write log header only once
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@ -21,6 +21,10 @@ unsigned long last_log_send=0;
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#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
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#define LOGMININTERVAL 20 //minimum interval (ms) to send logs
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#define LOGMAXINTERVAL 10000 //maximum time (ms) after which data is send
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#define WRITE_HEADER_TIME 1000
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bool log_header_written = false;
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bool controllers_connected=false;
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@ -270,8 +274,10 @@ void loop() {
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controllers_connected=false;
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}else if(!controllers_connected) { //not timeouted but was before
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controllers_connected=true;
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writeLogHeader(Serial1); //connection recovered, write log header
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}
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if (newData2) {
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@ -343,8 +349,15 @@ void loop() {
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}
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// ######## LOG ########
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if (!log_header_written && loopmillis>=WRITE_HEADER_TIME){
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writeLogHeader(Serial1); //connection recovered, write log header
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log_header_written=true;
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}
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if (log_update && loopmillis>last_log_send+LOGMININTERVAL) {
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if ((log_header_written && log_update && loopmillis>last_log_send+LOGMININTERVAL) || loopmillis>last_log_send+LOGMAXINTERVAL) {
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last_log_send=loopmillis;
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log_update=false;
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writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos);
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