Diff: logging/logging.c

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/logging/logging.c	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,122 @@
+#include "logging.h"
+#include "SDHCFileSystem.h"
+#include "SerialGraphicLCD.h"
+
+extern Serial pc;
+extern SerialGraphicLCD lcd;
+
+SDFileSystem sd(p5, p6, p7, p8, "log"); // mosi, miso, sclk, cs
+static FILE *logp;
+
+
+void clearState( SystemState *s ) {
+    s->millis = 0;
+    s->current = s->voltage = 0.0;
+    s->g[0] = s->g[1] = s->g[2] = 0;
+    s->gTemp = 0;
+    s->a[0] = s->a[1] = s->a[2] = 0;
+    s->m[0] = s->m[1] = s->m[2] = 0;
+    s->gHeading = s->cHeading = 0.0;
+    //s->roll = s->pitch = s->yaw =0.0;
+    s->gpsLatitude = s->gpsLongitude = s->gpsCourse = s->gpsHDOP = 0.0;
+    s->lrEncDistance = s->rrEncDistance = 0.0;
+    s->lrEncSpeed = s->rrEncSpeed = s->encHeading = 0.0;
+    s->estHeading = s->estLatitude = s->estLongitude = 0.0;
+    //s->estNorthing = s->estEasting = 
+    s->estX = s->estY = 0.0;
+    s->nextWaypoint = 0;
+    s->bearing = s->distance = 0.0;
+}
+
+//void logData( SystemState s, void (*logString)(char *s) ) {
+void logData( SystemState s ) {
+    char buf[256];
+
+    sprintf(buf, "%d,%.1f,%.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%.2f,,,,,%.6f,%.6f,%.1f,%.1f,%.1f,%d,%.7f,%.7f,%.2f,%.2f,%.1f,%.1f,%.6f,%.6f,,,%.4f,%.4f,%d,%.1f,%.3f,%.5f,%.5f,%.3f,%.3f,%.3f,%.3f\n",
+        s.millis,
+        s.current, s.voltage,
+        s.g[0], s.g[1], s.g[2],
+        s.gTemp,
+        s.a[0], s.a[1], s.a[2],
+        s.m[0], s.m[1], s.m[2],
+        s.gHeading, //s.cHeading,
+        //s.roll, s.pitch, s.yaw,
+        s.gpsLatitude, s.gpsLongitude, s.gpsCourse, s.gpsSpeed*0.44704, s.gpsHDOP, s.gpsSats, // convert gps speed to m/s
+        s.lrEncDistance, s.rrEncDistance, s.lrEncSpeed, s.rrEncSpeed, s.encHeading,
+        s.estHeading, s.estLatitude, s.estLongitude,
+        // s.estNorthing, s.estEasting, 
+        s.estX, s.estY,
+        s.nextWaypoint, s.bearing, s.distance, s.gbias, s.errAngle,
+        s.leftRanger, s.rightRanger, s.centerRanger,
+        s.crossTrackErr
+    );
+
+    if (logp)
+        fprintf(logp, buf);
+
+    return;    
+}
+
+
+FILE *openlog(char *prefix)
+{
+    FILE *fp = 0;
+    char myname[64];
+    
+    pc.printf("Opening file...\n");
+
+    while (fp == 0) {
+        if ((fp = fopen("/log/test.txt", "w")) == 0) {
+            pc.printf("Waiting for filesystem to come online...");
+            wait(0.200);
+            lcd.pos(0,1);
+            lcd.printf("%-16s", "Waiting for fs");
+        }
+    }    
+    fclose(fp);
+
+    for (int i = 0; i < 1000; i++) {
+        sprintf(myname, "/log/%s%03d.csv", prefix, i);
+        if ((fp = fopen(myname, "r")) == 0) {
+            break;
+        } else {
+            fclose(fp);
+        }
+    }
+    fp = fopen(myname, "w");
+    if (fp == 0) {
+        pc.printf("file write failed: %s\n", myname);
+    } else {
+    
+        // TODO -- set error message, get rid of writing to terminal
+        
+        //status = true;
+        pc.printf("opened %s for writing\n", myname);
+        lcd.pos(0,1);
+        lcd.printf("%-16s", myname);
+    }
+    
+    return fp;
+}
+
+
+// Find the next unused filename of the form logger##.csv where # is 0-9
+//
+bool initLogfile() 
+{    
+    bool status = false;
+    
+    logp = openlog("log");
+    
+    if (logp != 0) {
+        status = true;
+        fprintf(logp, "s.millis, s.current, s.voltage, s.gx, s.gy, s.gz, s.gTemp, s.ax, s.ay, s.az, s.mx, s.my, s.mz, s.gHeading, s.cHeading, s.roll, s.pitch, s.yaw, s.gpsLatitude, s.gpsLongitude, s.gpsCourse, s.gpsSpeed, s.gpsHDOP, s.lrEncDistance, s.rrEncDistance, s.lrEncSpeed, s.rrEncSpeed, s.encHeading, s.estHeading, s.estLatitude, s.estLongitude, s.estNorthing, s.estEasting, s.estX, s.estY, s.nextWaypoint, s.bearing, s.distance, s.gbias, s.errAngle, s.leftRanger, s.rightRanger, s.centerRanger, s.crossTrackErr\n");
+    }
+    
+    return status;
+}
+
+void closeLogfile(void)
+{
+    if (logp) fclose(logp);
+}
\ No newline at end of file