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655 lines
19 KiB
C++
655 lines
19 KiB
C++
/**
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* This program logs data to a binary file. Functions are included
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* to convert the binary file to a csv text file.
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*
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* Samples are logged at regular intervals. The maximum logging rate
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* depends on the quality of your SD card and the time required to
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* read sensor data. This example has been tested at 500 Hz with
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* good SD card on an Uno. 4000 HZ is possible on a Due.
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*
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* If your SD card has a long write latency, it may be necessary to use
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* slower sample rates. Using a Mega Arduino helps overcome latency
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* problems since 12 512 byte buffers will be used.
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*
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* Data is written to the file using a SD multiple block write command.
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*/
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#include <SPI.h>
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#include "SdFat.h"
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#include "FreeStack.h"
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#include "UserTypes.h"
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#ifdef __AVR_ATmega328P__
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#include "MinimumSerial.h"
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MinimumSerial MinSerial;
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#define Serial MinSerial
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#endif // __AVR_ATmega328P__
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//==============================================================================
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// Start of configuration constants.
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//==============================================================================
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// Abort run on an overrun. Data before the overrun will be saved.
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#define ABORT_ON_OVERRUN 1
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//------------------------------------------------------------------------------
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//Interval between data records in microseconds.
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const uint32_t LOG_INTERVAL_USEC = 2000;
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//------------------------------------------------------------------------------
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// Set USE_SHARED_SPI non-zero for use of an SPI sensor.
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// May not work for some cards.
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#ifndef USE_SHARED_SPI
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#define USE_SHARED_SPI 0
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#endif // USE_SHARED_SPI
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//------------------------------------------------------------------------------
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// Pin definitions.
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//
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// SD chip select pin.
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const uint8_t SD_CS_PIN = SS;
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//
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// Digital pin to indicate an error, set to -1 if not used.
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// The led blinks for fatal errors. The led goes on solid for
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// overrun errors and logging continues unless ABORT_ON_OVERRUN
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// is non-zero.
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#ifdef ERROR_LED_PIN
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#undef ERROR_LED_PIN
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#endif // ERROR_LED_PIN
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const int8_t ERROR_LED_PIN = -1;
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//------------------------------------------------------------------------------
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// File definitions.
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//
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// Maximum file size in blocks.
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// The program creates a contiguous file with FILE_BLOCK_COUNT 512 byte blocks.
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// This file is flash erased using special SD commands. The file will be
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// truncated if logging is stopped early.
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const uint32_t FILE_BLOCK_COUNT = 256000;
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//
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// log file base name if not defined in UserTypes.h
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#ifndef FILE_BASE_NAME
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#define FILE_BASE_NAME "data"
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#endif // FILE_BASE_NAME
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//------------------------------------------------------------------------------
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// Buffer definitions.
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//
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// The logger will use SdFat's buffer plus BUFFER_BLOCK_COUNT-1 additional
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// buffers.
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//
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#ifndef RAMEND
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// Assume ARM. Use total of ten 512 byte buffers.
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const uint8_t BUFFER_BLOCK_COUNT = 10;
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//
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#elif RAMEND < 0X8FF
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#error Too little SRAM
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//
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#elif RAMEND < 0X10FF
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// Use total of two 512 byte buffers.
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const uint8_t BUFFER_BLOCK_COUNT = 2;
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//
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#elif RAMEND < 0X20FF
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// Use total of four 512 byte buffers.
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const uint8_t BUFFER_BLOCK_COUNT = 4;
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//
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#else // RAMEND
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// Use total of 12 512 byte buffers.
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const uint8_t BUFFER_BLOCK_COUNT = 12;
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#endif // RAMEND
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//==============================================================================
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// End of configuration constants.
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//==============================================================================
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// Temporary log file. Will be deleted if a reset or power failure occurs.
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#define TMP_FILE_NAME FILE_BASE_NAME "##.bin"
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// Size of file base name.
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const uint8_t BASE_NAME_SIZE = sizeof(FILE_BASE_NAME) - 1;
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const uint8_t FILE_NAME_DIM = BASE_NAME_SIZE + 7;
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char binName[FILE_NAME_DIM] = FILE_BASE_NAME "00.bin";
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SdFat sd;
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SdBaseFile binFile;
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// Number of data records in a block.
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const uint16_t DATA_DIM = (512 - 4)/sizeof(data_t);
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//Compute fill so block size is 512 bytes. FILL_DIM may be zero.
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const uint16_t FILL_DIM = 512 - 4 - DATA_DIM*sizeof(data_t);
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struct block_t {
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uint16_t count;
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uint16_t overrun;
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data_t data[DATA_DIM];
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uint8_t fill[FILL_DIM];
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};
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//==============================================================================
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// Error messages stored in flash.
