Re-added lost log initialization from initialize_components. Fixed issue with logging units.

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;

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 

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);