/****************************************************************************** ** Copyright 2015 MBARI - Monterey Bay Aquarium Research Institute ******************************************************************************* ******************************************************************************* ** Summary : ISUS and DuraFET Controller Code for the ARGO Profiling Float (APF). ** Filename : msc_main.c ** Author : Luke Coletti ** Project : ** Version : 1.0 ** Compiler : MetroWerks Code Warrior v8.3 ** Created : 12/15/14 ** Archived : ******************************************************************************* ** Modification History: ** 01/02/15 : CF2 Port, LJC *******************************************************************************/ #include // Persistor PicoDOS Definitions #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include // PicoDOS POSIX-like Directory Access Defines #include // PicoDOS DOS Drive and Directory Definitions #include // PicoDOS POSIX-like File Access Definitions #include // PicoDOS POSIX-like File Status Definitions #include // PicoDOS POSIX-like Terminal I/O Definitions #include // PicoDOS POSIX-like UNIX Function Definitions #include // CRC32 macro #include "icrctab.c" /* Local Defines */ #define ACKBUFSIZE 32 #define CMDBUFSIZE 64 #define DATBUFSIZE 2048 /* Application Build Info */ char bfile[20] = __FILE__; char bdate[20] = __DATE__; char btime[20] = __TIME__; /******************************************************************************\ ** main - include all global variables \******************************************************************************/ #include "var_sys.c" #include "var_isus.c" #include "var_dura.c" void main( void ) { short result = 0; // no errors so far char *dbuf; char *ebuf; char abuf[ACKBUFSIZE]; char cbuf[CMDBUFSIZE]; char *srchptr, *endptr; ushort Rx_chars, Rx_loop; int i, ret, CMD_char; int gotVal, gotSample, missedSleeps; int lambda_beg, lambda_end; ulong input_var; time_t CTD_Time; long Erecs; fpos_t Efpos; float acquire_time, CTD_Temp, CTD_Salinity, CTD_Depth; WhatWokeSuspend suspret; InitMSC(); if( (dbuf = calloc((size_t)DATBUFSIZE, sizeof(char))) == NULL ) { printf("main() Can't allocate DAT BUF!\n"); IOPwrDown(); BIOSResetToPicoDOS(); } if( (ebuf = calloc((size_t)ERRBUFSIZE, sizeof(char))) == NULL ) { printf("main() Can't allocate ERR BUF!\n"); IOPwrDown(); BIOSResetToPicoDOS(); } if( (Erecs = CalcRecsPending((uchar)ERRORLOG_FILE)) > 0 ) printf("\n There are %ld records in the error file!\n", Erecs); printf("\n\n MBARI Sensor Controller (ISUS/DURA) Initialized\n"); printf("\n Auto Shutdown in %hu hours at: %s", sys_apf_tmout, ctime(&alarm_time) ); printf(" Entering Suspend Mode, Serial Input (/WAKE) will wake me, send M for Menu Mode \n"); gotSample = FALSE; missedSleeps = 0; /******************************************************************************\ ** start suspend mode \******************************************************************************/ nightynite: IOPwrDown(); SCIRxFlush(); suspret = PWRSuspendUntil( alarm_time, true, WakeTmtOrWAKEFall ); if( (RegIO_RdWord() & SYS_POR_MON) == 0 ) { //was power removed during a suspend cycle? PWRSuspendTicks(1, true, WakeOnTimeout); //quickly clear the SRAM keys printf("\n!!!Power Failure during Suspend!!!