I try this code as follows:
I launch it, it works, the state is 0.
I input a variable, the state passes to 1, and executes the code - when I apply the right acceleration, the state passes to 2 (FLY) and the delay is executed. Once the delay finishes, the state passes to 3... and NOTHING happens! Even just printing "hello" and not even doing the commented parts.
I know states.states is equal to 3, as I printed it at the beginning of the loop to check, and it prints 3.
When I made the states.states go to 0 - it works, when I go to 1, it works as expected, and same for 2.
When I make it go to to 4 however (i put a "hello" print in it too) it doesn't do anything either.
The states.states assignation must work, given it changes?
The transition seems to work, if it can go to 0/1/2 but not 3/4.
So what gives? I've gone over this with a friend and myself a bunch and I can't figure anything out!
P.S. The extra function calls seem to all work, which is why I didn't add the code for them: they're all very basic and taken/edited from libraries. I also don't think they're the problem given blocks 0/1/2 work perfectly and the only functions calls in 3/4 are called in other blocks. That, and the fact even if the only code in block 3 is "Serial.println("hello");". it doesn't work.
Also please excuse me for some of the syntax (case 0: in one place, case READY in the other) I've just spent the last 2h30 modifying this to try to find SOME solution.
Thank you so much for any help!
//Includes
#include <Wire.h>
#include <SPI.h>
#include <Adafruit_BMP280.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include "Adafruit_EEPROM_I2C.h"
//Defines
#define MinimumHeight 400
//Structures
struct startData {
float groundAltitude;
float groundPressure;
float groundTemperature;
} ;
struct flightData {
uint32_t time;
uint32_t heightRate;
uint32_t height;
} ;
struct stateMachine{
uint8_t states;
uint8_t minimumHeight;
} ;
/*
*Function Initializations
*/
//Barometer
void initializeBarometerSleep();
void initializeBarometerNormal();
void printBarometerValues();
float barometerAltitude ();
float barometerHeight ();
void initGroundData();
//Accelerometer
void initializeAccelerometer();
void printAccelerometerValues ();
//Second Event
void setSecondEventCurrentImpulse();
void resetSecondEventCurrentImpulse();
void secondEvent();
//EEPROM
void initializeEEPROM();
void eepromWriteState();
void eepromReadState();
void eepromWritePrimer();
void eepromReadPrimer();
void eepromWriteGroundData();
void eepromReadGroundData();
//Device Initializations
Adafruit_MPU6050 mpu;
Adafruit_BMP280 bmp;
Adafruit_EEPROM_I2C i2ceeprom;
#define EEPROM_ADDR 0x50
//Struct Initalizations
startData groundData;
stateMachine states;
#define FLIGHT_DATA_BUFFER_SIZE 5
flightData flightDataArray[FLIGHT_DATA_BUFFER_SIZE];
// States and Counters
enum {SLEEP, AWAKE, FLY, READY, TRIGGERED,};
#define SLEEP 0
#define AWAKE 1
#define FLY 2
#define READY 3
#define TRIGGERED 4
int sleepCounter = 0;
int awakeCounter = 0;
int flyCounter = 0;
int readyCounter = 0;
int triggeredCounter = 0;
//Mach Delay
int machDelayA;
int machDelayB;
int machDelayTotal;
#define machDelay 5000
int Status;
byte ReceivedMessage;
int counter;
void setup() {
Serial.begin(9600);
while ( !Serial ) delay(100);
Wire.begin(0x08);
Wire.onReceive(AVTransmission);
states.states = 0;
initializeBarometerSleep();
initializeAccelerometer();
initializeEEPROM();
delay(100);
eepromReadState();
eepromReadPrimer();
if (states.states != 0) {
bmp.setSampling(Adafruit_BMP280::MODE_NORMAL, /* Operating Mode. */
Adafruit_BMP280::SAMPLING_X2, /* Temp. oversampling */
Adafruit_BMP280::SAMPLING_X16, /* Pressure oversampling */
Adafruit_BMP280::FILTER_X16, /* Filtering. */
Adafruit_BMP280::STANDBY_MS_500);
}
if (states.states == 0) {
states.states = SLEEP;
}
states.states = 3;
}
void loop() {
// Serial.print("State = ");
// Serial.println(states.states);
// delay(1000);
switch (states.states) {
case 0:
//Transition from Sleep to Awake is handled by the AVTransmission function.
if (Serial.available() > 0) {
states.states = AWAKE;
Status = Serial.read();
}
delay(10);
break;
case AWAKE:
if (awakeCounter == 0) {
eepromWriteState();
initializeBarometerNormal();
mpu.enableSleep(false);
initGroundData();
awakeCounter++;
eepromReadState();
Serial.print("Pressure = ");
Serial.println(groundData.groundPressure);
Serial.print("Altitude = ");
Serial.println(groundData.groundAltitude);
Serial.print("Temperature = ");
Serial.println(groundData.groundTemperature);
Serial.print("State = ");
Serial.println(states.states);
}
sensors_event_t a;
mpu.getAccelerometerSensor()->getEvent(&a);
if (awakeCounter == 1) {
if (a.acceleration.z >= 0) {
states.states = FLY;
}
}
Serial.println(a.acceleration.z);
if (Serial.available() > 0) {
states.states = FLY;
}
break;
case FLY:
if (flyCounter == 0) {
eepromWriteState();
machDelayA=millis();
flyCounter++;
machDelayTotal = 0;
}
int height = barometerHeight();
if (height > MinimumHeight) {
states.minimumHeight = 1;
eepromWritePrimer();
}
// Separation Mechanism Signal is handle by the AVTransmission function.
//Mach Delay Implementation in milliseconds - Mach Delay Incompatible With EEPROM in current iteration
machDelayB = millis();
machDelayTotal = machDelayB - machDelayA;
Serial.println(machDelayTotal);
if (machDelayTotal >= machDelay) {
states.states = 3;
Serial.println("blublub");
Serial.println(states.states);
}
break;
case 3:
Serial.println("hello");
// if (readyCounter == 0) {
// eepromWriteState();
// readyCounter++;
// }
// Serial.print("Height Reached = ");
// Serial.println(states.minimumHeight);
// Serial.print("Height = ");
// Serial.println(barometerHeight());
// secondEvent();
break;
case TRIGGERED:
Serial.println("Hello");
if (triggeredCounter == 0) {
eepromWriteState();
triggeredCounter++;
}
break;
}
}
void AVTransmission (int numBytes) {
if (Wire.available()) {
ReceivedMessage = Wire.read();
}
if (ReceivedMessage == 0x00) {
states.states = AWAKE;
}
if (ReceivedMessage == 0x01) {
states.states = READY;
}
}
