Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
logging/logging.c
- Committer:
- shimniok
- Date:
- 2012-06-20
- Revision:
- 0:826c6171fc1b
File content as of revision 0:826c6171fc1b:
#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); }