From 3ed86eb9ea435d7b64f90aae6198e06f53e57fe8 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Wed, 19 Apr 2017 22:01:10 -0500
Subject: [PATCH] Keeping track of number of IIC errors.
---
quad/src/quad_app/quad_app.c | 1 -
quad/src/quad_app/sensor.c | 28 ++++++++++++++++++++++------
2 files changed, 22 insertions(+), 7 deletions(-)
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index e57f8ba44..587cd930e 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -49,7 +49,6 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
timer_start_loop();
// Process all received data
-
process_received(&structs);
// Get the user input and put it into user_input_struct
diff --git a/quad/src/quad_app/sensor.c b/quad/src/quad_app/sensor.c
index 079136a9f..6ae875ce9 100644
--- a/quad/src/quad_app/sensor.c
+++ b/quad/src/quad_app/sensor.c
@@ -10,6 +10,9 @@
#include "commands.h"
#include "type_def.h"
+//TODO: Put this in a dedicated error-handling file
+static void updateError(SensorError_t*, int);
+
int sensor_init(hardware_t *hardware_struct, raw_sensor_t * raw_sensor_struct, sensor_t * sensor_struct)
{
struct IMUDriver *imu = &hardware_struct->imu;
@@ -40,19 +43,32 @@ int get_sensors(hardware_t *hardware_struct, log_t* log_struct, user_input_t* us
struct IMUDriver *imu = &hardware_struct->imu;
struct LidarDriver *lidar = &hardware_struct->lidar;
struct OpticalFlowDriver *of = &hardware_struct->of;
+ static lidar_t lidar_val;
int status = 0;
- status |= imu->read(imu, &raw_sensor_struct->gam);
- static lidar_t lidar_val;
- int lidar_status = lidar->read(lidar, &lidar_val);
- if (lidar_status == 0) {
+ status = imu->read(imu, &raw_sensor_struct->gam);
+ updateError(&(raw_sensor_struct->gam.error), status);
+
+ status = lidar->read(lidar, &lidar_val);
+ updateError(&(raw_sensor_struct->lidar.error), status);
+ if (status == 0) {
raw_sensor_struct->lidar_distance_m = lidar_val.distance_m;
}
- status |= lidar_status;
- status |= of->read(of, &raw_sensor_struct->optical_flow);
+ status = of->read(of, &raw_sensor_struct->optical_flow);
+ updateError(&(raw_sensor_struct->optical_flow.error), status);
+
log_struct->gam = raw_sensor_struct->gam;
return 0;
}
+void updateError(SensorError_t *error, int status) {
+ if(status) {
+ error->errorCount++;
+ error->consErrorCount++;
+ }
+ else {
+ error->consErrorCount = 0;
+ }
+}
--
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