(LOG_ERROR, F("Sleep: BUTTONS process finished, Maths off, starting sleep process (30 seconds)"));
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step = WII5SLEEP_START; stepWait = 0;
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}
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// 1 hour passed - shut it down buoys
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else if (stepWait > ((uint32_t)WII5TIME_1HOUR * 1000)) {
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console.log(LOG_FATAL, F("Sleep: Failed timeout of Buttons"));
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step = WII5SLEEP_START; stepWait = 0;
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}
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break;
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case WII5SLEEP_TIME:
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if (first) {
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wii5Gps.autoTime();
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displayWait = 0;
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}
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else if (wii5Gps.ready()) {
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step = WII5SLEEP_START; stepWait = 0;
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}
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else if (stepWait > 300000) {
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step = WII5SLEEP_START; stepWait = 0;
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}
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else if (displayWait > 10000) {
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console.log(LOG_INFO, F("Sleep: Waiting for GPS Time - %lu seconds"), (stepWait / 1000));
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displayWait = 0;
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}
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break;
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case WII5SLEEP_UPDATE:
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if (first) {
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sh3dNodeIO.led1Set( LED_DOUBLE );
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#ifdef WII5_GPS
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wii5Gps.autoAccurate();
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#endif
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wii5Battery.start();
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wii5Weather_18B20.temperatureRead();
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displayWait = 0;
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wii5Maths.stop();
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}
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else if (wii5Gps.ready()) {
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if (wii5Gps.isError()) {
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console.log(LOG_ERROR, F("Sleep: GPS Finished with ERROR"));
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}
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wii5Gps.off();
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step = WII5SLEEP_COMMS; stepWait = 0;
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}
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else if (stepWait > 300000) {
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console.log(LOG_ERROR, F("Sleep: GPS Timed out after 300 seconds"));
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step = WII5SLEEP_COMMS; stepWait = 0;
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}
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else if (displayWait > 10000) {
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console.log(LOG_INFO, F("Sleep: Waiting for GPS Lock - %lu seconds"), (stepWait / 1000));
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displayWait = 0;
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}
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break;
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case WII5SLEEP_COMMS:
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if (first) {
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sh3dNodeIO.led1Set( LED_DOUBLE );
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console.log(LOG_INFO, F("Sleep: Communications start"));
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wii5Communications.setSimpleMode();
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wii5Communications.sendBinModeType(wii5Config.getSleepBinaryType(), wii5Config.getRecordCount());
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wii5Communications.start();
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}
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else if (!wii5Communications.isRunning()) {
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console.log(LOG_INFO, F("Sleep: Communications end"));
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step = WII5SLEEP_START; stepWait = 0;
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}
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// TODO 10 minutes ok
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else if (stepWait > 600000) {
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console.log(LOG_FATAL, F("Sleep: Communications timeout"));
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step = WII5SLEEP_START; stepWait = 0;
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}
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break;
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default:
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console.log(LOG_FATAL, F("SLEEP: Default step... step=%d"), step);
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step = WII5SLEEP_START; stepWait = 0;
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break;
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}
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}
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WII5ModeSleep wii5ModeSleep;
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