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AP_RCProtocol: added logging of RC prototol input bytes

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This commit is contained in:
Andrew Tridgell 2020-03-19 11:08:17 +11:00 committed by Randy Mackay
parent edaf9fa086
commit 087da57858
9 changed files with 37 additions and 0 deletions
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24
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
View File

@ -19,6 +19,7 @@
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Logger/AP_Logger.h>
AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
frontend(_frontend),
@ -73,3 +74,26 @@ void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool
}
rssi = _rssi;
}
/*
optionally log RC input data
*/
void AP_RCProtocol_Backend::log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t timestamp, const uint8_t *data, uint8_t len) const
{
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
if (rc().log_raw_data()) {
uint32_t u32[10] {};
if (len > sizeof(u32)) {
len = sizeof(u32);
}
memcpy(u32, data, len);
AP::logger().Write("RCDA", "TimeUS,TS,Prot,Len,U0,U1,U2,U3,U4,U5,U6,U7,U8,U9", "QIBBIIIIIIIIII",
AP_HAL::micros64(),
timestamp,
(uint8_t)prot,
len,
u32[0], u32[1], u32[2], u32[3], u32[4],
u32[5], u32[6], u32[7], u32[8], u32[9]);
}
#endif
}

2
libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
View File

@ -71,6 +71,8 @@ public:
protected:
void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe, int16_t rssi=-1);
void log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t timestamp, const uint8_t *data, uint8_t len) const;
private:
AP_RCProtocol &frontend;
uint32_t rc_input_count;

2
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
View File

@ -425,6 +425,8 @@ bool AP_RCProtocol_DSM::dsm_parse_byte(uint32_t frame_time_ms, uint8_t b, uint16
break;
}
log_data(AP_RCProtocol::DSM, frame_time_ms*1000U, byte_input.buf, byte_input.ofs);
/*
* Great, it looks like we might have a frame. Go ahead and
* decode it.

2
libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp
View File

@ -317,11 +317,13 @@ void AP_RCProtocol_FPort::_process_byte(uint32_t timestamp_us, uint8_t b)
}
if (frame->type == FPORT_TYPE_CONTROL && byte_input.ofs == FRAME_LEN_CONTROL + 4) {
log_data(AP_RCProtocol::FPORT, timestamp_us, byte_input.buf, byte_input.ofs);
if (check_checksum()) {
decode_control(*frame);
}
goto reset;
} else if (frame->type == FPORT_TYPE_DOWNLINK && byte_input.ofs == FRAME_LEN_DOWNLINK + 4) {
log_data(AP_RCProtocol::FPORT, timestamp_us, byte_input.buf, byte_input.ofs);
if (check_checksum()) {
decode_downlink(*frame);
}

1
libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
View File

@ -89,6 +89,7 @@ void AP_RCProtocol_IBUS::_process_byte(uint32_t timestamp_us, uint8_t b)
if (byte_input.ofs == sizeof(byte_input.buf)) {
uint16_t values[IBUS_INPUT_CHANNELS];
bool ibus_failsafe = false;
log_data(AP_RCProtocol::IBUS, timestamp_us, byte_input.buf, byte_input.ofs);
if (ibus_decode(byte_input.buf, values, &ibus_failsafe)) {
add_input(IBUS_INPUT_CHANNELS, values, ibus_failsafe);
}

1
libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp
View File

@ -246,6 +246,7 @@ void AP_RCProtocol_SBUS::_process_byte(uint32_t timestamp_us, uint8_t b)
byte_input.buf[byte_input.ofs++] = b;
if (byte_input.ofs == sizeof(byte_input.buf)) {
log_data(AP_RCProtocol::SBUS, timestamp_us, byte_input.buf, byte_input.ofs);
uint16_t values[SBUS_INPUT_CHANNELS];
uint16_t num_values=0;
bool sbus_failsafe = false;

1
libraries/AP_RCProtocol/AP_RCProtocol_SRXL.cpp
View File

@ -230,6 +230,7 @@ void AP_RCProtocol_SRXL::_process_byte(uint32_t timestamp_us, uint8_t byte)
crc_fmu = crc_xmodem_update(crc_fmu,byte);
}
if (buflen == frame_len_full) {
log_data(AP_RCProtocol::SRXL, timestamp_us, buffer, buflen);
/* CRC check here */
crc_receiver = ((uint16_t)buffer[buflen-2] << 8U) | ((uint16_t)buffer[buflen-1]);
if (crc_receiver == crc_fmu) {

2
libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp
View File

@ -138,6 +138,8 @@ void AP_RCProtocol_ST24::_process_byte(uint8_t byte)
_rxpacket.crc8 = byte;
_rxlen++;
log_data(AP_RCProtocol::ST24, AP_HAL::micros(), (const uint8_t *)&_rxpacket, _rxlen+3);
if (st24_crc8((uint8_t *) & (_rxpacket.length), _rxlen) == _rxpacket.crc8) {
/* decode the actual packet */

2
libraries/AP_RCProtocol/AP_RCProtocol_SUMD.cpp
View File

@ -248,6 +248,8 @@ void AP_RCProtocol_SUMD::_process_byte(uint32_t timestamp_us, uint8_t byte)
}
}
log_data(AP_RCProtocol::SUMD, timestamp_us, _rxpacket.sumd_data, _rxlen);
if (_crcOK) {
#ifdef SUMD_DEBUG
hal.console->printf(" CRC - OK \n") ;