mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-15 07:29:15 +01:00
Added OpenPilot Logging functions, tasks.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@55 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
parent
67540d1c26
commit
4e4b50e187
@ -82,7 +82,8 @@ RTOSINCDIR = $(RTOSSRCDIR)/include
|
||||
# use file-extension c for "c-only"-files
|
||||
|
||||
## OPENPILOT:
|
||||
SRC = $(OPENPILOT)/openpilot.c
|
||||
SRC = $(OPENPILOT)/openpilot.c
|
||||
SRC += $(OPENPILOT)/op_logging.c
|
||||
|
||||
## PIOS:
|
||||
SRC += $(PIOS)/pios.c
|
||||
|
45
flight/OpenPilot/inc/op_logging.h
Normal file
45
flight/OpenPilot/inc/op_logging.h
Normal file
@ -0,0 +1,45 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file op_logging.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
|
||||
* @brief OpenPilot Logging Functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
#ifndef OP_LOGGING_H
|
||||
#define OP_LOGGING_H
|
||||
|
||||
/* Defines */
|
||||
#define OP_LOGGING_TASK_PRI ( tskIDLE_PRIORITY + 5 )
|
||||
|
||||
/* Type Definitions */
|
||||
typedef enum {FLIGHT_LOG, RC_LOG} LogTypeTypeDef;
|
||||
typedef struct {
|
||||
LogTypeTypeDef Type;
|
||||
char *Message;
|
||||
} LogTypeDef;
|
||||
|
||||
|
||||
/* Function Prototypes */
|
||||
extern void OP_Logging_Init(void);
|
||||
|
||||
|
||||
#endif /* OP_LOGGING_H */
|
@ -32,18 +32,14 @@
|
||||
#include "pios.h"
|
||||
|
||||
/* OpenPilot Includes */
|
||||
/* We use this to include all OpenPilot head files */
|
||||
#include "op_logging.h"
|
||||
|
||||
/* FreeRTOS Includes */
|
||||
#include <FreeRTOS.h>
|
||||
#include <task.h>
|
||||
#include <queue.h>
|
||||
|
||||
/* Function Prototypes */
|
||||
/* Global Functions */
|
||||
extern void OpenPilotInit(void);
|
||||
extern void vApplicationIdleHook(void);
|
||||
|
||||
/* Hooks */
|
||||
extern void ADCNotifyChange(uint32_t pin, uint32_t pin_value);
|
||||
|
||||
#endif /* OPENPILOT_H */
|
||||
|
100
flight/OpenPilot/op_logging.c
Normal file
100
flight/OpenPilot/op_logging.c
Normal file
@ -0,0 +1,100 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file op_logging.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
|
||||
* @brief OpenPilot Logging Functions
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @defgroup OP_LOGGING Logging Functions
|
||||
* @{
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
/* OpenPilot Includes */
|
||||
#include "openpilot.h"
|
||||
|
||||
/* Global Variables */
|
||||
xQueueHandle xLoggingQueue;
|
||||
|
||||
/* Local Variables */
|
||||
static uint8_t FlightLogFilename[128];
|
||||
|
||||
/* Local Functions */
|
||||
static void OP_Logging_MicroSDGateKeeperTask(void *pvParameters);
|
||||
|
||||
|
||||
/**
|
||||
* Main function
|
||||
*/
|
||||
void OP_Logging_Init(void)
|
||||
{
|
||||
uint16_t FileCount;
|
||||
FILINFO DummyFileInfo;
|
||||
|
||||
/* This is a crude way to file the next avaiable number avaiable */
|
||||
/* The proper way would be to use folders with dates, we will get to that later */
|
||||
for(FileCount = 0; FileCount < 65536; FileCount++) {
|
||||
sprintf((char *)FlightLogFilename, "Flight_Log_%d.txt", FileCount);
|
||||
