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Copter: use common log reading function

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This commit is contained in:
Andrew Tridgell 2013-01-15 14:02:54 +11:00
parent c6b006cf5f
commit 56f22f9226
1 changed files with 104 additions and 172 deletions
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276
ArduCopter/Log.pde
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@ -12,21 +12,6 @@ static int8_t dump_log(uint8_t argc, const Menu::arg *argv);
static int8_t erase_logs(uint8_t argc, const Menu::arg *argv);
static int8_t select_logs(uint8_t argc, const Menu::arg *argv);
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
// printf_P is a version of print_f that reads from flash memory
//static int8_t help_log(uint8_t argc, const Menu::arg *argv)
/*{
* cliSerial->printf_P(PSTR("\n"
* "Commands:\n"
* " dump <n>"
* " erase (all logs)\n"
* " enable <name> | all\n"
* " disable <name> | all\n"
* "\n"));
* return 0;
* }*/
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
@ -38,19 +23,6 @@ const struct Menu::command log_menu_commands[] PROGMEM = {
{"disable", select_logs}
};
static int32_t get_int(float f)
{
float_int.float_value = f;
return float_int.int_value;
}
static float get_float(int32_t i)
{
float_int.int_value = i;
return float_int.float_value;
}
// A Macro to create the Menu
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
@ -276,6 +248,8 @@ static void Log_Read_GPS()
struct log_GPS pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// need to fix printf formatting
cliSerial->printf_P(PSTR("GPS, %ld, %u, "),
(long)pkt.gps_time,
(unsigned)pkt.num_sats);
@ -1255,15 +1229,13 @@ static void Log_Read_Error()
// Read the DataFlash log memory
static void Log_Read(int16_t start_page, int16_t end_page)
{
int16_t packet_count = 0;
#ifdef AIRFRAME_NAME
cliSerial->printf_P(PSTR((AIRFRAME_NAME)
cliSerial->printf_P(PSTR((AIRFRAME_NAME)));
#endif
cliSerial->printf_P(PSTR("\n" THISFIRMWARE
"\nFree RAM: %u\n"),
(unsigned) memcheck_available_memory());
"\nFree RAM: %u\n"),
(unsigned) memcheck_available_memory());
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
cliSerial->printf_P(PSTR("APM 1\n"));
@ -1275,149 +1247,109 @@ static void Log_Read(int16_t start_page, int16_t end_page)
setup_show(0, NULL);
#endif
if(start_page > end_page) {
packet_count = Log_Read_Process(start_page, DataFlash.df_NumPages);
packet_count += Log_Read_Process(1, end_page);
} else {
packet_count = Log_Read_Process(start_page, end_page);
}
//cliSerial->printf_P(PSTR("Number of packets read: %d\n"), (int)packet_count);
DataFlash.log_read_process(start_page, end_page, log_callback);
}
// Read the DataFlash log memory : Packet Parser
static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
// read one packet from the dataflash
static void log_callback(uint8_t msgid)
{
uint8_t data;
uint8_t log_step = 0;
int16_t page = start_page;
int16_t packet_count = 0;
switch(msgid) {
case LOG_ATTITUDE_MSG:
Log_Read_Attitude();
break;
case LOG_MODE_MSG:
Log_Read_Mode();
break;
case LOG_CONTROL_TUNING_MSG:
Log_Read_Control_Tuning();
break;
case LOG_NAV_TUNING_MSG:
Log_Read_Nav_Tuning();
break;
case LOG_PERFORMANCE_MSG:
Log_Read_Performance();
break;
case LOG_IMU_MSG:
Log_Read_IMU();
break;
case LOG_CMD_MSG:
Log_Read_Cmd();
break;
case LOG_CURRENT_MSG:
Log_Read_Current();
break;
case LOG_STARTUP_MSG:
Log_Read_Startup();
break;
case LOG_MOTORS_MSG:
Log_Read_Motors();
break;
case LOG_OPTFLOW_MSG:
Log_Read_Optflow();
break;
case LOG_GPS_MSG:
Log_Read_GPS();
break;
case LOG_EVENT_MSG:
Log_Read_Event();
break;
case LOG_PID_MSG:
Log_Read_PID();
break;
case LOG_ITERM_MSG:
Log_Read_Iterm();
break;
case LOG_DMP_MSG:
Log_Read_DMP();
break;
case LOG_INAV_MSG:
Log_Read_INAV();
break;
case LOG_CAMERA_MSG:
Log_Read_Camera();
break;
case LOG_ERROR_MSG:
Log_Read_Error();
break;
case LOG_DATA_INT16_MSG:
Log_Read_Int16t();
break;
case LOG_DATA_UINT16_MSG:
Log_Read_UInt16t();
break;
DataFlash.StartRead(start_page);
while (page < end_page && page != -1) {
data = DataFlash.ReadByte();
// This is a state machine to read the packets
switch(log_step) {
case 0:
if(data == HEAD_BYTE1) // Head byte 1
log_step++;
break;
case 1:
if(data == HEAD_BYTE2) // Head byte 2
log_step++;
else{
log_step = 0;
cliSerial->println_P(PSTR("."));
}
break;
case 2:
log_step = 0;
switch(data) {
case LOG_ATTITUDE_MSG:
Log_Read_Attitude();
break;
case LOG_MODE_MSG:
Log_Read_Mode();
break;
case LOG_CONTROL_TUNING_MSG:
Log_Read_Control_Tuning();
break;
case LOG_NAV_TUNING_MSG:
Log_Read_Nav_Tuning();
break;
case LOG_PERFORMANCE_MSG:
Log_Read_Performance();
break;
case LOG_IMU_MSG:
Log_Read_IMU();
break;
case LOG_CMD_MSG:
Log_Read_Cmd();
break;
case LOG_CURRENT_MSG:
Log_Read_Current();
break;
case LOG_STARTUP_MSG:
Log_Read_Startup();
break;
case LOG_MOTORS_MSG:
Log_Read_Motors();
break;
case LOG_OPTFLOW_MSG:
Log_Read_Optflow();
break;
case LOG_GPS_MSG:
Log_Read_GPS();
break;
case LOG_EVENT_MSG:
Log_Read_Event();
break;
case LOG_PID_MSG:
Log_Read_PID();
break;
case LOG_ITERM_MSG:
Log_Read_Iterm();
break;
case LOG_DMP_MSG:
Log_Read_DMP();
break;
case LOG_INAV_MSG:
Log_Read_INAV();
break;
case LOG_CAMERA_MSG:
Log_Read_Camera();
break;
case LOG_ERROR_MSG:
Log_Read_Error();
break;
case LOG_DATA_INT16_MSG:
Log_Read_Int16t();
break;
case LOG_DATA_UINT16_MSG:
Log_Read_UInt16t();
break;
case LOG_DATA_INT32_MSG:
Log_Read_Int32t();
break;
case LOG_DATA_UINT32_MSG:
Log_Read_UInt32t();
break;
case LOG_DATA_FLOAT_MSG:
Log_Read_Float();
break;
}
break;
}
page = DataFlash.GetPage();
}
return packet_count;
case LOG_DATA_INT32_MSG:
Log_Read_Int32t();
break;
case LOG_DATA_UINT32_MSG:
Log_Read_UInt32t();
break;
case LOG_DATA_FLOAT_MSG:
Log_Read_Float();
break;
}
}