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.
565 lines
18 KiB
C++
565 lines
18 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 WII5ModeCapture.cpp
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* @brief Capture mode: IMU/wave-motion data capture and SD logging.
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*/
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/*
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MDOECapture - the main event
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* Watch for our perfect time to start
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* Prepare SD card, Sparton etc for running
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* Trigger start / stop sparton
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* Store data to disk
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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 WII5ModeCapture::reset() {
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step = WII5CAPTURE_OFF; wait = 0; stepCount = 0;
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stepLast = WII5CAPTURE_FINISH;
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captureType = WII5CAPTURETYPE_UNKNOWN;
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}
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void WII5ModeCapture::begin() {
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debug = true;
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step = WII5CAPTURE_OFF; wait = 0; stepCount = 0;
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captureType = WII5CAPTURETYPE_UNKNOWN;
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enableAtFile = false;
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enableGPS = true;
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enableMaths = true;
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enableComms = true;
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enableLiveSwap = true; // Playing with this being safe for 2024
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}
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void WII5ModeCapture::start(bool force) {
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// If OFF or WAITING for OFF - Skipt
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if ( (step == WII5CAPTURE_OFF) || (step == WII5CAPTURE_WAIT5_OFF) || force ) {
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console.log(LOG_INFO, F("Capture: MANUAL START - Now"));
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captureType = WII5CAPTURETYPE_MANUAL;
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captureStart = now();
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step = WII5CAPTURE_START; wait = 0; retry = 0; stepCount = 0;
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}
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else {
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// Switch to CANCEL Capture with restart now
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console.log(LOG_INFO, F("Capture: MANUAL START - Cancelling existing and restarting"));
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captureType = WII5CAPTURETYPE_MANUAL;
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captureStart = now();
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step = WII5CAPTURE_CANCEL_RESTART; wait = 0; retry = 0; stepCount = 0;
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}
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}
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void WII5ModeCapture::stop(bool force) {
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if ((step != WII5CAPTURE_OFF) || force) {
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// Switch to CANCEL Capture with OFF (aka Wait)
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step = WII5CAPTURE_CANCEL_OFF; wait = 0; retry = 0; stepCount = 0;
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}
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else {
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// Manually just double check everything is off. (done above in the CANCEL_OFF stage)
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if (enableGPS)
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wii5Gps.off();
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wii5Sparton.stop();
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}
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captureType = WII5CAPTURETYPE_UNKNOWN;
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wait = 0; retry = 0; stepCount = 0;
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}
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elapsedMillis test1;
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void WII5ModeCapture::loop() {
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// Calculate seconds until next capture has to be started
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bool first = (stepLast != step);
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stepLast = step;
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switch (step) {
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case WII5CAPTURE_OFF:
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// Total minutes since midnight
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minutes = (hour() * 60) + minute();
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// Automatically set to a max of 12 hours
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period = wii5Config.getCapturePeriod();
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remaining = period - (minutes % period);
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if (first) {
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console.log(LOG_INFO, F("Capture: OFF, waiting"));
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sh3dNodeIO.led1Set( LED_SLOW );
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}
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// else if ((wii5Gps.sinceOnLast > (WII5TIME_1HOUR * 1000)) && (!wii5Gps.isTimeValid()))
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// TODO 2024 Changed from 1 hour to 5 minutes - This should change to do a full auto every run
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// Note: that & isTimeValid would often be true...
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else if (wii5Gps.sinceOnLast > 300000) {
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console.log(LOG_INFO, F("Capture: Internal clock / time is not valid, turn on GPS"));
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step = WII5CAPTURE_TIME; wait = 0;
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}
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// NOTE: we have only 60 seconds
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else if ( (minutes % period) == 0) {
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console.log(LOG_INFO, F("Capture: Starting minutes match period min=%lu, period=%lu"), minutes, wii5Config.getCapturePeriod());
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// TODO atData !!!
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step = WII5CAPTURE_START; wait = 0; retry = 0; stepCount = 0;
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captureType = WII5CAPTURETYPE_TIME;
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captureStart = now();
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}
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// 20 or more mimutes
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/*
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else if (remaining > 30) {
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// Hmmm... lets shut down everything, get the power lower
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// TODO check Maths and Communications is off.