if(f_stat((char *)FlightLogFilename, &DummyFileInfo) != FR_OK) {
|
||||
/* We have come to a file that doesn't extist */
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Start the gatekeeper task */
|
||||
xTaskCreate(OP_Logging_MicroSDGateKeeperTask, (signed portCHAR *) "Logging_MicroSDGateKeeperTask", configMINIMAL_STACK_SIZE, NULL, OP_LOGGING_TASK_PRI, NULL);
|
||||
}
|
||||
|
||||
/**
|
||||
* Task to handle the MicroSD log que
|
||||
*/
|
||||
void OP_Logging_MicroSDGateKeeperTask(void *pvParameters)
|
||||
{
|
||||
FIL File;
|
||||
LogTypeDef pcMessageToLog;
|
||||
|
||||
for(;;) {
|
||||
xQueueReceive(xLoggingQueue, &pcMessageToLog, portMAX_DELAY);
|
||||
|
||||
/* We don't want this take to get pre-empted, so enter critical state */
|
||||
/* If we do get pre-empted we face corrupting the MicroSD filesystem */
|
||||
taskENTER_CRITICAL();
|
||||
|
||||
/* Open the correct log file */
|
||||
switch(pcMessageToLog.Type) {
|
||||
case FLIGHT_LOG:
|
||||
f_open(&File, (char *)FlightLogFilename, FA_OPEN_EXISTING);
|
||||
break;
|
||||
case RC_LOG:
|
||||
break;
|
||||
}
|
||||
|
||||
/* Write the stuff */
|
||||
f_puts(pcMessageToLog.Message, &File);
|
||||
|
||||
/* Sync the MicroSD Card */
|
||||
f_sync(&File);
|
||||
|
||||
/* Close the file */
|
||||
f_close(&File);
|
||||
|
||||
/* Exit the critical stage */
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
}
|
@ -29,7 +29,7 @@
|
||||
|
||||
|
||||
/* Local Variables */
|
||||
static uint16_t adc_pin_values[4];
|
||||
//static uint16_t adc_pin_values[4];
|
||||
|
||||
/* Local Functions */
|
||||
static void ServosTask(void *pvParameters);
|
||||
@ -40,6 +40,10 @@ static void ServosTask(void *pvParameters);
|
||||
*/
|
||||
void OpenPilotInit(void)
|
||||
{
|
||||
/* Initialise Logging */
|
||||
OP_Logging_Init();
|
||||
|
||||
|
||||
xTaskCreate(ServosTask, (signed portCHAR *) "Servos", configMINIMAL_STACK_SIZE, NULL, 2, NULL);
|
||||
|
||||
|
||||
@ -66,11 +70,14 @@ static void ServosTask(void *pvParameters)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* This hook is called every time the
|
||||
*/
|
||||
/* Do we really need to use this callback stuff for analog changes?? We should just use PIOS_ADC_PinGet()
|
||||
void ADCNotifyChange(uint32_t pin, uint32_t pin_value)
|
||||
{
|
||||
/* All we really need to do here is store the values in a local array. */
|
||||
// All we really need to do here is store the values in a local array.
|
||||
adc_pin_values[pin] = (uint16_t) pin_value;
|
||||
}
|
||||
*/
|
||||
|
@ -38,6 +38,10 @@
|
||||
static uint32_t ulIdleCycleCount = 0;
|
||||
static uint32_t IdleTimePercent = 0;
|
||||
|
||||
/* Global Functions */
|
||||
void vApplicationIdleHook(void);
|
||||
|
||||
|
||||
/* Function Prototypes */
|
||||
static void HooksTask(void *pvParameters);
|
||||
|
||||
@ -84,7 +88,7 @@ static void HooksTask(void *pvParameters)
|
||||
}
|
||||
|
||||
/* Check for ADC pin changes, call ADCNotifyChange on each pin change */
|
||||
ADCHandler(ADCNotifyChange);
|
||||
//ADCHandler(ADCNotifyChange);
|
||||
|
||||
/* Check for incoming COM messages */
|
||||
COMReceiveHandler();
|
||||
|
Loading…
x
Reference in New Issue
Block a user