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.
219 lines
8.4 KiB
Plaintext
219 lines
8.4 KiB
Plaintext
Final Modes for WII5 Tasmania Release
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* Incidental ones - used to transition the modes in the state machine
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* BOOT
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* START
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* Demo / Testing modes - these must not be used in prod, but will have to have just timeouts
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(these modes do not have Iridium and are unreliable, they must exit)
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* DEMO
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* MANUALTEST
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* SELFTEST
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* Fully functional modes - each of these has full control, metadata, and Iridium
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* SLEEP - as deep as possible, basically off. But will come on every 12 hours
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* LOWBATTERY - Automatically selected, no matter what the mode
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* POSITION - Send the position over and over
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* CAPTURE - Full controlled and capture mode
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Original Notes:
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Top Level Modes
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Most of the buoy uses a lot of memory. But can be rebooted to other states.
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And most of the memory is using MALLOC
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Boot up stages
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WII5MODE_BOOT - Boot up only once
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. Loading configuration from EEPROM etc only needs to be done once
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. Long processes, like reading the blocks from the SD Cards
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SET - NA
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AUTO - Boot up
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WII5MODE_START - Probably jump here each time waking from sleep etc
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. GPS, RTC, and other updates that need to be regularly checked can be done here
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SET - NA
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AUTO - Start ?
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WII5MODE_OFF, - OFF - Disable everything and go into deep sleep, don't wake, back to sleep
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. Really just a mode that allows us to stay here - (e.g. switch is off)
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SET - NA
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AUTO - Switch position
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WII5MODE_SLEEP, - Same as OFF, but will wake with button, alarm, and every 12 hours
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. Sleep - wake can be from button, network, time is up, alarm hit (RTC), every 12 hours and more
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. Allowing more complicated decisions, e.g. long press to move to MANUAL TEST mode or Force Capture test
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-> REPORT - If 12 hoursly updates
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-> TemporaryMode - If still not expired
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-> mode would be - POSITION or CAPTURE or SLEEP
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-> DefaultMode - Otherwise
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-> mode would be - POSITION or CAPTURE or SLEEP
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SET - expires
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val1 = ReportPeriod - How many minutes between reports. Default is 720 (12 hours)
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NOTE: No way to go back to temporary mode right now. Consider that?
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AUTO - NA
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WII5MODE_LOWBATTERY, - Automatically set mode based on Battery Management
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. A command mode change can force to MANUALTEST, or others but only for a maximum time period
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SET - NA
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AUTO - From Battery Module - not saved, recalculated all the time
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WII5MODE_POSITION, - Position mode - light weight, no Maths, regular updates
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SET - expires
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val1 = ReportPeriod - How many minutes between sending position (default 15 minutes)
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val2 = StrobeModes - e.g. Turn on strobe never, 5 minutes per hour, 1 minute at every send, etc
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NOTE: No way to go back to temporary mode right now. Consider that?
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AUTO - NA
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WII5MODE_REPORT, - Report - this is like position, but a single report, and back to sleep
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MINI Self Test or Requested Self Test
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SET - NA
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AUTO - Done from sleep, returns back to SLEEP - which will test etc
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WII5MODE_CAPTURE, - Normal full capture mode.
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SET - expires
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val1 - RunPeriod - Minutes between - 15 (every 15 mins), 60 (once an hour), 120 (every 2 hours)
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val2 - Records - How many records do we want (needs to be what is needed by maths)
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val3 - Predefined sets of data to send back for Iridium - this is going to be a
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bit mask. So we can have 32 sets of data we can add. Some might be contray to
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each other. e.g. 1 might be low resolution temperature, but 2 high resolution,
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so no point adding both.
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New simpler Binary module - since now we only need to know this 32 bit number,
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to know what is in the rest of the packet - and new types of data get added to the
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end..... maybe.
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AUTO - NA
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WII5MODE_MANUALTEST - Manual test - each power button, module etc, can be toggled.
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. Leaving this mode - we should consider a software reboot as the modes and hardware will be in an unknown state
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SET - (restrict to set from Serial and not Iridium)
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AUTO - NA
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WII5MODE_SELFTEST - Self Test mode allows running through all the self tests automatically and rebooting
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SET - (restrict to set from Serial and not Iridium)
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val1 - ?
