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write log header only once

This commit is contained in:
interfisch 2021-03-31 20:31:25 +02:00
parent 025d2ddbc2
commit aaabdb3a80
1 changed files with 15 additions and 2 deletions
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17
controller_teensy/src/main.cpp
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@ -21,6 +21,10 @@ unsigned long last_log_send=0;
#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial #define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
#define LOGMININTERVAL 20 //minimum interval (ms) to send logs #define LOGMININTERVAL 20 //minimum interval (ms) to send logs
#define LOGMAXINTERVAL 10000 //maximum time (ms) after which data is send
#define WRITE_HEADER_TIME 1000
bool log_header_written = false;
bool controllers_connected=false; bool controllers_connected=false;
@ -270,10 +274,12 @@ void loop() {
controllers_connected=false; controllers_connected=false;
}else if(!controllers_connected) { //not timeouted but was before }else if(!controllers_connected) { //not timeouted but was before
controllers_connected=true; controllers_connected=true;
writeLogHeader(Serial1); //connection recovered, write log header
} }
if (newData2) { if (newData2) {
motorparamsFront.cur_pos++; motorparamsFront.cur_pos++;
motorparamsFront.cur_pos%=CURRENT_FILTER_SIZE; motorparamsFront.cur_pos%=CURRENT_FILTER_SIZE;
@ -344,7 +350,14 @@ void loop() {
} }
if (log_update && loopmillis>last_log_send+LOGMININTERVAL) { // ######## LOG ########
if (!log_header_written && loopmillis>=WRITE_HEADER_TIME){
writeLogHeader(Serial1); //connection recovered, write log header
log_header_written=true;
}
if ((log_header_written && log_update && loopmillis>last_log_send+LOGMININTERVAL) || loopmillis>last_log_send+LOGMAXINTERVAL) {
last_log_send=loopmillis; last_log_send=loopmillis;
log_update=false; log_update=false;
writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos); writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos);