Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

DataFlash: added Log_Write_Message()

Browse Source 
useful for logging general messages
This commit is contained in:
Andrew Tridgell 2013-05-03 09:18:14 +10:00
parent 3f9ade2b1f
commit 0242d50ad4
2 changed files with 33 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/DataFlash/DataFlash.h
View File

@ -55,6 +55,8 @@ public:
void Log_Write_Parameter(const char *name, float value); void Log_Write_Parameter(const char *name, float value);
void Log_Write_GPS(const GPS *gps, int32_t relative_alt); void Log_Write_GPS(const GPS *gps, int32_t relative_alt);
void Log_Write_IMU(const AP_InertialSensor *ins); void Log_Write_IMU(const AP_InertialSensor *ins);
void Log_Write_Message(const char *message);
void Log_Write_Message_P(const prog_char_t *message);
/* /*
every logged packet starts with 3 bytes every logged packet starts with 3 bytes
@ -158,6 +160,11 @@ struct PACKED log_GPS {
int32_t ground_course; int32_t ground_course;
}; };
struct PACKED log_Message {
LOG_PACKET_HEADER;
char msg[64];
};
struct PACKED log_IMU { struct PACKED log_IMU {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
float gyro_x, gyro_y, gyro_z; float gyro_x, gyro_y, gyro_z;
@ -172,13 +179,16 @@ struct PACKED log_IMU {
{ LOG_GPS_MSG, sizeof(log_GPS), \ { LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "BIBcLLeeEe", "Status,Time,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs" }, \ "GPS", "BIBcLLeeEe", "Status,Time,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \ { LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "ffffff", "GyrX,GyrY,GyrZ,AccX,AccY,AccZ" } "IMU", "ffffff", "GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
"MSG", "Z", "Message" }
// message types for common messages // message types for common messages
#define LOG_FORMAT_MSG 128 #define LOG_FORMAT_MSG 128
#define LOG_PARAMETER_MSG 129 #define LOG_PARAMETER_MSG 129
#define LOG_GPS_MSG 130 #define LOG_GPS_MSG 130
#define LOG_IMU_MSG 131 #define LOG_IMU_MSG 131
#define LOG_MESSAGE_MSG 132
#include "DataFlash_Block.h" #include "DataFlash_Block.h"
#include "DataFlash_File.h" #include "DataFlash_File.h"

22
libraries/DataFlash/LogFile.cpp
View File

@ -632,3 +632,25 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor *ins)
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }
// Write a text message to the log
void DataFlash_Class::Log_Write_Message(const char *message)
{
struct log_Message pkt = {
LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
msg : {}
};
strncpy(pkt.msg, message, sizeof(pkt.msg));
WriteBlock(&pkt, sizeof(pkt));
}
// Write a text message to the log
void DataFlash_Class::Log_Write_Message_P(const prog_char_t *message)
{
struct log_Message pkt = {
LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
msg : {}
};
strncpy_P(pkt.msg, message, sizeof(pkt.msg));
WriteBlock(&pkt, sizeof(pkt));
}