mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.3 KiB
C
80 lines
2.3 KiB
C
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#pragma once
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/*
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log structures for AP_CANManager
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*/
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#include <AP_Logger/LogStructure.h>
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#include "AP_CANManager_config.h"
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#define LOG_IDS_FROM_CANMANAGER \
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LOG_CANF_MSG, \
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LOG_CAFD_MSG
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// @LoggerMessage: CANF
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// @Description: CAN Frame
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// @Field: TimeUS: Time since system startup
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// @Field: Bus: bus number
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// @Field: Id: frame identifier
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// @Field: DLC: data length code
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// @Field: B0: byte 0
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// @Field: B1: byte 1
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// @Field: B2: byte 2
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// @Field: B3: byte 3
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// @Field: B4: byte 4
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// @Field: B5: byte 5
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// @Field: B6: byte 6
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// @Field: B7: byte 7
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struct PACKED log_CANF {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t bus;
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uint32_t id;
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uint8_t dlc;
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uint8_t data[8];
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};
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// @LoggerMessage: CAFD
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// @Description: CANFD Frame
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// @Field: TimeUS: Time since system startup
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// @Field: Bus: bus number
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// @Field: Id: frame identifier
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// @Field: DLC: data length code
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// @Field: D0: data 0
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// @Field: D1: data 1
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// @Field: D2: data 2
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// @Field: D3: data 3
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// @Field: D4: data 4
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// @Field: D5: data 5
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// @Field: D6: data 6
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// @Field: D7: data 7
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struct PACKED log_CAFD {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t bus;
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uint32_t id;
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uint8_t dlc;
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uint64_t data[8];
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};
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#if !AP_CAN_LOGGING_ENABLED
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#define LOG_STRUCTURE_FROM_CANMANAGER
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#else
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#define LOG_STRUCTURE_FROM_CANMANAGER \
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{ LOG_CANF_MSG, sizeof(log_CANF), \
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"CANF", \
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"Q" "B" "I" "B" "B" "B" "B" "B" "B" "B" "B" "B", \
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"TimeUS," "Bus," "Id," "DLC," "B0," "B1," "B2," "B3," "B4," "B5," "B6," "B7", \
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"s" "#" "-" "-" "-" "-" "-" "-" "-" "-" "-" "-", \
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"F" "-" "-" "-" "-" "-" "-" "-" "-" "-" "-" "-", \
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false \
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}, \
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{ LOG_CAFD_MSG, sizeof(log_CAFD), \
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"CAFD", \
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"Q" "B" "I" "B" "Q" "Q" "Q" "Q" "Q" "Q" "Q" "Q", \
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"TimeUS," "Bus," "Id," "DLC," "D0," "D1," "D2," "D3," "D4," "D5," "D6," "D7", \
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"s" "#" "-" "-" "-" "-" "-" "-" "-" "-" "-" "-", \
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"F" "-" "-" "-" "-" "-" "-" "-" "-" "-" "-" "-", \
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false \
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},
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#endif // AP_CAN_LOGGING_ENABLED
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