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if (!wii5Communications.isRunning())
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wii5Communications.stop();
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if (wii5Controller.getSD() != 0)
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wii5Controller.setSDOff();
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}
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*/
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// 3 or more minutes
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else if (remaining > 3) {
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// Run temperature if more than 5 minutes old
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if (wii5Weather_18B20.age > 300000) {
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wii5Weather_18B20.temperatureRead();
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wii5Battery.start();
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}
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}
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// TODO
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// - Iridium: loop can do its own start/stop processing data
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// - Weather & Battery already do their own
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// -
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// TODO
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// If WAIT is > X minutes, sleep, or just low power mode?
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// GPS off, Iridium Off, Maths off, Sparton off, SD off
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// Power Consumption = X
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// AVR off as well
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// Power Consumption = X
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break;
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case WII5CAPTURE_START:
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// Output Manual vs Time start
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switch(captureType) {
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case WII5CAPTURETYPE_MANUAL:
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wii5Display.statusSend(F("CaptureMode"), F("start,manual"));
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wii5Display.atDataSend(
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F("CaptureCommand"),
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F("START,Manual")
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);
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break;
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case WII5CAPTURETYPE_TIME:
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wii5Display.statusSend(F("CaptureMode"), F("start,timeperiod"));
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wii5Display.atDataSend(
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F("CaptureCommand"),
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F("START,Time,period=%lu,minutes=%lu"),
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wii5Config.getCapturePeriod(),
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minutes
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);
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break;
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};
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startTime = now();
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step = WII5CAPTURE_PREPARE; wait = 0; retry = 0; stepCount = 0;
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break;
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case WII5CAPTURE_TIME:
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if (first) {
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// wii5Gps.autoTime();
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wii5Gps.autoAccurate(); // TODO 2024 - Moved to full auto accurate instead
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}
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else if (wii5Gps.ready()) {
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step = WII5CAPTURE_OFF; wait = 0;
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}
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else if (wait > 300000) {
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step = WII5CAPTURE_OFF; wait = 0;
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}
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break;
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case WII5CAPTURE_PREPARE:
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// Experiment - start communications DURING a run
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wii5Communications.setAutoMode();
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// Some emergency off, just in case - also handy as it does a reboot
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wii5Sparton.stop();
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wii5Sparton.off();
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step = WII5CAPTURE_PREPARE_ID; wait = 0; retry = 0; stepCount = 0;
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break;
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case WII5CAPTURE_PREPARE_ID:
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wii5Config.updateRecordCount();
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step = WII5CAPTURE_PREPARE_SD; wait = 0; retry = 0; stepCount = 0;
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break;
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case WII5CAPTURE_PREPARE_SD:
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// TODO - consider power cylce and delays, and consequence on Maths
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// TODO - Maybe only if card not open?
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if (wii5Controller.getSD() == 1) {
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wii5Controller.setSD1();
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}
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else {
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wii5Controller.setSD2();
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}
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// TODO retry X times with power retry every second?
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// TODO 2024 ! ZOMG ! safeDelay ? or not care? (was 1500)
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delay(1000); // TODO Yes I know !
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// TODO - If card not open?
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if (sdBlock.cardOpen(wii5Controller.getSD())) {
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wii5Display.statusSend(F("CaptureMode"), F("sdcard,current=%d"), wii5Controller.getSD());
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wii5Display.atDataSend(
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F("CaptureCommand"),
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F("SDCard,current,%d"),
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wii5Controller.getSD()
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);
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// open card - else - bugger !
