From 25597f01a7633685e6a396f4e26c5a6e1b0d44b8 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Mon, 29 Apr 2019 18:07:35 -0500
Subject: [PATCH] The work continues 2, electric boogaloo
---
groundStation/src/backend/backend.c | 4 +-
quad/src/quad_app/callbacks.c | 47 ++++++++++++-----------
quad/src/quad_app/initialize_components.c | 6 +--
quad/src/quad_app/log_data.c | 2 +-
quad/src/quad_app/log_data.h | 4 +-
quad/src/quad_app/quad_app.c | 10 ++---
quad/src/quad_app/type_def.h | 37 +++++++++---------
7 files changed, 56 insertions(+), 54 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index d801e5ebb..295b85442 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -1012,9 +1012,9 @@ static void quad_recv(int index) {
case SEND_RT_ID:
quadlog_file = fopen("quad_log_data.txt", "w");
- fwrite((char *) formatted_data, sizeof(char), m.data_len, quadlog_file);
+ //fwrite((char *) formatted_data, sizeof(char), m.data_len, quadlog_file);
fclose(quadlog_file);
- free(formatted_data);
+ //free(formatted_data);
break;
case RESPPARAM_ID:
case RESPSOURCE_ID:
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index 005485bdb..bff5d2142 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -415,32 +415,33 @@ int cb_sendrtdata(struct modular_structs *structs, struct metadata *meta, unsign
if (length < 4)
return -1;
int size = 0;
- structs->flags.lidarflags.quadHeight = read_bit(configData, 31); size += read_bit(configData, 31);
+ u32 configData = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | (data[5]);
+ structs->flags_struct.lidarflags->quadHeight = read_bit(configData, 31); size += read_bit(configData, 31);
/*BEGIN DOUBLE-TYPE FLAGS. If these are enabled, actual size of data sent is 2*read_bit due to
* length of data. This needs to be compensated for in methods where total length of payload packet
* needs to be known ahead of time. */
- structs->flags.optflowflags.x_flow = read_bit(configData, 30); size += read_bit(configData, 30);
- structs->flags.optflowflags.y_flow = read_bit(configData, 29); size += read_bit(configData, 29);
- structs->flags.optflowflags.x_filter = read_bit(configData, 28); size += read_bit(configData, 28);
- structs->flags.optflowflags.y_filter = read_bit(configData, 27); size += read_bit(configData, 27);
- structs->flags.optflowflags.x_velocity = read_bit(configData, 26); size += read_bit(configData, 26);
- structs->flags.optflowflags.y_velocity = read_bit(configData, 25); size += read_bit(configData, 25);
+ structs->flags_struct.optflowflags->x_flow = read_bit(configData, 30); size += read_bit(configData, 30);
+ structs->flags_struct.optflowflags->y_flow = read_bit(configData, 29); size += read_bit(configData, 29);
+ structs->flags_struct.optflowflags->x_filter = read_bit(configData, 28); size += read_bit(configData, 28);
+ structs->flags_struct.optflowflags->y_filter = read_bit(configData, 27); size += read_bit(configData, 27);
+ structs->flags_struct.optflowflags->x_velocity = read_bit(configData, 26); size += read_bit(configData, 26);
+ structs->flags_struct.optflowflags->y_velocity = read_bit(configData, 25); size += read_bit(configData, 25);
//END DOUBLE TYPE FLAGS.
