Use log and add pid configuration.

git-svn-id: https://src.develer.com/svnoss/bertos/trunk@2776 38d2e660-2303-0410-9eaa-f027e97ec537

diff --git a/bertos/algo/pid_control.c b/bertos/algo/pid_control.c
index 90a368f2da95d269610a0a6393c877b3389da564..df127e4377bddd198bc328f3d3f44a1f2230f69f 100644 (file)
--- a/bertos/algo/pid_control.c
+++ b/bertos/algo/pid_control.c
@@ -39,6 +39,13 @@
 
 #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 +87,14 @@ 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;

diff --git a/bertos/cfg/cfg_pid.h b/bertos/cfg/cfg_pid.h
new file mode 100644 (file)
index 0000000..5a8375b
--- /dev/null
+++ b/bertos/cfg/cfg_pid.h
@@ -0,0 +1,57 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 2 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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction.  Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License.  This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2009 Develer S.r.l. (http://www.develer.com/)
+ * -->
+ *
+ * \brief Configuration file for PWM module.
+ *
+ * \version $Id$
+ * \author Daniele Basile <asterix@develer.com>
+ */
+
+#ifndef CFG_PID_H
+#define CFG_PID_H
+
+/**
+ * Module logging level.
+ *
+ * $WIZ$ type = "enum"
+ * $WIZ$ value_list = "log_level"
+ */
+#define PID_LOG_LEVEL      LOG_LVL_WARN
+
+/**
+ * Module logging format.
+ *
+ * $WIZ$ type = "enum"
+ * $WIZ$ value_list = "log_format"
+ */
+#define PID_LOG_FORMAT     LOG_FMT_VERBOSE
+
+#endif /* CFG_PID_H */