X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=bertos%2Falgo%2Fpid_control.c;h=73e7ffdf7badb0503507020eb7385800f8f618ba;hb=7a613efa9f80222fa9642bfb6a249972c7ae6c6e;hp=90a368f2da95d269610a0a6393c877b3389da564;hpb=1a045725086dd85d06d93650a8906ccd66330e34;p=bertos.git

diff --git a/bertos/algo/pid_control.c b/bertos/algo/pid_control.c
index 90a368f2..73e7ffdf 100644
--- a/bertos/algo/pid_control.c
+++ b/bertos/algo/pid_control.c
@@ -32,13 +32,19 @@
  *
  * \brief Proportional, integral, derivative controller (PID controller) (implementation)
  *
- * \version $Id$
  *
  * \author Daniele Basile <asterix@develer.com>
  */
 
 #include "pid_control.h"
 
+#include "cfg/cfg_pid.h"
+
+// Define logging setting (for cfg/log.h module).
+#define LOG_LEVEL         PID_LOG_LEVEL
+#define LOG_VERBOSITY     PID_LOG_FORMAT
+
+#include <cfg/log.h>
 #include <cfg/debug.h>
 
 /**
@@ -80,14 +86,14 @@ piddata_t pid_control_update(PidContext *pid_ctx, piddata_t target, piddata_t cu
 	D = (err - pid_ctx->prev_err) * pid_ctx->cfg->kd / ((piddata_t)pid_ctx->cfg->sample_period / 1000);
 
 
-// 	TRACEMSG("curr_pos[%lf],tgt[%lf],err[%f],P[%f],I[%f],D[%f]", curr_pos, target, err, P, I, D);
+ 	LOG_INFO("curr_pos[%lf],tgt[%lf],err[%f],P[%f],I[%f],D[%f]", curr_pos, target, err, P, I, D);
 
 
 	//Store the last error value
 	pid_ctx->prev_err = err;
 	piddata_t pid = MINMAX(pid_ctx->cfg->out_min, (P + I + D), pid_ctx->cfg->out_max);
 
-// 	TRACEMSG("pid[%lf]",pid);
+ 	LOG_INFO("pid[%lf]",pid);
 
 	//Clamp out between out_min and out_max
 	return pid;