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AUTO - NA
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Changing Modes:
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* Code:
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- wii5Controler.setMode(WII5MODE_MANUALTEST); // Forever - write to config
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- wii5Controler.setTemporaryMode(WII5MODE_MANUALTEST); // Until reboot (ie, not to config)
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- wii5Controler.setTemporaryMode(WII5MODE_MANUALTEST, 300); // 5 minutes
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* Iridium
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- mode:ModeName:Seconds(0 forever):option1,option2,option3
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(NOTE: Could we support all serial commands here?)
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(NOTE: Could we make it a specific one line reply is always made)
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@WII5!,mode,... e.g. it is WII5! for ACK and then the first string, e.g. mode, rest is optional
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@WII5,hello,From,Here would be therefore @WII5!,hello,My,Reply
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* Serial
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- @WII5,mode,ModeName,Seconds,option1,option2,option3
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* Modules Logic
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- WII5Battery - force to LOWBATTERY mode (never saved), switch back to Capture when it can (or what ever default)
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Boot Mode: (how do we know where to start)
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(first one to match)
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* Check the OFF Switch - if it is active, WII5MODE_OFF
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. We don't actually need to do this one, if OFF switch active in loop, it will set it no matter what the mode.
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* Check Battery
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. Special option in config to ignore the battery for a period of time.
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. If battery too low, switch to low power mode (and not ignored)
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* Sleeping
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. Read the sleeping configuration from memory or EEPROM
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. Check the date / time for it has not yet expired (check time is synced)
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. Back to sleep
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* TemporaryMode
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. Read Temporary mode - from memory or EEPROM
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. Check the date / time for it has not yet expired (check time is synced)
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. Use this mode
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* DefaultMode
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. Back to default mode
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Configuration Options Per mode:
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* WII5MODE_BOOT
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. NA
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* WII5MODE_START
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. NA
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* WII5MODE_OFF
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. NA
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* WII5MODE_SLEEP
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. When to wake up (time in future, or number of seconds from now)
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* WII5MODE_WAKE
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. NA
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* WII5MODE_REPORT
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. NA
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* WII5MODE_LOWBATTERY
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. NA
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* WII5MODE_POSITION
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. Frequency (how many minutes apart)
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. Strobe Rules - instead of just on/off - strobe can have rules in here
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* WII5MODE_CAPTURE
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. Number of seconds/minutes/records to caputre
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. Process flags - Pass in some optional extra flags on processing and what you want returned via Iridium
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. When to start (minute in hour or some way of multiple per hour, half hour, quarter hour)
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. Hours between too
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. Examples:
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. Start 5 minutes past the hour, ever 3 hours (ie. 00, 03, 06, 09 ...)
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. Run every 15 minutes for one hour, then sleep for an hour (00:00, 00:15, 00:30, 00:45, sleep... 02:00, 02:15, ...)
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. etc.
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* WII5MODE_MANUALTEST
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. NA
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* WII5MODE_SELFTEST
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. NA - might have some subsets in the future
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Main Modes:
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* OFF
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* A rare mode where the device is completely off.
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* Exit = ? Physical butto?
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* Time?
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* Sleep
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* Deep down sleep, don't take up much power
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* WakeUp
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* Check why we got woken up?
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* User input button
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* Back to old mode after sleep (period hit)
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* Iridium input
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* Period wake up - send status, che
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* Exit - always does end of this, back to sleep
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* LowPower
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* Special mode, keep everything really short
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* Send Data
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* Sleep
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* Position
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* Capture
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* Capture Start will define what is checked, e.g. It might not allow iridium
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* In that case, Iridium NMEA commands should return correct error to wait
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* NOTE: This is not capture itself
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* ManualTest
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* Stay in this mode (max tme, maybe 4 hours) to test
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* Allow manual start/stop of processes
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Exclusive vs Together:
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* Classic example...
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* Start capture
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* In the background the Maths processor is still dealing with the old data.
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* And it sends Iridium commands
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* And capture needs metadata such as GPS.
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* So Sparton serial in, SD writes, Iridium sending data, GPS on. All not kind of related.
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Sequence:
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Boot
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Load up configuration from EEPROM, start devices etc
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SelfTest
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A built in self test that takes under 1 minutes. It will just set a Simple
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error we can use to update the LED
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Run
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Sleep
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Run Modes
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