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if (sdBlock.dataOpen(wii5Config.getRecordCount())) {
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wii5Display.atDataSend(
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F("CaptureCommand"),
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F("SDCard,current,%d,recordCount=%lu"),
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wii5Controller.getSD(), wii5Config.getRecordCount()
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);
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#ifdef WII5_GPS
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if (enableGPS) {
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wii5Gps.autoAccurate();
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}
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#endif
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step = WII5CAPTURE_PREPARE_COMMS; wait = 0; retry = 0; stepCount = 0;
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}
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else {
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sh3dNodeIO.led1Set( LED_FAST );
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console.log(LOG_FATAL, F("CAPTURE: Failed dataOpen cardNum=%d"), wii5Controller.getSD());
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snprintf_P(
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wii5Commands.lastCommandMessage, sizeof(wii5Commands.lastCommandMessage),
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PSTR("@Err,sd,dataopen,%d"),
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wii5Controller.getSD()
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);
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wii5Commands.lastCommandCmd = 0;
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wii5Communications.sendError();
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// Flip SD for next time
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if (wii5Controller.getSD() == 1)
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wii5Controller.setSD2();
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else
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wii5Controller.setSD1();
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console.log(LOG_FATAL, F("CAPTURE: Cards swapped cardNum=%d"), wii5Controller.getSD());
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step = WII5CAPTURE_WAIT5_OFF; wait = 0; retry = 0; stepCount = 0;
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}
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}
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else {
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sh3dNodeIO.led1Set( LED_FAST );
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console.log(LOG_FATAL, F("CAPTURE: Failed cardOpen cardNum=%d"), wii5Controller.getSD());
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snprintf_P(
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wii5Commands.lastCommandMessage, sizeof(wii5Commands.lastCommandMessage),
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PSTR("@Err,sd,cardopen,%d"),
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wii5Controller.getSD()
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);
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wii5Commands.lastCommandCmd = 0;
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wii5Communications.sendError();
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// Flip SD for next time
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if (wii5Controller.getSD() == 1)
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wii5Controller.setSD2();
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else
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wii5Controller.setSD1();
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console.log(LOG_FATAL, F("CAPTURE: Cards swapped cardNum=%d"), wii5Controller.getSD());
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step = WII5CAPTURE_WAIT5_OFF; wait = 0; retry = 0; stepCount = 0;
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}
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break;
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case WII5CAPTURE_PREPARE_COMMS:
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// For now - skipping comms - leaving until the end
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step = WII5CAPTURE_PREPARE_SPARTON; wait = 0; retry = 0; stepCount = 0;
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break;
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// Prepare the sparton to go
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case WII5CAPTURE_PREPARE_SPARTON:
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#ifdef WII5_IMU_SPARTON
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wii5Display.statusSend(F("CaptureMode"), F("sparton,start"));
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// TODO Configuration
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wii5Sparton.setBinary(1);
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wii5Sparton.setHz(8);
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wii5Sparton.setRecords(wii5Config.getCaptureRecords());
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wii5Sparton.setCapture(1);
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// Start
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// TODO 2024 - Do we need to wait? - or just start? When is commands sent to Sparton?
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wii5Sparton.start();
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#endif
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step = WII5CAPTURE_INPROGRESS; wait = 0; retry = 0; stepCount = 0;
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break;
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// Capture is running - report progress? (might be done in IMU)
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case WII5CAPTURE_INPROGRESS:
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if (first) {
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sh3dNodeIO.led1Set( LED_TRIPPLE );
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}
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else if (wii5Sparton.captureFinished()) {
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step = WII5CAPTURE_SHUTDOWN; stepCount = 0; wait = 0;
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}
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// 30 minutes
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else if (wait > 1800000) {
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console.log(LOG_FATAL, F("Capture: Failed - timeout after 30 minutes"));
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// TODO 2024 - sendError?
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sh3dNodeIO.led1Set( LED_FAST );
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step = WII5CAPTURE_CANCEL_OFF; wait = 0; retry = 0; stepCount = 0;
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}
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break;
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// Shutdown the capture devices, IMU etc (should be internal IMIU)
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case WII5CAPTURE_SHUTDOWN:
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if (stepCount == 1) {
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// Shutdown sparton?
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}
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step = WII5CAPTURE_SEND_PREPARE; stepCount = 0; wait = 0;
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break;
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case WII5CAPTURE_SEND_PREPARE:
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step = WII5CAPTURE_PROCESS; stepCount = 0; wait = 0;
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break;
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case WII5CAPTURE_PROCESS:
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// TODO This here should be switching SD Cards if possible
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// - Stop SD
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// - Switch SD
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// - Start Maths
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// - This allows code to be processed right away.
