From bbd1dcf1a5a314c1d525426e46e12a03d273174f Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Sat, 18 Mar 2017 13:03:57 -0500
Subject: [PATCH] Re-added lost log initialization from initialize_components.
Fixed issue with logging units.
---
quad/src/quad_app/initialize_components.c | 3 +++
quad/src/quad_app/initialize_components.h | 1 +
quad/src/quad_app/log_data.c | 14 +++++++-------
3 files changed, 11 insertions(+), 7 deletions(-)
diff --git a/quad/src/quad_app/initialize_components.c b/quad/src/quad_app/initialize_components.c
index fa09ea2cf..858c0e9ff 100644
--- a/quad/src/quad_app/initialize_components.c
+++ b/quad/src/quad_app/initialize_components.c
@@ -50,6 +50,9 @@ 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 loop timers
struct TimerDriver *global_timer = &structs->hardware_struct.global_timer;
struct TimerDriver *axi_timer = &structs->hardware_struct.axi_timer;
diff --git a/quad/src/quad_app/initialize_components.h b/quad/src/quad_app/initialize_components.h
index f903d4205..e1737abd8 100644
--- a/quad/src/quad_app/initialize_components.h
+++ b/quad/src/quad_app/initialize_components.h
@@ -14,6 +14,7 @@
#include "util.h"
#include "type_def.h"
#include "controllers.h"
+#include "mio7_led.h"
/**
* @brief
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index 131fabbeb..6c3f5c3e8 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -46,11 +46,11 @@ static char units_param_str[512] = {};
static struct str units_output = { .str = units_output_str, .size = 0, .capacity = sizeof(units_output_str)};
static struct str units_param = { .str = units_param_str, .size = 0, .capacity = sizeof(units_output_str)};
-void safe_strcat(struct str str, char* to_add) {
+void safe_strcat(struct str *str, const char* to_add) {
size_t add_len = strlen(to_add);
- if (add_len + str.size <= str.capacity) {
- strcpy(&(str.str[str.size]), to_add);
- str.size += add_len;
+ if (add_len + str->size <= str->capacity) {
+ strcpy(&(str->str[str->size]), to_add);
+ str->size += add_len;
}
}
@@ -61,7 +61,7 @@ void addOutputToLog(log_t* log_struct, int controller_id, int output_id, char* u
log_outputs[n_outputs].sub_id = output_id;
n_outputs++;
snprintf(units_buf, sizeof(units_buf), "\t%s", units);
- safe_strcat(units_output, units_buf);
+ safe_strcat(&units_output, units_buf);
}
}
void addParamToLog(log_t* log_struct, int controller_id, int param_id, char* units) {
@@ -71,14 +71,14 @@ void addParamToLog(log_t* log_struct, int controller_id, int param_id, char* uni
log_params[n_params].sub_id = param_id;
n_params++;
snprintf(units_buf, sizeof(units_buf), "\t%s", units);
- safe_strcat(units_param, units_buf);
+ safe_strcat(&units_param, units_buf);
}
}
void initialize_logging(log_t* log_struct, parameter_t* ps) {
char* rad = "rad";
char* rad_s = "rad/s";
- char* pwm_val = "10us_dutycycle";
+ char* pwm_val = "10ns_dutycycle";
char* m = "m";
addOutputToLog(log_struct, ps->alt_pid, PID_CORRECTION, pwm_val);
addOutputToLog(log_struct, ps->x_pos_pid, PID_CORRECTION, rad);
--
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