\n"); sprintf(ebuf, "Power Failure during Suspend"); LogErrorMsg(ebuf, (int)POWER_FAIL_SUSPEND, sys_message_enable); BIOSReset(); //reboot the application } wake_time = RTCGetTime( NULL, NULL ); IOPwrUp(); SCIRxFlush(); if( suspret == WokeFromTimeout ) { if( gotSample == FALSE ) sprintf(ebuf, "Alarm Time Expired with no sample - Entering back into Suspend"); else sprintf(ebuf, "Alarm Time Expired with a sample - Entering back into Suspend"); LogErrorMsg(ebuf, (int)ALARM_TIME_TIMEOUT, sys_message_enable); alarm_time = wake_time + (ulong)(sys_apf_tmout * 3600); goto nightynite; } //end WokeFromTimeout if( suspret == WokeNeverSuspending ) { ++missedSleeps; if( missedSleeps > 1000 ) { if( gotSample == FALSE ) sprintf(ebuf, "Max Alarm misses reached with no sample - Powering Down"); else sprintf(ebuf, "Max Alarm misses reached with a sample - Powering Down"); LogErrorMsg(ebuf, (int)MAX_SLEEP_TIME_MISSED, sys_message_enable); SysShutDown(); } else{ alarm_time = wake_time + (ulong)(sys_apf_tmout * 3600); tp = localtime(&alarm_time); sprintf(ebuf, "System Alarm set to a time of future past - New Alarm Time is %02d/%02d/%02d %02d:%02d:%02d", tp->tm_mon+1, tp->tm_mday, tp->tm_year+1900, tp->tm_hour, tp->tm_min, tp->tm_sec); LogErrorMsg(ebuf, (int)SLEEP_TIME_MISSED, sys_message_enable); } goto nightynite; } //end WokeNeverSuspending /******************************************************************************\ ** end suspend mode \******************************************************************************/ /******************************************************************************\ ** start command mode \******************************************************************************/ if( suspret == WokeTmtOrWAKEFall ) { //clear the Sensor Mode on each entry sys_sensor_mode = 0; //clear the data buffer on each entry gotSample = FALSE; memset(dbuf, '\0', sizeof(dbuf)); //clear the CTD values on each entry CTD_Time = 0; acquire_time = CTD_Temp = CTD_Salinity = CTD_Depth = -1.0; //clear the file position values on each entry Efpos = 0L; //clear the timeout and byte counter on each entry Rx_loop = 0; Rx_chars = 0; //loop timeout in 15secs while( Rx_loop <= 150 ) { #include "apf_cmds.c" } // end Rx_loop while if(Rx_chars == 0) { sprintf(ebuf, "Comms wakeup but NO chars received"); LogErrorMsg(ebuf, (int)COMMAND_MODE_EMPTY, sys_message_enable); } current_time = RTCGetTime( NULL, NULL ); if( current_time >= alarm_time ) { sprintf(ebuf, "Alarm behind due to comms wakeup - Resync will now occur"); LogErrorMsg(ebuf, (int)ALARM_TIME_STALE, sys_message_enable); } goto nightynite; } //end WokeTmtOrWAKEFall /******************************************************************************\ ** end command mode \******************************************************************************/ sprintf(ebuf, "MYSTERY WAKEUP! Suspend ret = %d", suspret); LogErrorMsg(ebuf, (int)MYSTERY_WAKEUP, sys_message_enable); current_time = RTCGetTime( NULL, NULL ); if( current_time >= alarm_time ) { sprintf(ebuf, "Alarm behind due to mystery wakeup - Resync will now occur"); LogErrorMsg(ebuf, (int)ALARM_TIME_STALE, sys_message_enable); } goto nightynite; // DON'T ASK, it's a mystery! } // end main /******************************************************************************\ ** data acquisition functions \******************************************************************************/ int TakeDuraSample(char *dbuf, float *atime, ulong CTD_Time, float CTD_Temp, float CTD_Salinity, float CTD_Depth) { char *tbuf; char *ebuf; char *tmbuf; ushort crc; float sd, StdDevVrs, StdDevVk; float VrsExt, backupVoltage, Vk, Ik, Ib; float pH; ldiv_t sdiv; RTCTimer ElpTm; *atime = -1.0; RTCElapsedTimerSetup( &ElpTm ); HIH6130_ReadTempHumidity(&sysTemperature, &sysHumidity); if( AtodPowerOn() == TRUE ){ if( AtodEnable() != TRUE ) if( AtodReset() != TRUE ) return( ERROR ); } else return( ERROR ); AtodReadValue(DURAFET_BATT, dura_atod_delay, dura_atod_readings, &backupVoltage, &sd); AtodReadValue(DURAFET_IB_4096, dura_atod_delay, dura_atod_readings, &Ib, &sd); if( (Ib == IB_ERANGE_POS) || (Ib == IB_ERANGE_NEG) ) AtodReadValue(DURAFET_IB_512, dura_atod_delay, dura_atod_readings, &Ib, &sd); if( (Ib == IB_ERANGE_POS) || (Ib == IB_ERANGE_NEG) ) AtodReadValue(DURAFET_IB_32, dura_atod_delay, dura_atod_readings, &Ib, &sd); AtodReadValue(DURAFET_IK_4096, dura_atod_delay, dura_atod_readings, &Ik, &sd); if( (Ik == IK_ERANGE_POS) || (Ik == IK_ERANGE_NEG) ) AtodReadValue(DURAFET_IK_512, dura_atod_delay, dura_atod_readings, &Ik, &sd); if( (Ik == IK_ERANGE_POS) || (Ik == IK_ERANGE_NEG) ) AtodReadValue(DURAFET_IK_32, dura_atod_delay, dura_atod_readings, &Ik, &sd); AtodReadValue(DURAFET_VK, dura_atod_delay, dura_atod_readings, &Vk, &StdDevVk); AtodReadValue(DURAFET_VRS_EXT, dura_atod_delay, dura_atod_readings, &VrsExt, &StdDevVrs); INA219_ReadVoltageCurrent(&sysVoltage, &sysCurrent); AtodPowerOff(); dura_sample_time = RTCGetTime( NULL, NULL ); tp = localtime(&dura_sample_time); pH = 7.1234; if( (tbuf = calloc((size_t)DATBUFSIZE, sizeof(char))) == NULL ) { if( (ebuf = calloc((size_t)ERRBUFSIZE, sizeof(char))) == NULL ) return( ERROR ); sprintf(ebuf, "CAN'T allocate TakeSample() tbuf memory"); LogErrorMsg(ebuf, (int)MALLOC_FAILURE, sys_message_enable); free(ebuf); return( ERROR ); } //pH Vbat Vrs SD Vk SD Ik Ib sprintf(tbuf, "pH,%02d/%02d/%02d %02d:%02d:%02d,%lu,%.2f,%.4f,%.4f,%lu,%lu,%lu,%.2f,%.2f,%.3f,%.3e,%.4f,%.3f,%+f,%f,%+f,%f,%+.3e,%+.3e", tp->tm_mon+1, tp->tm_mday, tp->tm_year+1900, tp->tm_hour, tp->tm_min, tp->tm_sec, CTD_Time, CTD_Depth, CTD_Temp, CTD_Salinity, dura_sample_ctr, sys_por_ctr, dura_error_ctr, sysTemperature, sysHumidity, sysVoltage, sysCurrent, pH, backupVoltage, VrsExt, StdDevVrs, Vk, StdDevVk, Ik, Ib); dat_file = OpenApfLogFile( DURA_DATA_FILE ); if( dat_file != FNULL ) { if( dura_reset_flag == TRUE ) { OutputDuraHeader(dat_file); dura_reset_flag = FALSE; } fprintf(dat_file, "%s\n", tbuf); fclose(dat_file); } crc = fCrc16Bit((const unsigned char *)tbuf); sprintf(dbuf,"0x%04X,%s", crc, tbuf); free(tbuf); ++dura_sample_ctr; DS3234_WrSRAM(DURA_SAMPLECTR_PTR, sizeof(ulong), (ulong*)&dura_sample_ctr); DS3234_WrSRAM(DURA_LASTSAMPTIME_PTR, sizeof(ulong), (ulong*)&dura_sample_time); sdiv = ldiv(RTCElapsedTime( &ElpTm ), 1000000L); if( (tmbuf = calloc((size_t)40, sizeof(char))) != NULL ) { sprintf(tmbuf, "%ld.