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// TODO - if Maths is off
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// TODO - Switch SD Cards
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// TODO - store new one in wii5Controller.getSD() for next time - ie. shoulduse that even if hours away
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step = WII5CAPTURE_FINISH; stepCount = 0; wait = 0;
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break;
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// Three ways to cancel
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case WII5CAPTURE_FLIP:
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case WII5CAPTURE_CANCEL_RESTART:
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case WII5CAPTURE_CANCEL_OFF:
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case WII5CAPTURE_MANUAL_OFF:
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if (first) {
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console.log(LOG_FATAL, F("Capture: Manual Cancel - Turning off the devices."));
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#ifdef WII5_GPS
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if (enableGPS)
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wii5Gps.off();
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#endif
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wii5Sparton.stop();
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if (step == WII5CAPTURE_FLIP) {
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console.log(LOG_INFO, F("CaptureMode: FLIP manually requested on SD Cards"));
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sdBlock.cardForceClose();
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wii5Controller.setSDOff();
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delay(500); // TODO Yes I know.... gah. TODO 2024 safeDelay - really 3 seconds TODO 2024 was 3000
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if (wii5Controller.getSD() == 1) {
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wii5Controller.setSD2();
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wii5Display.statusSend(F("CaptureMode"), F("sdcard,swap,2"));
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wii5Display.atDataSend(
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F("MathsProcess"),
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F("SD=2")
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);
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}
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else {
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wii5Controller.setSD1();
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wii5Display.statusSend(F("CaptureMode"), F("sdcard,swap,1"));
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wii5Display.atDataSend(
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F("MathsProcess"),
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F("SD=1")
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);
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}
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}
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}
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// Maths ?
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if (wait > 2000) {
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if (step == WII5CAPTURE_CANCEL_RESTART) {
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step = WII5CAPTURE_START; wait = 0; retry = 0; stepCount = 0;
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}
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else {
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step = WII5CAPTURE_WAIT5_OFF; wait = 0; retry = 0; stepCount = 0;
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}
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}
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break;
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case WII5CAPTURE_WAIT5_OFF:
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if (stepCount == 1)
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console.log(LOG_DEBUG, F("ModeCapture: Waiting for 90 seconds after fatal error before retrying"));
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if (wait > 90000) {
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step = WII5CAPTURE_OFF; stepCount = 0; wait = 0;
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}
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break;
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// Capture is finished - what do we do?
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// - Need to Sleep. e.g. more than 1 hour to wait.
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// - Twiddlge thumbs waiting for Maths CPU to process and send Iridium
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// . Reduce power of all other devices
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// . Monitor Maths - don't let it run forever
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// . Monitor Iridium - don't let it run forever
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case WII5CAPTURE_FINISH:
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wii5Display.statusSend(F("CaptureMode"), F("sparton,end"));
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// Just sit here
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wii5Display.atDataSend(
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F("CaptureCommand"),
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F("END")
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);
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// Close DATA
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sdBlock.dataClose(false);
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// Create empty single entry for results.
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sdBlock.dataOpen(wii5Config.getRecordCount());
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sdBlock.dataPrepare();
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sdBlock.dataWrite();
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sdBlock.dataClose(true);
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// Trigger temperatureRead - safe place at ene of a read
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wii5Weather_18B20.temperatureRead();
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#ifdef WII5_GPS
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if (wii5Gps.isError()) {
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// TODO report errors
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console.log(LOG_DEBUG, F("GPS: failure I think"));
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}
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else if (wii5Gps.ready()) {
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console.log(LOG_DEBUG, F("GPS: Success I think"));
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}
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else {
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console.log(LOG_DEBUG, F("GPS: UNKNOWN I think"));
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}
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wii5Gps.off();
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#endif
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// TODO Check for errors
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sdBlock.metadataPrepare();
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if (sizeof(WII5MetaDataObject) <= sizeof(sdBlock.metadata->data)) {
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console.log(LOG_DEBUG, F("Writing SDBlock Metadata - WII5 Size=%d, SDBlock Size=%d"),
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int(sizeof(WII5MetaDataObject)),
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int(sizeof(sdBlock.metadata->data))
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);
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wii5Display.updateMetadata(sdBlock.metadata->data);
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}
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else {
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console.log(LOG_FATAL, F("SDBlock and MetaData are not compatible sizes - WII5 Size=%d, SDBlock Size=%d"),
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int(sizeof(WII5MetaDataObject)),
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int(sizeof(sdBlock.metadata->data))
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);
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}
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sdBlock.metadataWrite();
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console.log(LOG_DEBUG, F("SDBlock metadata write = %lu"), sdBlock.metadataLast);
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// Always close card
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sdBlock.cardClose();
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if (debug) {
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delay(1000);
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sdBlock.cardOpen(wii5Controller.getSD());
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sdBlock.metadataRead(0);
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uint32_t dataBlockStart = sdBlock.metadata->dataBlockStart;
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uint32_t dataBlocks = sdBlock.metadata->dataBlocks;
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uint32_t resultsBlockStart = sdBlock.metadata->resultsBlockStart;
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uint32_t resultsBlocks = sdBlock.metadata->resultsBlocks;
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console.printf(F("@Block,metadata,address=%lu,deviceId=%lu,recordId=%lu\r\n"),
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sdBlock.metadataLast, sdBlock.metadata->deviceId, sdBlock.metadata->recordId
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);
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console.printf(F("@Block,metadata,dataBlockStart=%lu,dataBlocks=%lu\r\n"),
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dataBlockStart, dataBlocks
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);
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|
console.printf(F("@Block,metadata,resultsBlockStart=%lu,resultsBlocks=%lu\r\n"),
|
|
resultsBlockStart, resultsBlocks
|
|
);
|
|
}
|
|
|
|
// SAFETY
|
|
// - Check maths is off, others leave this one live
|
|
if (wii5Maths.isOff() || enableLiveSwap) {
|
|
// TODO need more delays...