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#define error(msg) {sd.errorPrint(&Serial, F(msg));fatalBlink();}
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//------------------------------------------------------------------------------
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//
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void fatalBlink() {
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while (true) {
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SysCall::yield();
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if (ERROR_LED_PIN >= 0) {
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digitalWrite(ERROR_LED_PIN, HIGH);
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delay(200);
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digitalWrite(ERROR_LED_PIN, LOW);
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delay(200);
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}
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}
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}
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//------------------------------------------------------------------------------
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// read data file and check for overruns
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void checkOverrun() {
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bool headerPrinted = false;
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block_t block;
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uint32_t bn = 0;
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if (!binFile.isOpen()) {
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Serial.println();
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Serial.println(F("No current binary file"));
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return;
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}
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binFile.rewind();
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Serial.println();
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Serial.print(F("FreeStack: "));
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Serial.println(FreeStack());
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Serial.println(F("Checking overrun errors - type any character to stop"));
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while (binFile.read(&block, 512) == 512) {
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if (block.count == 0) {
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break;
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}
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if (block.overrun) {
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if (!headerPrinted) {
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Serial.println();
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Serial.println(F("Overruns:"));
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Serial.println(F("fileBlockNumber,sdBlockNumber,overrunCount"));
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headerPrinted = true;
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}
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Serial.print(bn);
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Serial.print(',');
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Serial.print(binFile.firstBlock() + bn);
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Serial.print(',');
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Serial.println(block.overrun);
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}
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bn++;
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}
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if (!headerPrinted) {
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Serial.println(F("No errors found"));
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} else {
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Serial.println(F("Done"));
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}
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}
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//-----------------------------------------------------------------------------
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// Convert binary file to csv file.
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void binaryToCsv() {
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uint8_t lastPct = 0;
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block_t block;
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uint32_t t0 = millis();
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uint32_t syncCluster = 0;
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SdFile csvFile;
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char csvName[FILE_NAME_DIM];
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if (!binFile.isOpen()) {
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Serial.println();
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Serial.println(F("No current binary file"));
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return;
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}
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Serial.println();
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Serial.print(F("FreeStack: "));
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Serial.println(FreeStack());
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// Create a new csvFile.
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strcpy(csvName, binName);
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strcpy(&csvName[BASE_NAME_SIZE + 3], "csv");
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if (!csvFile.open(csvName, O_WRITE | O_CREAT | O_TRUNC)) {
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error("open csvFile failed");
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}
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binFile.rewind();
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Serial.print(F("Writing: "));
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Serial.print(csvName);
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Serial.println(F(" - type any character to stop"));
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printHeader(&csvFile);
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uint32_t tPct = millis();
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while (!Serial.available() && binFile.read(&block, 512) == 512) {
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uint16_t i;
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if (block.count == 0 || block.count > DATA_DIM) {
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break;
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}
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if (block.overrun) {
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csvFile.print(F("OVERRUN,"));
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csvFile.println(block.overrun);
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}
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for (i = 0; i < block.count; i++) {
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printData(&csvFile, &block.data[i]);
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}
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if (csvFile.curCluster() != syncCluster) {
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csvFile.sync();
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syncCluster = csvFile.curCluster();
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}
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if ((millis() - tPct) > 1000) {
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uint8_t pct = binFile.curPosition()/(binFile.fileSize()/100);
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if (pct != lastPct) {
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tPct = millis();
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lastPct = pct;
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Serial.print(pct, DEC);
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Serial.println('%');
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}
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}
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if (Serial.available()) {
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break;
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}
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}
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csvFile.close();
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Serial.print(F("Done: "));
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Serial.print(0.001*(millis() - t0));
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Serial.println(F(" Seconds"));
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}
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//-----------------------------------------------------------------------------
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void createBinFile() {
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// max number of blocks to erase per erase call
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const uint32_t ERASE_SIZE = 262144L;
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uint32_t bgnBlock, endBlock;
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// Delete old tmp file.
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if (sd.exists(TMP_FILE_NAME)) {
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Serial.println(F("Deleting tmp file " TMP_FILE_NAME));
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if (!sd.remove(TMP_FILE_NAME)) {
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error("Can't remove tmp file");
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}
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}
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// Create new file.
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Serial.println(F("\nCreating new file"));
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binFile.close();
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if (!binFile.createContiguous(TMP_FILE_NAME, 512 * FILE_BLOCK_COUNT)) {
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error("createContiguous failed");
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}
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// Get the address of the file on the SD.
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if (!binFile.contiguousRange(&bgnBlock, &endBlock)) {
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error("contiguousRange failed");
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}
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// Flash erase all data in the file.
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Serial.println(F("Erasing all data"));
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uint32_t bgnErase = bgnBlock;
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uint32_t endErase;
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while (bgnErase < endBlock) {
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endErase = bgnErase + ERASE_SIZE;
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if (endErase > endBlock) {
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endErase = endBlock;
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}
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if (!sd.card()->erase(bgnErase, endErase)) {
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error("erase failed");
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}
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bgnErase = endErase + 1;
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}
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}
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//------------------------------------------------------------------------------
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// dump data file to Serial
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void dumpData() {
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block_t block;
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if (!binFile.isOpen()) {
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Serial.println();
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Serial.println(F("No current binary file"));
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return;
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}
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binFile.rewind();
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Serial.println();
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Serial.println(F("Type any character to stop"));
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delay(1000);
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printHeader(&Serial);
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while (!Serial.available() && binFile.read(&block , 512) == 512) {
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if (block.count == 0) {
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break;
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}
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if (block.overrun) {
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Serial.print(F("OVERRUN,"));
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Serial.println(block.overrun);
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}
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for (uint16_t i = 0; i < block.count; i++) {
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printData(&Serial, &block.data[i]);
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}
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}
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Serial.println(F("Done"));
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}
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//------------------------------------------------------------------------------
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// log data
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void logData() {
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createBinFile();
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recordBinFile();
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renameBinFile();
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}
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//------------------------------------------------------------------------------
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void openBinFile() {
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char name[FILE_NAME_DIM];
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strcpy(name, binName);
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Serial.println(F("\nEnter two digit version"));
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Serial.write(name, BASE_NAME_SIZE);
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for (int i = 0; i < 2; i++) {
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while (!Serial.available()) {
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SysCall::yield();
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}
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char c = Serial.read();
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Serial.write(c);
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if (c < '0' || c > '9') {
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Serial.println(F("\nInvalid digit"));
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return;
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}
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name[BASE_NAME_SIZE + i] = c;
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}
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Serial.println(&name[BASE_NAME_SIZE+2]);
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if (!sd.exists(name)) {
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Serial.println(F("File does not exist"));
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return;
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}
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binFile.close();
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strcpy(binName, name);
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if (!binFile.open(binName, O_READ)) {
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Serial.println(F("open failed"));
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return;
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}
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Serial.println(F("File opened"));
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}
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//------------------------------------------------------------------------------
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void recordBinFile() {
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const uint8_t QUEUE_DIM = BUFFER_BLOCK_COUNT + 1;
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// Index of last queue location.
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const uint8_t QUEUE_LAST = QUEUE_DIM - 1;
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// Allocate extra buffer space.
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block_t block[BUFFER_BLOCK_COUNT - 1];
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block_t* curBlock = 0;
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block_t* emptyStack[BUFFER_BLOCK_COUNT];
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uint8_t emptyTop;
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uint8_t minTop;
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block_t* fullQueue[QUEUE_DIM];
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uint8_t fullHead = 0;
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uint8_t fullTail = 0;
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// Use SdFat's internal buffer.
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emptyStack[0] = (block_t*)sd.vol()->cacheClear();
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if (emptyStack[0] == 0) {
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error("cacheClear failed");
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}
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// Put rest of buffers on the empty stack.
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for (int i = 1; i < BUFFER_BLOCK_COUNT; i++) {
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emptyStack[i] = &block[i - 1];
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}
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emptyTop = BUFFER_BLOCK_COUNT;
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minTop = BUFFER_BLOCK_COUNT;
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// Start a multiple block write.
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if (!sd.card()->writeStart(binFile.firstBlock())) {
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error("writeStart failed");
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}
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Serial.print(F("FreeStack: "));
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Serial.println(FreeStack());
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Serial.println(F("Logging - type any character to stop"));
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bool closeFile = false;
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uint32_t bn = 0;
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uint32_t maxLatency = 0;
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uint32_t overrun = 0;
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uint32_t overrunTotal = 0;
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uint32_t logTime = micros();
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while(1) {
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// Time for next data record.
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logTime += LOG_INTERVAL_USEC;
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if (Serial.available()) {
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closeFile = true;
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}
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if (closeFile) {
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if (curBlock != 0) {
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// Put buffer in full queue.