- structs->flags.imuflags.gyro_x = read_bit(configData, 24); size += read_bit(configData, 24);
- structs->flags.imuflags.gyro_y = read_bit(configData, 23); size += read_bit(configData, 23);
- structs->flags.imuflags.gyro_z = read_bit(configData, 22); size += read_bit(configData, 22);
- structs->flags.imuflags.acc_x = read_bit(configData, 21); size += read_bit(configData, 21);
- structs->flags.imuflags.acc_y = read_bit(configData, 20); size += read_bit(configData, 20);
- structs->flags.imuflags.acc_z = read_bit(configData, 19); size += read_bit(configData, 19);
- structs->flags.imuflags.mag_x = read_bit(configData, 18); size += read_bit(configData, 18);
- structs->flags.imuflags.mag_y = read_bit(configData, 17); size += read_bit(configData, 17);
- structs->flags.imuflags.mag_z = read_bit(configData, 16); size += read_bit(configData, 16);
- structs->flags.errorflags.lidar = read_bit(configData, 15); size += read_bit(configData, 15);
- structs->flags.errorflags.consec_lidar = read_bit(configData, 14); size += read_bit(configData, 14);
- structs->flags.errorflags.optFlow = read_bit(configData, 13); size += read_bit(configData, 13);
- structs->flags.errorflags.consec_optFlow = read_bit(configData, 12); size += read_bit(configData, 12);
- structs->flags.errorflags.imu = read_bit(configData, 11); size += read_bit(configData, 11);
- structs->flags.errorflags.consec_imu = read_bit(configData, 10); size += read_bit(configData, 10);
- structs->flags.flag_count = size;
+ structs->flags_struct.imuflags->gyro_x = read_bit(configData, 24); size += read_bit(configData, 24);
+ structs->flags_struct.imuflags->gyro_y = read_bit(configData, 23); size += read_bit(configData, 23);
+ structs->flags_struct.imuflags->gyro_z = read_bit(configData, 22); size += read_bit(configData, 22);
+ structs->flags_struct.imuflags->acc_x = read_bit(configData, 21); size += read_bit(configData, 21);
+ structs->flags_struct.imuflags->acc_y = read_bit(configData, 20); size += read_bit(configData, 20);
+ structs->flags_struct.imuflags->acc_z = read_bit(configData, 19); size += read_bit(configData, 19);
+ structs->flags_struct.imuflags->mag_x = read_bit(configData, 18); size += read_bit(configData, 18);
+ structs->flags_struct.imuflags->mag_y = read_bit(configData, 17); size += read_bit(configData, 17);
+ structs->flags_struct.imuflags->mag_z = read_bit(configData, 16); size += read_bit(configData, 16);
+ structs->flags_struct.errorflags->lidar = read_bit(configData, 15); size += read_bit(configData, 15);
+ structs->flags_struct.errorflags->consec_lidar = read_bit(configData, 14); size += read_bit(configData, 14);
+ structs->flags_struct.errorflags->optFlow = read_bit(configData, 13); size += read_bit(configData, 13);
+ structs->flags_struct.errorflags->consec_optFlow = read_bit(configData, 12); size += read_bit(configData, 12);
+ structs->flags_struct.errorflags->imu = read_bit(configData, 11); size += read_bit(configData, 11);
+ structs->flags_struct.errorflags->consec_imu = read_bit(configData, 10); size += read_bit(configData, 10);
+ structs->flags_struct.flag_count = size;
return 0;
}
diff --git a/quad/src/quad_app/initialize_components.c b/quad/src/quad_app/initialize_components.c
index 232125ac3..270d6c8f6 100644
--- a/quad/src/quad_app/initialize_components.c
+++ b/quad/src/quad_app/initialize_components.c
@@ -49,8 +49,8 @@ int init_structs(modular_structs_t *structs) {
// Initialize the controller
control_algorithm_init(&structs->parameter_struct);
- // Initialize the logging
- initialize_logging(&structs->log_struct, &structs->parameter_struct);
+ // Initialize the logging
+ //initialize_logging(&structs->log_struct, &structs->parameter_struct);
// Initialize loop timers
struct TimerDriver *global_timer = &structs->hardware_struct.global_timer;
@@ -105,7 +105,7 @@ int init_structs(modular_structs_t *structs) {
}
sensor_processing_init(&structs->sensor_struct);
- initializeFlags(&structs->flags);
+ initializeFlags(&structs->flags_struct);
return 0;
}
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index 96a0db977..fe8aef14d 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -410,7 +410,7 @@ void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
timer_axi_reset();
}
-void RTprintend()
+void RTprintend(struct CommDriver *comm)
{
if (arrayIndex == 0)
{
diff --git a/quad/src/quad_app/log_data.h b/quad/src/quad_app/log_data.h
index c4cfd903e..b72717524 100644
--- a/quad/src/quad_app/log_data.h
+++ b/quad/src/quad_app/log_data.h
@@ -51,13 +51,13 @@ void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
/**
* Prints the beginning header for a flight data file. Used for Real-Time Data Transfer
* */
-void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags)
+void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags);
/**
* Sends the required ending message to close a log file following the end of a flight. Used for
* Real-Time Data Transfer
* */
-void RTprintend()
+void RTprintend(struct CommDriver *comm);
/**
* Prints all the log information.
