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Issue #25: Improve ULog to better suit current requirements #42

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hasslesstech wants to merge 3 commits into from
+21 −6
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Issue #25: Improve ULog to better suit current requirements #42

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926e5db
Issue #25: Increase ULog queue capacity to hold enough packets during…
hasslesstech Apr 16, 2026
1b5a0ae
Issue #25: Code style fix
hasslesstech Apr 16, 2026
ed31013
Issue #25: Move ULog message buffer to static storage to reduce stack…
hasslesstech Apr 16, 2026
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27 changes: 21 additions & 6 deletions KPI_Rover/Logger/ul_ulog.c
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
#include <stdio.h>
#include <string.h>

#define LOG_QUEUE_LENGTH 10
#define LOG_QUEUE_LENGTH 20
#define MAX_LOG_MESSAGE_SIZE 256

static void ulogTask(void *argument);
Expand All @@ -51,6 +51,10 @@ osEventFlagsId_t ulogFlags;
#define ULOG_CDC_TRANSMIT_FINISH_FLAG 0x1
#define ULOG_DEV_CONNECTED_WAKEUP_FLAG 0x2

static StaticSemaphore_t ulUlog_mutex_storage;
#define ULOG_LOCK() osMutexAcquire(&ulUlog_mutex_storage, osWaitForever)
#define ULOG_UNLOCK() osMutexRelease(&ulUlog_mutex_storage)

static const osThreadAttr_t ulogTask_attributes = {
.name = "ulogTask",
.stack_size = 128 * 4,
Expand All @@ -59,8 +63,7 @@ static const osThreadAttr_t ulogTask_attributes = {


void ul_ulog_init()
{

{
xULogQueue = xQueueCreateStatic(LOG_QUEUE_LENGTH, MAX_LOG_MESSAGE_SIZE,
ucUlogQueueStorage, &xUlogQueueBuffer);
if (xULogQueue == NULL)
Expand All @@ -76,16 +79,21 @@ void ul_ulog_init()

ulogFlags = osEventFlagsNew(NULL);
ulogUsbIsEstablished = 0;

{
const static osMutexAttr_t mutex_attrs = {NULL, 0, &ulUlog_mutex_storage, sizeof(ulUlog_mutex_storage)};
(void) osMutexNew(&mutex_attrs);
}
}

void ul_ulog_send(ulog_level_t level, const char *filename, char *msg)
static inline void ul_ulog_send_critical(ulog_level_t level, const char *filename, char *msg)
{
if (xULogQueue == NULL || msg == NULL)
{
return;
}

char logBuffer[MAX_LOG_MESSAGE_SIZE];
static char logBuffer[MAX_LOG_MESSAGE_SIZE];
int len;
size_t msg_len = strlen(msg);

Expand Down Expand Up @@ -136,11 +144,18 @@ void ul_ulog_send(ulog_level_t level, const char *filename, char *msg)
}
}

void ul_ulog_send(ulog_level_t level, const char *filename, char *msg)
{
ULOG_LOCK();
ul_ulog_send_critical(level, filename, msg);
ULOG_UNLOCK();
}

static void ulogTask(void *argument)
{
for (;;)
{
char logMessage[MAX_LOG_MESSAGE_SIZE];
static char logMessage[MAX_LOG_MESSAGE_SIZE];
BaseType_t result = xQueueReceive(xULogQueue, logMessage, portMAX_DELAY);

if (result == pdTRUE)
Expand Down