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fullQueue[fullHead] = curBlock;
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fullHead = fullHead < QUEUE_LAST ? fullHead + 1 : 0;
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curBlock = 0;
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}
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} else {
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if (curBlock == 0 && emptyTop != 0) {
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curBlock = emptyStack[--emptyTop];
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if (emptyTop < minTop) {
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minTop = emptyTop;
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}
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curBlock->count = 0;
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curBlock->overrun = overrun;
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overrun = 0;
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}
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if ((int32_t)(logTime - micros()) < 0) {
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error("Rate too fast");
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}
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int32_t delta;
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do {
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delta = micros() - logTime;
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} while (delta < 0);
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if (curBlock == 0) {
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overrun++;
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overrunTotal++;
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if (ERROR_LED_PIN >= 0) {
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digitalWrite(ERROR_LED_PIN, HIGH);
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}
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#if ABORT_ON_OVERRUN
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Serial.println(F("Overrun abort"));
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break;
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#endif // ABORT_ON_OVERRUN
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} else {
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#if USE_SHARED_SPI
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sd.card()->spiStop();
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#endif // USE_SHARED_SPI
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acquireData(&curBlock->data[curBlock->count++]);
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#if USE_SHARED_SPI
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sd.card()->spiStart();
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#endif // USE_SHARED_SPI
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if (curBlock->count == DATA_DIM) {
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fullQueue[fullHead] = curBlock;
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fullHead = fullHead < QUEUE_LAST ? fullHead + 1 : 0;
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curBlock = 0;
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}
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}
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}
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if (fullHead == fullTail) {
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// Exit loop if done.
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if (closeFile) {
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break;
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}
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} else if (!sd.card()->isBusy()) {
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// Get address of block to write.
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block_t* pBlock = fullQueue[fullTail];
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fullTail = fullTail < QUEUE_LAST ? fullTail + 1 : 0;
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// Write block to SD.
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uint32_t usec = micros();
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if (!sd.card()->writeData((uint8_t*)pBlock)) {
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error("write data failed");
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}
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usec = micros() - usec;
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if (usec > maxLatency) {
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maxLatency = usec;
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}
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// Move block to empty queue.
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emptyStack[emptyTop++] = pBlock;
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bn++;
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if (bn == FILE_BLOCK_COUNT) {
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// File full so stop
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break;
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}
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}
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}
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if (!sd.card()->writeStop()) {
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error("writeStop failed");
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}
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Serial.print(F("Min Free buffers: "));
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Serial.println(minTop);
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Serial.print(F("Max block write usec: "));
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Serial.println(maxLatency);
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Serial.print(F("Overruns: "));
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Serial.println(overrunTotal);
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// Truncate file if recording stopped early.
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if (bn != FILE_BLOCK_COUNT) {
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Serial.println(F("Truncating file"));
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if (!binFile.truncate(512L * bn)) {
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error("Can't truncate file");
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}
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}
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}
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//------------------------------------------------------------------------------
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void recoverTmpFile() {
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uint16_t count;
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if (!binFile.open(TMP_FILE_NAME, O_RDWR)) {
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return;
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}
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if (binFile.read(&count, 2) != 2 || count != DATA_DIM) {
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error("Please delete existing " TMP_FILE_NAME);
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}
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Serial.println(F("\nRecovering data in tmp file " TMP_FILE_NAME));
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uint32_t bgnBlock = 0;
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uint32_t endBlock = binFile.fileSize()/512 - 1;
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// find last used block.
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while (bgnBlock < endBlock) {
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uint32_t midBlock = (bgnBlock + endBlock + 1)/2;
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binFile.seekSet(512*midBlock);
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if (binFile.read(&count, 2) != 2) error("read");
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if (count == 0 || count > DATA_DIM) {
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endBlock = midBlock - 1;
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} else {
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bgnBlock = midBlock;
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}
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}
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// truncate after last used block.
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if (!binFile.truncate(512*(bgnBlock + 1))) {
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error("Truncate " TMP_FILE_NAME " failed");
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}
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renameBinFile();
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}
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//-----------------------------------------------------------------------------
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void renameBinFile() {
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while (sd.exists(binName)) {
|
|
if (binName[BASE_NAME_SIZE + 1] != '9') {
|
|
binName[BASE_NAME_SIZE + 1]++;
|
|
} else {
|
|
binName[BASE_NAME_SIZE + 1] = '0';
|
|
if (binName[BASE_NAME_SIZE] == '9') {
|
|
error("Can't create file name");
|
|
}
|
|
binName[BASE_NAME_SIZE]++;
|
|
}
|
|
}
|
|
if (!binFile.rename(sd.vwd(), binName)) {
|
|
error("Can't rename file");
|
|
}
|
|
Serial.print(F("File renamed: "));
|
|
Serial.println(binName);
|
|
Serial.print(F("File size: "));
|
|
Serial.print(binFile.fileSize()/512);
|
|
Serial.println(F(" blocks"));
|
|
}
|
|
//------------------------------------------------------------------------------
|
|
void testSensor() {
|
|
const uint32_t interval = 200000;
|
|
int32_t diff;
|
|
data_t data;
|
|
Serial.println(F("\nTesting - type any character to stop\n"));
|
|
// Wait for Serial Idle.