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index d9174003a..4fb124cff 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -100,10 +100,10 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
{
init_cond = 0x1;
initialize_logging(&(structs.log_struct), &(structs.parameter_struct), &(structs.flags_struct));
- RTprintheader(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &(structs.raw_sensor_struct), &(structs.flags_struct));
+ RTprintheader(&(structs.hardware_struct.comm), &(structs.log_struct), &(structs.parameter_struct), &(structs.raw_sensor_struct), &(structs.flags_struct));
}
log_data(&(structs.log_struct), &(structs.parameter_struct), &(structs.flags_struct));
- RTprintLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct, &(structs.flags_struct));
+ RTprintLogging(&(structs.hardware_struct.comm), &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct, &(structs.flags_struct));
if(structs.user_defined_struct.flight_mode == AUTO_FLIGHT_MODE)
{
static int loop_counter = 0;
@@ -128,7 +128,7 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
}
if (this_kill_condition == 1 && last_kill_condition == 0) {
- RTprintend();
+ RTprintend(&(structs.hardware_struct.comm));
resetLogging();
MIO7_led_off();
}
@@ -143,8 +143,8 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
char err_msg[] = "More than 10 IMU errors";
send_data(structs.hardware_struct.comm.uart, DEBUG_ID, 0, (u8*)err_msg, sizeof(err_msg));
//Send end of log message. Uncomment printLogging below for post-flight log.
- RTprintend();
- resetLogging();
+ RTprintend(&(structs.hardware_struct.comm));
+ resetLogging();
//printLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
break;
}
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index 8eb2565d3..1b67b73f2 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -477,24 +477,6 @@ typedef struct hardware_t {
struct OpticalFlowDriver of;
} hardware_t;
-/**
- * @brief
- * Structures to be used throughout
- */
-typedef struct modular_structs {
- user_input_t user_input_struct;
- log_t log_struct;
- raw_sensor_t raw_sensor_struct;
- sensor_t sensor_struct;
- setpoint_t setpoint_struct;
- parameter_t parameter_struct;
- user_defined_t user_defined_struct;
- raw_actuator_t raw_actuator_struct;
- actuator_command_t actuator_command_struct;
- hardware_t hardware_struct;
- SensorRTFlags_t flags_struct;
-} modular_structs_t;
-
/* BEGIN FLAG STRUCTS CONTAINING ENABLED/DISABLED RT DATA TRANSFERS */
typedef struct lidarFlags
{
@@ -553,6 +535,25 @@ typedef struct SensorRTFlags
/* END FLAG STRUCTS */
+/**
+ * @brief
+ * Structures to be used throughout
+ */
+typedef struct modular_structs {
+ user_input_t user_input_struct;
+ log_t log_struct;
+ raw_sensor_t raw_sensor_struct;
+ sensor_t sensor_struct;
+ setpoint_t setpoint_struct;
+ parameter_t parameter_struct;
+ user_defined_t user_defined_struct;
+ raw_actuator_t raw_actuator_struct;
+ actuator_command_t actuator_command_struct;
+ hardware_t hardware_struct;
+ SensorRTFlags_t flags_struct;
+} modular_structs_t;
+
+
//////// END MAIN MODULAR STRUCTS
#endif /* TYPE_DEF_H_ */
--
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