%.6ld", sdiv.quot, sdiv.rem); *atime = atof(tmbuf); free(tmbuf); } return( OK ); } int TakeIsusSample(char *dbuf, float *atime, ulong CTD_Time, float CTD_Temp, float CTD_Salinity, float CTD_Depth) { char *tbuf; char *ebuf; char *tmbuf; ushort crc; int i, ret; double ref_ch_mean, ref_ch_sd, dc_mean, dc_sd, sw_dc_mean; double isus_no3, isus_sal, isus_hs, isus_err; ldiv_t sdiv; RTCTimer ElpTm; *atime = -1.0; RTCElapsedTimerSetup( &ElpTm ); dat_file = OpenApfLogFile( ISUS_DATA_FILE ); if( dat_file != FNULL ) { if( isus_reset_flag == TRUE ) { OutputIsusHeader(dat_file); isus_reset_flag = FALSE; } } if( SpecPwrOn( &SpecPort ) != TRUE ) { if( dat_file != FNULL ) fclose(dat_file); return( ERROR ); } DelayMilliSecs( 500 ); if( ScanSpectra( SpecPort, dat_file, 1, DarkData, DARKCURRENT_SCAN ) != TRUE ){ if( dat_file != FNULL ) fclose(dat_file); LampPwrOff(); SpecPwrOff( SpecPort ); return( ERROR ); } dc_mean = DataMean; //value set in ScanSpectra() dc_sd = DataStdDev; //value set in ScanSpectra() LampPwrOnUsingSpec( SpecPort, SpecData, FALSE ); ref_ch_mean = DataMean; //value set in LampPwrOnUsingSpec() = MaxPixelInten ref_ch_sd = DataStdDev; //value set in LampPwrOnUsingSpec() = MinPixelInten if( ScanSpectra( SpecPort, dat_file, 1, SpecData, INTENSITY_SCAN ) != TRUE ){ if( dat_file != FNULL ) fclose(dat_file); LampPwrOff(); SpecPwrOff( SpecPort ); return( ERROR ); } if( dat_file != FNULL ) fclose(dat_file); INA219_ReadVoltageCurrent( &sysVoltage, &sysCurrent ); LampPwrOff(); SpecPwrOff( SpecPort ); isus_sal = -1.0; //initialize prior to fit isus_no3 = -1.0; isus_hs = -1.0; isus_err = -1.0; if( Ecoefs == 256 ) { if( isus_tcomp_mode == TRUE ) { if( CTD_Time != 0 ) //time will be zero if CTD values are not passed XformSwEcoefs(EcoefFile, EcoefData, LambdaData, TcompCoefs, SwCalTemp, CTD_Temp); else CopySwEcoefs(EcoefFile, EcoefData); FitData[SALINITY]=0.0; //force salinity term to get FIT, see linfit.c if( (isus_salfit_mode == FIX) && (CTD_Time != 0) ) FitData[SALINITY]=CTD_Salinity; } //end tcomp if else{ CopySwEcoefs(EcoefFile, EcoefData); //always start fresh FitData[SALINITY]=0.0; //always fit salinity if Br Tcomp isn't enabled } //CalcAbs() expects the ScanData to begin at 0 and the ZeroData and AbsData to begin at 1, confused, read on... CalcAbs(&ZeroData[isus_pixel_beg-1], &SpecData[isus_pixel_beg-1], &AbsData[0], dc_mean, isus_fit_pixels); //LinFit() expects array data to begin at 1, therefore passed data values (Ecoef, Lambda and Abs) should point one back, Absorbance Data should start at AbsData[1], see CalcAbs(), above. ret = LinFit(&EcoefData[isus_pixel_beg-1], &LambdaData[isus_pixel_beg-1], &AbsData[0], &AbsFitData[0], &ResidualsData[0], &FitData[0], isus_fit_pixels, isus_fit_concs, isus_bsl_model); if( ret != TRUE ) { if( (ebuf = calloc((size_t)ERRBUFSIZE, sizeof(char))) == NULL ) return( ERROR ); sprintf(ebuf, "Spectra Fitting Error LinFit() ret = %d", ret); LogErrorMsg(ebuf, (int)NRC_FIT_FAILURE, sys_message_enable); free(ebuf); } else{ isus_sal = FitData[SALINITY]; isus_no3 = FitData[NITRATE]; isus_hs = FitData[BISULFIDE]; isus_err = FitData[FIT_ERROR]; } } tp = localtime(&isus_sample_time); if( (tbuf = calloc((size_t)DATBUFSIZE, sizeof(char))) == NULL ) { if( (ebuf = calloc((size_t)ERRBUFSIZE, sizeof(char))) == NULL ) return( ERROR ); sprintf(ebuf, "CAN'T allocate TakeSample() tbuf memory"); LogErrorMsg(ebuf, (int)MALLOC_FAILURE, sys_message_enable); free(ebuf); return( ERROR ); } sprintf(tbuf, "A,%02d/%02d/%02d %02d:%02d:%02d,%lu,%.2f,%.4f,%.4f,%lu,%lu,%lu,%lu,%.2f,%.2f,%.3f,%.3e,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf,%.3le,%d,%d,", tp->tm_mon+1, tp->tm_mday, tp->tm_year+1900, tp->tm_hour, tp->tm_min, tp->tm_sec, CTD_Time, CTD_Depth, CTD_Temp, CTD_Salinity, isus_sample_ctr, sys_por_ctr, isus_error_ctr, sys_error_ctr, sysTemperature, sysHumidity, sysVoltage, sysCurrent, ref_ch_mean, ref_ch_sd, dc_mean, dc_sd, isus_sal, isus_no3, isus_err, isus_datpixel_beg, isus_datpixel_end); if( (isus_datpixel_beg > 0) && (isus_datpixel_end <= 256) ) { for( i = isus_datpixel_beg; i <= isus_datpixel_end; i++ ) { sprintf(tbuf+strlen(tbuf), "%04X", SpecData[i-1]); } } sw_dc_mean = 0.0; for( i = 0; i < 5; i++ ) sw_dc_mean += (double)SpecData[i]; sw_dc_mean = sw_dc_mean/5.0; sprintf(tbuf+strlen(tbuf), ",%.1lf", sw_dc_mean); crc = fCrc16Bit((const unsigned char *)tbuf); sprintf(dbuf,"0x%04X,%s", crc, tbuf); free(tbuf); ++isus_sample_ctr; DS3234_WrSRAM(ISUS_SAMPLECTR_PTR, sizeof(ulong), (ulong*)&isus_sample_ctr); DS3234_WrSRAM(ISUS_LASTSAMPTIME_PTR, sizeof(ulong), (ulong*)&isus_sample_time); sdiv = ldiv(RTCElapsedTime( &ElpTm ), 1000000L); if( (tmbuf = calloc((size_t)40, sizeof(char))) != NULL ) { sprintf(tmbuf, "%ld.%.6ld", sdiv.quot, sdiv.rem); *atime = atof(tmbuf); free(tmbuf); } return( OK ); } int TakeIsusPseudoSample(char *dbuf, float *atime, ulong CTD_Time, float CTD_Temp, float CTD_Salinity, float CTD_Depth) { char *tbuf; char *ebuf; char *tmbuf; ushort crc; int i; double ref_ch_mean, ref_ch_sd, dc_mean, dc_sd, sw_dc_mean; double isus_no3, isus_sal, isus_hs, isus_err; ldiv_t sdiv; RTCTimer ElpTm; *atime = -1.0; RTCElapsedTimerSetup( &ElpTm ); HIH6130_ReadTempHumidity( &sysTemperature, &sysHumidity ); dat_file = OpenApfLogFile( ISUS_DATA_FILE ); if( dat_file != FNULL ) { if( isus_reset_flag == TRUE ) { OutputIsusHeader(dat_file); isus_reset_flag = FALSE; } } if( SpecPwrOn( &SpecPort ) != TRUE ) { if( dat_file != FNULL ) fclose(dat_file); return( ERROR ); } DelayMilliSecs( 500 ); isus_sample_time = RTCGetTime( NULL, NULL ); tp = localtime(&isus_sample_time); DelayMilliSecs( isus_spec_period ); dc_mean = 435.23; dc_sd = 4.31; if( dat_file != FNULL ) { fprintf(dat_file,"D,%02d/%02d/%02d %02d:%02d:%02d,%.2f,%.2f,%.2f,", tp->tm_mon+1, tp->tm_mday, tp->tm_year+1900, tp->tm_hour, tp->tm_min, tp->tm_sec, sysTemperature, dc_mean, dc_sd); for(i = 1; i <= 256; i++) { if(i != 256) { if( (Zcoefs > 0) || (Ecoefs == 256) ) fprintf(dat_file, "%.1f,", LambdaData[i]); else fprintf(dat_file, "%05d,", i); } else{ if( (Zcoefs > 0) || (Ecoefs == 256) ) fprintf(dat_file, "%.1f\n", LambdaData[i]); else fprintf(dat_file, "%05d\n", i); } } //end i loop } //end FNULL if LampPwrOn(); isus_sample_time = RTCGetTime( NULL, NULL ); tp = localtime(&isus_sample_time); DelayMilliSecs( isus_spec_period ); ref_ch_mean = 1022.16; ref_ch_sd = 1.67; if( dat_file != FNULL ) { fprintf(dat_file,"S,%02d/%02d/%02d %02d:%02d:%02d,%.2f,%.2f,%.2f,", tp->tm_mon+1, tp->tm_mday, tp->tm_year+1900, tp->tm_hour, tp->tm_min, tp->tm_sec,sysTemperature, ref_ch_mean, ref_ch_sd); for(i = 1; i <= 256; i++) { if(i != 256) { if( (Zcoefs > 0) || (Ecoefs == 256) ) fprintf(dat_file, "%.1f,", LambdaData[i]); else fprintf(dat_file, "%05d,", i); } else{ if( (Zcoefs > 0) || (Ecoefs == 256) ) fprintf(dat_file, "%.1f\n", LambdaData[i]); else fprintf(dat_file, "%05d\n", i); } } //end i loop fclose(dat_file); } //end FNULL if INA219_ReadVoltageCurrent( &sysVoltage, &sysCurrent ); LampPwrOff(); SpecPwrOff( SpecPort ); isus_sal = 32.57; isus_no3 = 12.35; isus_hs = -1.0; isus_err = 0.0001245; if( CTD_Time != 0 ) { //time will be zero if CTD values are not passed if( (isus_salfit_mode == FIX) && (CTD_Time != 0) ) isus_sal=CTD_Salinity; } if( (tbuf = calloc((size_t)DATBUFSIZE, sizeof(char))) == NULL ) { if( (ebuf = calloc((size_t)ERRBUFSIZE, sizeof(char))) == NULL ) return( ERROR ); sprintf(ebuf, "CAN'T allocate TakeSample() tbuf memory"); LogErrorMsg(ebuf, (int)MALLOC_FAILURE, sys_message_enable); free(ebuf); return( ERROR ); } sprintf(tbuf, "A,%02d/%02d/%02d %02d:%02d:%02d,%lu,%.2f,%.4f,%.4f,%lu,%lu,%lu,%lu,%.2f,%.2f,%.3f,%.3e,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf,%.3le,%d,%d,", tp->tm_mon+1, tp->tm_mday, tp->tm_year+1900, tp->tm_hour, tp->tm_min, tp->tm_sec, CTD_Time, CTD_Depth, CTD_Temp, CTD_Salinity, isus_sample_ctr, sys_por_ctr, isus_error_ctr, sys_error_ctr, sysTemperature, sysHumidity, sysVoltage, sysCurrent, ref_ch_mean, ref_ch_sd, dc_mean, dc_sd, isus_sal, isus_no3, isus_err, isus_datpixel_beg, isus_datpixel_end); for( i = isus_datpixel_beg; i <= isus_datpixel_end; i++ ) { sprintf(tbuf+strlen(tbuf), "%04X", i); } sw_dc_mean = 411.35; sprintf(tbuf+strlen(tbuf), ",%.1lf", sw_dc_mean); crc = fCrc16Bit((const unsigned char *)tbuf); sprintf(dbuf,"0x%04X,%s", crc, tbuf); free(tbuf); ++isus_sample_ctr; DS3234_WrSRAM(ISUS_SAMPLECTR_PTR, sizeof(ulong), (ulong*)&isus_sample_ctr); DS3234_WrSRAM(ISUS_LASTSAMPTIME_PTR, sizeof(ulong), (ulong*)&isus_sample_time); sdiv = ldiv(RTCElapsedTime( &ElpTm ), 1000000L); if( (tmbuf = calloc((size_t)40, sizeof(char))) != NULL ) { sprintf(tmbuf, "%ld.%.6ld", sdiv.quot, sdiv.rem); *atime = atof(tmbuf); free(tmbuf); } return( OK ); } //***************************************************************************** // It's all one big fat nasty "compilation unit" //***************************************************************************** #include "msc_init.c" #include "msc_util.c" #include "msc_menu.c"