Process-profiling

MIDAS/.gitignore

@@ -1,5 +1,4 @@
 .pio
 .vscode
-/src/log_checksum.h
 **/.DS_Store
 *.launch

MIDAS/lib/ADS7138Q1/ads7138-q1.cpp

@@ -66,6 +66,8 @@ bool ADS7138Init(){
   AdcRegReadResult reg = adc_reg_read(ADC_ADDR, ADC_SYSTEM_STATUS);
   if(reg.error != AdcError::NoError){
     return false;
+  } else{
+    //process profiling continuity sensor initialize error
   }
   return reg.value != 0;
 }

MIDAS/lib/ADXL355/PL_ADXL355.cpp

@@ -136,6 +136,7 @@ namespace PL {
         SPI.begin();
         pinMode(csPin, OUTPUT);
         digitalWrite(csPin, HIGH);
+        //process profiling acceleration lowG
     }
 
 //==============================================================================

MIDAS/lib/Adafruit BNO08x/src/Adafruit_BNO08x.cpp

@@ -180,7 +180,7 @@ bool Adafruit_BNO08x::begin_SPI(uint8_t cs_pin, uint8_t int_pin,
   _HAL.getTimeUs = hal_getTimeUs;
 
   return _init(sensor_id);
-}
+}//process profiling orientation
 
 /*!  @brief Initializer for post i2c/spi init
  *   @param sensor_id Optional unique ID for the sensor set

MIDAS/lib/Arduino_LSM6DS3/src/LSM6DS3.cpp

@@ -66,9 +66,9 @@ int LSM6DS3Class::begin()
 
   // Set the ODR config register to ODR/4
   writeRegister(LSM6DS3_CTRL8_XL, 0x09);
-
+  //process profiling acceleration initialized
   return 1;
-}
+}//process profiling lowglsm
 
 void LSM6DS3Class::end()
 {

MIDAS/lib/MS5611/MS5611.cpp

@@ -77,7 +77,7 @@ void MS5611::init() {
         C[reg] = readProm(reg);
     }
     SPI.endTransaction();
-}
+}//process profiling barometer initialized
 
 int MS5611::read(uint8_t bits) {
     // VARIABLES NAMES BASED ON DATASHEET  <- Nice!

MIDAS/lib/SparkFun_KX13X_Arduino_Library-1.0.7/src/SparkFun_Qwiic_KX13X.cpp

@@ -617,7 +617,7 @@ bool QwiicKX134::beginSPI(uint8_t csPin, uint32_t spiPortSpeed,
         return true;
     else
         return false;
-}
+}//process profiling acceleration highG
 
 // Grabs raw accel data and passes it to the following function to be
 // converted.

MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.cpp

@@ -48,6 +48,7 @@
 
 
 
+
 /*
  * Constant for strtol base param
  */
@@ -99,6 +100,10 @@ GNSS_StatusTypeDef TeseoLIV3F::I2CUpdate()
          {
             GNSS_PARSER_ParseMsg(&data, (eNMEAMsg)m, buffer);
          }
+      } else{
+         //process profiling
+         //LogMessage error;
+         //error.message = 'GNSS PARSER ERROR';
       }
       strncpy(i2ch.inputString, i2ch.inputString2, sizeof(i2ch.inputString));
       memset(i2ch.inputString2, 0, sizeof(i2ch.inputString2));
@@ -127,6 +132,8 @@ GNSS_StatusTypeDef TeseoLIV3F::UARTUpdate()
          {
             GNSS_PARSER_ParseMsg(&data, (eNMEAMsg)m, buffer);
          }
+      } else{
+         //process profiling
       }
       memset(uarth.inputString, 0, sizeof(uarth.inputString));
       uarth.stringComplete = false;

MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.h

@@ -132,7 +132,7 @@ class TeseoLIV3F
       Wire.endTransmission(false);
       delay(2000);
       return GNSS_OK;
-   }
+   }//process profiling
 
    /**
     * @brief       Update the internal data structures of the sensor using the appropriate communication method

MIDAS/src/data_logging.cpp

@@ -1,7 +1,7 @@
 #include "data_logging.h"
 #include "log_format.h"
 #include "log_checksum.h"
-
+#include <queue> 
 /**
  * @brief Forward decleration of the ID recieving function
 */
@@ -11,6 +11,10 @@ constexpr ReadingDiscriminant get_discriminant();
 /**
  * @brief macro to associate a certain sensor with a specific number ID
 */
+
+//std::queue<char[32]> logQueue;  // data logging for process profiling
+
+
 #define ASSOCIATE(ty, id) template<> constexpr ReadingDiscriminant get_discriminant<ty>() { return ReadingDiscriminant::id; }
 
