DressOrc/sppControlSystem
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adds new debug logging

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This commit is contained in:
Rosia E Evans 2023-06-09 15:29:54 +01:00
parent f6307e8cec
commit 81a20f03d4
1 changed files with 17 additions and 17 deletions
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34
sppControlSystem.ino
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@ -70,8 +70,9 @@ TinyGPS gps;
#define DEBUG_CRITICAL 1 //really important messages that we don't want to ignore and are prepared to sacrifice execution speed to see
#define DEBUG_IMPORTANT 2 //fairly important messages that we probably want to see, but might cause issues with execution speed
#define DEBUG_MINOR 3 //less important messages that we can safely turn off to improve execution speed
#define DEBUG_VERBOSE 4 //Dan and Rosias debug messages
#define DEBUG_THRESHOLD DEBUG_MINOR //set to 0 to show no debugging messages
#define DEBUG_THRESHOLD DEBUG_VERBOSE //set to 0 to show no debugging messages
const char *ssid = "boat";
AsyncUDP udp;
@ -139,7 +140,7 @@ void setup()
myDebug.begin(4800, SERIAL_8N1, 3, 1); //debug UART on GPIO 6 and 7
say(DEBUG_MINOR, "Debug serial system set up");
say(DEBUG_CRITICAL,"Control system start up");
say(DEBUG_VERBOSE,"Control system start up");
//required for printf
//but not on ESP32
@ -238,9 +239,9 @@ int readCompass() {
heading += low_byte;
// may need to reimplement this later
// heading=heading/10;
// roll=roll/10;
// pitch=pitch/10;
heading=heading/10;
roll=roll/10;
pitch=pitch/10;
myDebug.print("Heading = ");
myDebug.print(heading);
@ -261,7 +262,7 @@ int readCompass() {
void readGPS() {
unsigned long fix_age=9999,time,date;
say(DEBUG_MINOR,"About to read GPS");
say(DEBUG_VERBOSE,"About to read GPS");
digitalWrite(GPS_ENABLE_PIN,1); //turn the GPS on
delay(1000);
@ -363,7 +364,7 @@ int get_hdg_diff(int heading1,int heading2)
void loop()
{
say(DEBUG_MINOR, "Entered loop");
say(DEBUG_VERBOSE, "Entered loop");
unsigned long last_gps_read=0;
unsigned long last_time=0,time_now=0;
int wp_hdg=0;
@ -403,20 +404,20 @@ void loop()
last_time=millis();
say(DEBUG_MINOR, "reading compass");
say(DEBUG_VERBOSE, "reading compass");
readCompass();
say(DEBUG_MINOR, "finished reading compass");
say(DEBUG_VERBOSE, "finished reading compass");
//state.wind_dir=getTrueWind(); {
//no wind sensor, so just use a fixed wind direction
state.wind_dir=270;
relwind=mod(state.wind_dir - state.heading);
say(DEBUG_MINOR, "may read gps");
say(DEBUG_VERBOSE, "may read gps");
if(millis()-last_gps_read>(GPS_READ_INTERVAL*1000)||millis()<last_gps_read) //read the GPS at the specified interval or whenever the millis count wraps around
{
say(DEBUG_MINOR,"Reading GPS");
say(DEBUG_VERBOSE,"Reading GPS");
readGPS();
wp_hdg = (int) TinyGPS::course_to(state.lat, state.lon, wp_lats[wp_num],wp_lons[wp_num]);
wp_dist = TinyGPS::distance_between(state.lat, state.lon, wp_lats[wp_num],wp_lons[wp_num]);
@ -436,7 +437,7 @@ void loop()
last_gps_read=millis();
}
say(DEBUG_MINOR, "Finished possible gps read");
say(DEBUG_VERBOSE, "Finished possible gps read");
//sail logic
//sailLogic(relwind);
@ -464,10 +465,10 @@ void loop()
state.rudder=5;
}
say(DEBUG_MINOR, "correcting rudder");
say(DEBUG_VERBOSE, "correcting rudder");
rudderServo.writeMicroseconds(1500+(state.rudder*100));
say(DEBUG_MINOR, "possible telemetry incoming:");
say(DEBUG_VERBOSE, "possible telemetry incoming:");
if(last_telemetry+(TELEMETRY_INTERVAL*1000)<millis())
{
char msgbuf[255];
@ -546,6 +547,5 @@ void loop()
last_telemetry=millis();
}
}
}