Michael Shimniok / Mbed 2 deprecated AVC_2012

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@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 #include "logging.h"
shimniok 0:826c6171fc1b 2 #include "SDHCFileSystem.h"
shimniok 0:826c6171fc1b 3 #include "SerialGraphicLCD.h"
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 extern Serial pc;
shimniok 0:826c6171fc1b 6 extern SerialGraphicLCD lcd;
shimniok 0:826c6171fc1b 7
shimniok 0:826c6171fc1b 8 SDFileSystem sd(p5, p6, p7, p8, "log"); // mosi, miso, sclk, cs
shimniok 0:826c6171fc1b 9 static FILE *logp;
shimniok 0:826c6171fc1b 10
shimniok 0:826c6171fc1b 11
shimniok 0:826c6171fc1b 12 void clearState( SystemState *s ) {
shimniok 0:826c6171fc1b 13 s->millis = 0;
shimniok 0:826c6171fc1b 14 s->current = s->voltage = 0.0;
shimniok 0:826c6171fc1b 15 s->g[0] = s->g[1] = s->g[2] = 0;
shimniok 0:826c6171fc1b 16 s->gTemp = 0;
shimniok 0:826c6171fc1b 17 s->a[0] = s->a[1] = s->a[2] = 0;
shimniok 0:826c6171fc1b 18 s->m[0] = s->m[1] = s->m[2] = 0;
shimniok 0:826c6171fc1b 19 s->gHeading = s->cHeading = 0.0;
shimniok 0:826c6171fc1b 20 //s->roll = s->pitch = s->yaw =0.0;
shimniok 0:826c6171fc1b 21 s->gpsLatitude = s->gpsLongitude = s->gpsCourse = s->gpsHDOP = 0.0;
shimniok 0:826c6171fc1b 22 s->lrEncDistance = s->rrEncDistance = 0.0;
shimniok 0:826c6171fc1b 23 s->lrEncSpeed = s->rrEncSpeed = s->encHeading = 0.0;
shimniok 0:826c6171fc1b 24 s->estHeading = s->estLatitude = s->estLongitude = 0.0;
shimniok 0:826c6171fc1b 25 //s->estNorthing = s->estEasting =
shimniok 0:826c6171fc1b 26 s->estX = s->estY = 0.0;
shimniok 0:826c6171fc1b 27 s->nextWaypoint = 0;
shimniok 0:826c6171fc1b 28 s->bearing = s->distance = 0.0;
shimniok 0:826c6171fc1b 29 }
shimniok 0:826c6171fc1b 30
shimniok 0:826c6171fc1b 31 //void logData( SystemState s, void (*logString)(char *s) ) {
shimniok 0:826c6171fc1b 32 void logData( SystemState s ) {
shimniok 0:826c6171fc1b 33 char buf[256];
shimniok 0:826c6171fc1b 34
shimniok 0:826c6171fc1b 35 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",
shimniok 0:826c6171fc1b 36 s.millis,
shimniok 0:826c6171fc1b 37 s.current, s.voltage,
shimniok 0:826c6171fc1b 38 s.g[0], s.g[1], s.g[2],
shimniok 0:826c6171fc1b 39 s.gTemp,
shimniok 0:826c6171fc1b 40 s.a[0], s.a[1], s.a[2],
shimniok 0:826c6171fc1b 41 s.m[0], s.m[1], s.m[2],
shimniok 0:826c6171fc1b 42 s.gHeading, //s.cHeading,
shimniok 0:826c6171fc1b 43 //s.roll, s.pitch, s.yaw,
shimniok 0:826c6171fc1b 44 s.gpsLatitude, s.gpsLongitude, s.gpsCourse, s.gpsSpeed*0.44704, s.gpsHDOP, s.gpsSats, // convert gps speed to m/s
shimniok 0:826c6171fc1b 45 s.lrEncDistance, s.rrEncDistance, s.lrEncSpeed, s.rrEncSpeed, s.encHeading,
shimniok 0:826c6171fc1b 46 s.estHeading, s.estLatitude, s.estLongitude,
shimniok 0:826c6171fc1b 47 // s.estNorthing, s.estEasting,
shimniok 0:826c6171fc1b 48 s.estX, s.estY,
shimniok 0:826c6171fc1b 49 s.nextWaypoint, s.bearing, s.distance, s.gbias, s.errAngle,
shimniok 0:826c6171fc1b 50 s.leftRanger, s.rightRanger, s.centerRanger,
shimniok 0:826c6171fc1b 51 s.crossTrackErr