 ASSOCIATE(LowGData, ID_LOWG)
@@ -25,6 +29,8 @@ ASSOCIATE(Orientation, ID_ORIENTATION)
 ASSOCIATE(FSMState, ID_FSM)
 ASSOCIATE(KalmanData, ID_KALMAN)
 ASSOCIATE(PyroState, ID_PYRO)
+ASSOCIATE(ProcessTime, ID_PROCESSTIME);
+ASSOCIATE(LogMessages, ID_LOGMESSAGES)
 
 /**
  * @brief writes a reading, with its ID, timestamp, and data to a specific sink
@@ -88,6 +94,8 @@ void log_data(LogSink& sink, RocketData& data) {
     log_from_sensor_data(sink, data.fsm_state);
     log_from_sensor_data(sink, data.kalman);
     log_from_sensor_data(sink, data.pyro);
+    log_from_sensor_data(sink, data.processTime);
+    log_from_sensor_data(sink, data.logMessages);
 }
 
 #ifndef SILSIM

MIDAS/src/hardware/Barometer.cpp

@@ -1,7 +1,9 @@
 #include "sensors.h"
 #include <MS5611.h>
+#include <queue> 
 
 MS5611 MS(MS5611_CS);       //singleton object for the MS sensor
+extern std::queue<std::string> logQueue; 
 
 /**
  * @brief Initializes barometer, returns NoError
@@ -10,7 +12,8 @@ MS5611 MS(MS5611_CS);       //singleton object for the MS sensor
 */
 ErrorCode BarometerSensor::init() {
     MS.init();
-
+    //process profiling
+    logQueue.push("BarometerInitialized");
     return ErrorCode::NoError;
 }
 

MIDAS/src/hardware/Continuity.cpp

@@ -1,9 +1,12 @@
 #include "sensors.h"
 #include "ads7138-q1.h"
 #include <hal.h>
+#include <queue>
+
 
 #define PYRO_VOLTAGE_DIVIDER (5.0 / (5.0 + 20.0))       //voltage divider for pyro batt voltage, check hardware schematic
 #define CONT_VOLTAGE_DIVIDER (5.0 / (5.0 + 20.0))       //voltage divider for continuity voltage, check hardware schematic
+extern std::queue<std::string> logQueue; 
 
 /**
  * @brief Initializes ADC, returns NoError
@@ -12,7 +15,7 @@
 */
 ErrorCode ContinuitySensor::init() {
     ADS7138Init();              // Ask ADS to init the pins, we still need to get the device to actually read
-
+    logQueue.push("BarometerInitialized");//process profiling
     return ErrorCode::NoError;
 }
 

MIDAS/src/hardware/Emmc.cpp

@@ -37,6 +37,6 @@ ErrorCode EMMCSink::init(){
     if (!file) {
         return ErrorCode::EmmcCouldNotOpenFile;
     }
-
+    //process profiling
     return ErrorCode::NoError;
 }

MIDAS/src/hardware/GPSSensor.cpp

@@ -16,7 +16,7 @@ TeseoLIV3F teseo(&Wire, GPS_RESET, GPS_ENABLE);     // singleton for the teseo g
  */
 ErrorCode GPSSensor::init() {
     teseo.init();       // always returns ok for some reason
-
+    //process profiling
     return ErrorCode::NoError;
 }
 

MIDAS/src/hardware/HighG.cpp

@@ -1,7 +1,9 @@
 #include "sensors.h"
 #include "SparkFun_Qwiic_KX13X.h"
+#include <queue>
 
 QwiicKX134 KX;      // global static instance of the sensor
+extern std::queue<std::string> logQueue; 
 
 /**
  * @brief Initializes the high G sensor
@@ -11,15 +13,22 @@ QwiicKX134 KX;      // global static instance of the sensor
 ErrorCode HighGSensor::init() {
     KX.beginSPI(KX134_CS);
     if (!KX.initialize(DEFAULT_SETTINGS)) {
+
+        logQueue.push("HighGCouldNotBeInitialized");//process profiling
         return ErrorCode::HighGCouldNotBeInitialized;
     }
 
     if(!KX.setOutputDataRate(0xb)) {
+        logQueue.push("HighGCouldNotUpdateDataRate");//process profiling
         return ErrorCode::HighGCouldNotUpdateDataRate;
     }
 
+
+    logQueue.push("HighGInitialized");//process profiling
     KX.setRange(3);
     return ErrorCode::NoError;
+
+
 }
 
 /**

MIDAS/src/hardware/LowG.cpp

@@ -16,7 +16,8 @@ ErrorCode LowGSensor::init() {
     // todo set low pass filter frequency to 250hx
     sensor.enableMeasurement();
     return error;
-}
+    //process profiling
+}   
 
 /**
  * @brief Reads and returns the data from the sensor

MIDAS/src/hardware/LowGLSM.cpp

@@ -13,6 +13,7 @@ ErrorCode LowGLSMSensor::init() {
         return ErrorCode::GyroCouldNotBeInitialized;
     }
     return ErrorCode::NoError;
+    //process profiling
 }
 
