Added OpenPilot Logging functions, tasks.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@55 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/Makefile

@@ -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 

flight/OpenPilot/inc/op_logging.h

@@ -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 */

flight/OpenPilot/inc/openpilot.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 */

flight/OpenPilot/op_logging.c

@@ -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();
+	}
+}

flight/OpenPilot/openpilot.c

@@ -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;
 }
+*/

flight/PiOS/pios.c

@@ -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();