shimniok 0:826c6171fc1b 52 );
shimniok 0:826c6171fc1b 53
shimniok 0:826c6171fc1b 54 if (logp)
shimniok 0:826c6171fc1b 55 fprintf(logp, buf);
shimniok 0:826c6171fc1b 56
shimniok 0:826c6171fc1b 57 return;
shimniok 0:826c6171fc1b 58 }
shimniok 0:826c6171fc1b 59
shimniok 0:826c6171fc1b 60
shimniok 0:826c6171fc1b 61 FILE *openlog(char *prefix)
shimniok 0:826c6171fc1b 62 {
shimniok 0:826c6171fc1b 63 FILE *fp = 0;
shimniok 0:826c6171fc1b 64 char myname[64];
shimniok 0:826c6171fc1b 65
shimniok 0:826c6171fc1b 66 pc.printf("Opening file...\n");
shimniok 0:826c6171fc1b 67
shimniok 0:826c6171fc1b 68 while (fp == 0) {
shimniok 0:826c6171fc1b 69 if ((fp = fopen("/log/test.txt", "w")) == 0) {
shimniok 0:826c6171fc1b 70 pc.printf("Waiting for filesystem to come online...");
shimniok 0:826c6171fc1b 71 wait(0.200);
shimniok 0:826c6171fc1b 72 lcd.pos(0,1);
shimniok 0:826c6171fc1b 73 lcd.printf("%-16s", "Waiting for fs");
shimniok 0:826c6171fc1b 74 }
shimniok 0:826c6171fc1b 75 }
shimniok 0:826c6171fc1b 76 fclose(fp);
shimniok 0:826c6171fc1b 77
shimniok 0:826c6171fc1b 78 for (int i = 0; i < 1000; i++) {
shimniok 0:826c6171fc1b 79 sprintf(myname, "/log/%s%03d.csv", prefix, i);
shimniok 0:826c6171fc1b 80 if ((fp = fopen(myname, "r")) == 0) {
shimniok 0:826c6171fc1b 81 break;
shimniok 0:826c6171fc1b 82 } else {
shimniok 0:826c6171fc1b 83 fclose(fp);
shimniok 0:826c6171fc1b 84 }
shimniok 0:826c6171fc1b 85 }
shimniok 0:826c6171fc1b 86 fp = fopen(myname, "w");
shimniok 0:826c6171fc1b 87 if (fp == 0) {
shimniok 0:826c6171fc1b 88 pc.printf("file write failed: %s\n", myname);
shimniok 0:826c6171fc1b 89 } else {
shimniok 0:826c6171fc1b 90
shimniok 0:826c6171fc1b 91 // TODO -- set error message, get rid of writing to terminal
shimniok 0:826c6171fc1b 92
shimniok 0:826c6171fc1b 93 //status = true;
shimniok 0:826c6171fc1b 94 pc.printf("opened %s for writing\n", myname);
shimniok 0:826c6171fc1b 95 lcd.pos(0,1);
shimniok 0:826c6171fc1b 96 lcd.printf("%-16s", myname);
shimniok 0:826c6171fc1b 97 }
shimniok 0:826c6171fc1b 98
shimniok 0:826c6171fc1b 99 return fp;
shimniok 0:826c6171fc1b 100 }
shimniok 0:826c6171fc1b 101
shimniok 0:826c6171fc1b 102
shimniok 0:826c6171fc1b 103 // Find the next unused filename of the form logger##.csv where # is 0-9
shimniok 0:826c6171fc1b 104 //
shimniok 0:826c6171fc1b 105 bool initLogfile()
shimniok 0:826c6171fc1b 106 {
shimniok 0:826c6171fc1b 107 bool status = false;
shimniok 0:826c6171fc1b 108
shimniok 0:826c6171fc1b 109 logp = openlog("log");
shimniok 0:826c6171fc1b 110
shimniok 0:826c6171fc1b 111 if (logp != 0) {
shimniok 0:826c6171fc1b 112 status = true;
shimniok 0:826c6171fc1b 113 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");
shimniok 0:826c6171fc1b 114 }
shimniok 0:826c6171fc1b 115
shimniok 0:826c6171fc1b 116 return status;
shimniok 0:826c6171fc1b 117 }
shimniok 0:826c6171fc1b 118
shimniok 0:826c6171fc1b 119 void closeLogfile(void)
shimniok 0:826c6171fc1b 120 {
shimniok 0:826c6171fc1b 121 if (logp) fclose(logp);
shimniok 0:826c6171fc1b 122 }