 /**

MIDAS/src/hardware/Magnetometer.cpp

@@ -1,8 +1,10 @@
 #include <Adafruit_LIS3MDL.h>
-
+#include <queue> 
 #include "sensors.h"
 #include "hal.h"
 
+extern std::queue<std::string> logQueue; // global variable queue for logging the important status of the sensor.
+
 Adafruit_LIS3MDL LIS3MDL;           // global static instance of the sensor
 
 ErrorCode MagnetometerSensor::init() {
@@ -11,9 +13,13 @@ ErrorCode MagnetometerSensor::init() {
     }
     LIS3MDL.setOperationMode(LIS3MDL_CONTINUOUSMODE);         // Reading continuously, instead of single-shot or off
     LIS3MDL.setDataRate(LIS3MDL_DATARATE_155_HZ);
-    LIS3MDL.setRange(LIS3MDL_RANGE_4_GAUSS);                  // Earth's magnetic field is 1/2 gauss, can detect high current
+    LIS3MDL.setRange(LIS3MDL_RANGE_4_GAUSS);  
+                    // Earth's magnetic field is 1/2 gauss, can detect high current
+    char message[64];
+    snprintf(message, sizeof(message), "MagnetometerInitizedW/Mode:%dRate:%dRange:%d", LIS3MDL_CONTINUOUSMODE, static_cast<int>(LIS3MDL_DATARATE_155_HZ), LIS3MDL_RANGE_4_GAUSS);
+    logQueue.push(message);
     return ErrorCode::NoError;
-}
+}//process profiling
 
 Magnetometer MagnetometerSensor::read() {
     // read from aforementioned global instance of sensor
@@ -25,3 +31,9 @@ Magnetometer MagnetometerSensor::read() {
     Magnetometer reading{mx, my, mz};
     return reading;
 }
+
+//void addMessageQueue(String m){
+  //  char message[64];
+    //snprintf(message, sizeof(message), m);
+    //logQueue.push(message);
+//}

MIDAS/src/hardware/Orientation.cpp

@@ -23,7 +23,7 @@ ErrorCode OrientationSensor::init() {
         return ErrorCode::CannotInitBNO;
     }
     return ErrorCode::NoError;
-}
+}//process profiling
 
 /**
  * @brief Turns a quaternion into its corresponding Euler 3D vector representation

MIDAS/src/hardware/Pyro.cpp

@@ -55,7 +55,7 @@ ErrorCode Pyro::init() {
 //    } else {
     return ErrorCode::NoError;   // GPIO Driver always claimes it errored even when it doesn't.
 //    }
-}
+}//process profiling
 
 #ifdef IS_SUSTAINER
 

MIDAS/src/hardware/SDLog.cpp

@@ -30,7 +30,7 @@ ErrorCode SDSink::init() {
     }
 
     return ErrorCode::NoError;
-}
+}//process profiling
 
 /**
  * @brief Writes a byte buffer to the SD card

MIDAS/src/log_checksum.h

@@ -0,0 +1,2 @@
+// autogenerated on build by applying crc32 on the concatenation of log_format.h and sensor_data.h
+#define LOG_CHECKSUM (0xb8f3527e)

MIDAS/src/log_format.h

@@ -20,6 +20,8 @@ enum ReadingDiscriminant {
     ID_FSM = 10,
     ID_KALMAN = 11,
     ID_PYRO = 12,
+    ID_PROCESSTIME = 13,
+    ID_LOGMESSAGES = 14
 };
 
 
@@ -51,5 +53,7 @@ struct LoggedReading {
         KalmanData kalman;
         FSMState fsm;
         PyroState pyro;
+        ProcessTime processtime;
+        LogMessages logMessages;
     } data;
 };

MIDAS/src/rocket_state.h

@@ -176,6 +176,8 @@ struct RocketData {
     SensorData<Magnetometer> magnetometer;
     SensorData<Orientation> orientation;
     SensorData<Voltage> voltage;
+    SensorData<ProcessTime> processTime;
+    SensorData<LogMessages> logMessages;
 
     Latency log_latency;
 };

MIDAS/src/sensor_data.h

@@ -229,3 +229,33 @@ struct PyroState {
     bool is_global_armed = false;
     PyroChannel channels[4];
 };
+
+enum class ProcessName {
+    TELEMETRY = 1,
+    ORIENTATION = 2,
+    KALMAN = 3,
+    BUZZER = 4,
+    FSM = 5,
+    I2C = 6,
+    MAGNETOMETER = 7,
+    ACCELEROMETERS = 8,
+    BAROMETER = 9,
+    LOGGER = 10
+};
+
+/**
+ * @struct ProcessTime
+ * 
+ * @brief The process time of the processes in the thread
+*/
+struct ProcessTime
+{
+    ProcessName name;
+    float dt;
+};
+
+struct LogMessages
+{
+    char message[64];
+};
+