|
|
delay(1000);
|
|
printHeader(&Serial);
|
|
uint32_t m = micros();
|
|
while (!Serial.available()) {
|
|
m += interval;
|
|
do {
|
|
diff = m - micros();
|
|
} while (diff > 0);
|
|
acquireData(&data);
|
|
printData(&Serial, &data);
|
|
}
|
|
}
|
|
//------------------------------------------------------------------------------
|
|
void setup(void) {
|
|
if (ERROR_LED_PIN >= 0) {
|
|
pinMode(ERROR_LED_PIN, OUTPUT);
|
|
}
|
|
Serial.begin(9600);
|
|
|
|
// Wait for USB Serial
|
|
while (!Serial) {
|
|
SysCall::yield();
|
|
}
|
|
Serial.print(F("\nFreeStack: "));
|
|
Serial.println(FreeStack());
|
|
Serial.print(F("Records/block: "));
|
|
Serial.println(DATA_DIM);
|
|
if (sizeof(block_t) != 512) {
|
|
error("Invalid block size");
|
|
}
|
|
// Allow userSetup access to SPI bus.
|
|
pinMode(SD_CS_PIN, OUTPUT);
|
|
digitalWrite(SD_CS_PIN, HIGH);
|
|
|
|
// Setup sensors.
|
|
userSetup();
|
|
|
|
// Initialize at the highest speed supported by the board that is
|
|
// not over 50 MHz. Try a lower speed if SPI errors occur.
|
|
if (!sd.begin(SD_CS_PIN, SD_SCK_MHZ(50))) {
|
|
sd.initErrorPrint(&Serial);
|
|
fatalBlink();
|
|
}
|
|
// recover existing tmp file.
|
|
if (sd.exists(TMP_FILE_NAME)) {
|
|
Serial.println(F("\nType 'Y' to recover existing tmp file " TMP_FILE_NAME));
|
|
while (!Serial.available()) {
|
|
SysCall::yield();
|
|
}
|
|
if (Serial.read() == 'Y') {
|
|
recoverTmpFile();
|
|
} else {
|
|
error("'Y' not typed, please manually delete " TMP_FILE_NAME);
|
|
}
|
|
}
|
|
}
|
|
//------------------------------------------------------------------------------
|
|
void loop(void) {
|
|
// Read any Serial data.
|
|
do {
|
|
delay(10);
|
|
} while (Serial.available() && Serial.read() >= 0);
|
|
Serial.println();
|
|
Serial.println(F("type:"));
|
|
Serial.println(F("b - open existing bin file"));
|
|
Serial.println(F("c - convert file to csv"));
|
|
Serial.println(F("d - dump data to Serial"));
|
|
Serial.println(F("e - overrun error details"));
|
|
Serial.println(F("l - list files"));
|
|
Serial.println(F("r - record data"));
|
|
Serial.println(F("t - test without logging"));
|
|
while(!Serial.available()) {
|
|
SysCall::yield();
|
|
}
|
|
#if WDT_YIELD_TIME_MICROS
|
|
Serial.println(F("LowLatencyLogger can not run with watchdog timer"));
|
|
SysCall::halt();
|
|
#endif
|
|
|
|
char c = tolower(Serial.read());
|
|
|
|
// Discard extra Serial data.
|
|
do {
|
|
delay(10);
|
|
} while (Serial.available() && Serial.read() >= 0);
|
|
|
|
if (ERROR_LED_PIN >= 0) {
|
|
digitalWrite(ERROR_LED_PIN, LOW);
|
|
}
|
|
if (c == 'b') {
|
|
openBinFile();
|
|
} else if (c == 'c') {
|
|
binaryToCsv();
|
|
} else if (c == 'd') {
|
|
dumpData();
|
|
} else if (c == 'e') {
|
|
checkOverrun();
|
|
} else if (c == 'l') {
|
|
Serial.println(F("\nls:"));
|
|
sd.ls(&Serial, LS_SIZE);
|
|
} else if (c == 'r') {
|
|
logData();
|
|
} else if (c == 't') {
|
|
testSensor();
|
|
} else {
|
|
Serial.println(F("Invalid entry"));
|
|
}
|
|
} |