|
|
// TODO - consider printing that we did Live Swap
|
|
if (wii5Controller.getSD() == 1) {
|
|
wii5Controller.setSD2();
|
|
wii5Display.statusSend(F("CaptureMode"), F("sdcard,swap,2"));
|
|
wii5Display.atDataSend(
|
|
F("MathsProcess"),
|
|
F("SD=2")
|
|
);
|
|
}
|
|
else {
|
|
wii5Controller.setSD1();
|
|
wii5Display.statusSend(F("CaptureMode"), F("sdcard,swap,1"));
|
|
wii5Display.atDataSend(
|
|
F("MathsProcess"),
|
|
F("SD=1")
|
|
);
|
|
}
|
|
|
|
if (!sdBlock.cardOpen(wii5Controller.getSD())) {
|
|
sh3dNodeIO.led1Set( LED_FAST );
|
|
console.log(LOG_ERROR, F("Error opening SD Card"));
|
|
}
|
|
// Signal we have swapped SD
|
|
wii5Communications.signalSD();
|
|
}
|
|
else {
|
|
wii5Display.statusSend(F("CaptureMode"), F("sdcard,noswap"));
|
|
wii5Display.atDataSend(
|
|
F("MathsProcess"),
|
|
F("noswap")
|
|
);
|
|
}
|
|
|
|
// TODO Calculate waiting time.
|
|
// If Maths finished, and Iridium finished.
|
|
// And we have to wait longer than X (30 minutes?)
|
|
// Deep Sleep for 90% of that time.
|
|
|
|
if(captureType == WII5CAPTURETYPE_MANUAL) {
|
|
console.log(LOG_INFO, F("Manual run executed, switching back to Default Mode"));
|
|
wii5Controller.setDefaultMode();
|
|
}
|
|
|
|
if (enableMaths)
|
|
wii5Maths.start(WII5MATHSMODE_AUTO);
|
|
wii5Communications.start(); // In case we didn't get SD, still tell it to do the job
|
|
step = WII5CAPTURE_WAIT_COMMS_MATHS; wait = 0; retry = 0; stepCount = 0;
|
|
break;
|
|
|
|
case WII5CAPTURE_WAIT_COMMS_MATHS:
|
|
if (first) {
|
|
console.log(LOG_DEBUG, F("Waiting for Maths and Communicatinos to Finish"));
|
|
}
|
|
// If maths and Comms is off, jumpt to OFF
|
|
else if ( !wii5Communications.isRunning() && wii5Maths.isOff()) {
|
|
console.log(LOG_INFO, F("CAPTURE: Maths and Comms finsihed"));
|
|
step = WII5CAPTURE_OFF; wait = 0; retry = 0; stepCount = 0;
|
|
}
|
|
// Wait 3 minuts here quietly
|
|
else if (wait > 180000) {
|
|
console.log(LOG_INFO, F("CAPTURE: 3 minutes and Maths and Communications not finished. Mvoing on but leaving them on."));
|
|
step = WII5CAPTURE_OFF; wait = 0; retry = 0; stepCount = 0;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
console.log(LOG_FATAL, F("CAPTURE: Default step... step=%d"), step);
|
|
step = WII5CAPTURE_OFF; stepCount = 0; wait = 0;
|
|
break;
|
|
}
|
|
|
|
stepCount++;
|
|
stepTotal++;
|
|
}
|
|
|
|
void WII5ModeCapture::flip() {
|
|
step = WII5CAPTURE_FLIP; wait = 0; stepCount = 0;
|
|
}
|
|
|
|
WII5ModeCapture wii5ModeCapture;
|