Tools: add support for AP_Logger into AP_Periph

Tools/AP_Periph/AP_Periph.cpp

@@ -64,6 +64,18 @@ const struct app_descriptor app_descriptor __attribute__((section(".app_descript
 const struct app_descriptor app_descriptor;
 #endif
 
+AP_Periph_FW::AP_Periph_FW()
+#if HAL_LOGGING_ENABLED
+    : logger(g.log_bitmask)
+#endif
+{}
+
+#if HAL_LOGGING_ENABLED
+const struct LogStructure AP_Periph_FW::log_structure[] = {
+    LOG_COMMON_STRUCTURES,
+};
+#endif
+
 void AP_Periph_FW::init()
 {
     
@@ -94,6 +106,10 @@ void AP_Periph_FW::init()
     AFIO->MAPR = mapr | AFIO_MAPR_CAN_REMAP_REMAP2 | AFIO_MAPR_SPI3_REMAP;
 #endif
 
+#if HAL_LOGGING_ENABLED
+    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+#endif
+
     printf("Booting %08x:%08x %u/%u len=%u 0x%08x\n",
            app_descriptor.image_crc1,
            app_descriptor.image_crc2,
@@ -108,6 +124,10 @@ void AP_Periph_FW::init()
 #ifdef HAL_PERIPH_ENABLE_GPS
     if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && g.gps_port >= 0) {
         serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
+#if HAL_LOGGING_ENABLED
+        #define MASK_LOG_GPS (1<<2)
+        gps.set_log_gps_bit(MASK_LOG_GPS);
+#endif
         gps.init(serial_manager);
     }
 #endif
@@ -343,6 +363,10 @@ void AP_Periph_FW::update()
     }
 #endif
 
+#if HAL_LOGGING_ENABLED
+    logger.periodic_tasks();
+#endif
+
     can_update();
     hal.scheduler->delay(1);
 #if (defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) && HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY == 8) || defined(HAL_PERIPH_ENABLE_NOTIFY)

Tools/AP_Periph/AP_Periph.h

@@ -7,6 +7,7 @@
 #include <AP_Baro/AP_Baro.h>
 #include "SRV_Channel/SRV_Channel.h"
 #include <AP_Notify/AP_Notify.h>
+#include <AP_Logger/AP_Logger.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
@@ -48,6 +49,8 @@ extern const struct app_descriptor app_descriptor;
 
 class AP_Periph_FW {
 public:
+    AP_Periph_FW();
+
     void init();
     void update();
 
@@ -169,6 +172,11 @@ public:
     AP_Notify notify;
 #endif
 
+#if HAL_LOGGING_ENABLED
+    static const struct LogStructure log_structure[];
+    AP_Logger logger;
+#endif
+
     // setup the var_info table
     AP_Param param_loader{var_info};
 

Tools/AP_Periph/Parameters.cpp

@@ -260,6 +260,19 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(notify, "NTF_",  AP_Notify),
 #endif
 
+#if HAL_LOGGING_ENABLED
+    // @Group: LOG
+    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
+    GOBJECT(logger,           "LOG",  AP_Logger),
+
+    // @Param: LOG_BITMASK
+    // @DisplayName: Log bitmask
+    // @Description: 4 byte bitmap of log types to enable
+    // @Bitmask: 2:GPS
+    // @User: Standard
+    GSCALAR(log_bitmask,    "LOG_BITMASK",          4),
+#endif
+
     AP_VAREND
 };
 

Tools/AP_Periph/Parameters.h

@@ -38,6 +38,8 @@ public:
         k_param_msp_port,
         k_param_notify,
         k_param_esc_pwm_type,
+        k_param_logger,
+        k_param_log_bitmask,
     };
 
     AP_Int16 format_version;
@@ -91,6 +93,10 @@ public:
 
     AP_Int32 serial_number;
 
+#if HAL_LOGGING_ENABLED
+    AP_Int32        log_bitmask;
+#endif
+
     Parameters() {}
 };
 

Tools/AP_Periph/wscript

@@ -40,6 +40,8 @@ def build(bld):
         'SRV_Channel',
         'AP_Notify',
         'AP_SerialLED',
+        'AP_Logger',
+        'AP_Filesystem',
         ],
         exclude_src=[
             'libraries/AP_HAL_ChibiOS/Storage.cpp'

Tools/ardupilotwaf/boards.py

@@ -558,6 +558,10 @@ class sitl_periph_gps(sitl):
             APJ_BOARD_ID = 100,
             HAL_NO_GCS = 1,
             HAL_LOGGING_ENABLED = 0,
+            HAL_LOGGING_MAVLINK_ENABLED = 0,
+            HAL_MISSION_ENABLED = 0,
+            HAL_RALLY_ENABLED = 0,
+            HAL_SCHEDULER_ENABLED = 0,
         )
         # libcanard is written for 32bit platforms
         env.CXXFLAGS += [