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SD_Logger Implementation #7

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SD_Logger Implementation #7

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92 changes: 89 additions & 3 deletions Skid_Steer/App/Core/Src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,12 +51,15 @@
#define RADIUS (float)1.0
#define SAMPLING_TICKS 10
uint16_t ADC_Values[ADC_SENSORS];
#define LOGGING_FREQ 500
volatile uint8_t serialFinished=0;
char msg [100];
char g_reciveBuffer [RECIVE_BUFFER_SIZE];
char g_reciveBufferCopied [RECIVE_BUFFER_SIZE];
char g_sendBuffer[SEND_BUFFER_SIZE];
bool g_parseFlag(false);
FRESULT sdWriteRes; // FatFs Write to SD Card Result
char log_path[] = "/LOG.TXT"; //Path to file
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
Expand All @@ -73,7 +76,8 @@ bool g_parseFlag(false);
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

FRESULT AppendToFile(char* path, size_t path_len, char* msg, size_t msg_len);
void SD_Log(RobotMsgOut& msg);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
Expand Down Expand Up @@ -145,13 +149,15 @@ int main(void)



Robot robot(robotParams);
Robot robot(robotParams);
RobotMsgOut msg = robot.getInfo(0);
/* USER CODE END 2 */

/* Infinite loop */
/* USER CODE BEGIN WHILE */
uint32_t pTicks = HAL_GetTick();
uint32_t lTicks = HAL_GetTick();
uint32_t logTicks = HAL_GetTick();
while (1)
{
uint32_t Ticks = HAL_GetTick();
Expand All @@ -172,11 +178,16 @@ int main(void)
robot.update();
robot.run();
int pos = 0;
RobotMsgOut msg = robot.getInfo(Ticks);
msg = robot.getInfo(Ticks);
msg.convertToBytes(g_sendBuffer, SEND_BUFFER_SIZE, pos);
HAL_UART_Transmit_DMA(&huart3,(uint8_t*)g_sendBuffer, 72);
pTicks += SAMPLING_TICKS;
}

if(Ticks - logTicks >= LOGGING_FREQ){
SD_Log(msg);
logTicks+= LOGGING_FREQ;
}
/* USER CODE END WHILE */

/* USER CODE BEGIN 3 */
Expand Down Expand Up @@ -236,6 +247,81 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
HAL_UARTEx_ReceiveToIdle_DMA(&huart3,(uint8_t*)g_reciveBuffer, RECIVE_BUFFER_SIZE);
HAL_GPIO_TogglePin(LD1_GPIO_Port, LD1_Pin);
}
FRESULT AppendToFile(char* path, size_t path_len, char* msg, size_t msg_len) {

FATFS fs;
FIL myFILE;
UINT testByte;
FRESULT stat;

// Bounds check on strings
if ( (path[path_len] != 0) || (msg[msg_len] != 0) ) {
return FR_INVALID_NAME;
}

// Re-initialize SD
if ( BSP_SD_Init() != MSD_OK ) {
return FR_NOT_READY;
}

// Re-initialize FATFS
if ( FATFS_UnLinkDriver(SDPath) != 0 ) {
return FR_NOT_READY;
}
if ( FATFS_LinkDriver(&SD_Driver, SDPath) != 0 ) {
return FR_NOT_READY;
}

// Mount filesystem
stat = f_mount(&fs, SDPath, 0);
if (stat != FR_OK) {
f_mount(0, SDPath, 0);
return stat;
}

// Open file for appending
stat = f_open(&myFILE, path, FA_WRITE | FA_OPEN_APPEND);
if (stat != FR_OK) {
f_mount(0, SDPath, 0);
return stat;
}

// Write message to end of file
stat = f_write(&myFILE, msg, msg_len, &testByte);
if (stat != FR_OK) {
f_mount(0, SDPath, 0);
return stat;
}

// Sync, close file, unmount
stat = f_close(&myFILE);
f_mount(0, SDPath, 0);
return stat;

}

void SD_Log(RobotMsgOut& msg)
{
char buff[sizeof(msg) + 2000];
sprintf((char*) buff,"Time: %d\t""BatVolt: %.02f\t" "BatCurrent: %.04f\n\r"
"FR: Ticks: %d\t" "Current: %.04f A\t" "Vel: %.04f\t" "Output: %.04f\n\r"
"FL: Ticks: %d\t" "Current: %.04f A\t" "Vel: %.04f\t" "Output: %.04f\n\r"
"BR: Ticks: %d\t" "Current: %.04f A\t" "Vel: %.04f\t" "Output: %.04f\n\r"
"BL: Ticks: %d\t" "Current: %.04f A\t" "Vel: %.04f\t" "Output: %.04f\n\r\n\r",
(int)msg._time, msg.batVolt,msg.current,
(int)msg.wheelFR.ticks,msg.wheelFR.current,msg.wheelFR.vel,msg.wheelFR.output,
(int)msg.wheelFL.ticks,msg.wheelFL.current,msg.wheelFL.vel,msg.wheelFL.output,
(int)msg.wheelBR.ticks,msg.wheelBR.current,msg.wheelBR.vel,msg.wheelBR.output,
(int)msg.wheelBL.ticks,msg.wheelBL.current,msg.wheelBL.vel,msg.wheelBL.output);
sdWriteRes = AppendToFile(log_path, strlen(log_path),buff,strlen(buff));
if(sdWriteRes == FR_OK )
{
HAL_GPIO_TogglePin(LD3_GPIO_Port, LD3_Pin);

}
else
HAL_GPIO_WritePin(LD3_GPIO_Port,LD3_Pin,GPIO_PIN_RESET);
}
/* USER CODE END 4 */

/**
Expand Down