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AP_Logger: added CESC message for logging CAN ESC status

This commit is contained in:
Andrew Tridgell 2020-01-04 15:56:44 +11:00
parent b4966f21d8
commit 58fcd4601a
3 changed files with 36 additions and 0 deletions
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1
libraries/AP_Logger/AP_Logger.h
View File

@ -260,6 +260,7 @@ public:
void Write_Trigger(const Location &current_loc);
void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp);
void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct);
void Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct);
void Write_Attitude(const Vector3f &targets);
void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
void Write_Current();

20
libraries/AP_Logger/LogFile.cpp
View File

@ -816,6 +816,26 @@ void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position,
WriteBlock(&pkt, sizeof(pkt));
}
/*
write ESC status from CAN ESC
*/
void AP_Logger::Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct)
{
const struct log_CESC pkt {
LOG_PACKET_HEADER_INIT(LOG_CESC_MSG),
time_us : time_us,
id : id,
error_count : error_count,
voltage : voltage,
current : current,
temperature : temperature,
rpm : rpm,
power_pct : power_pct
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write a Yaw PID packet
void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)
{

15
libraries/AP_Logger/LogStructure.h
View File

@ -961,6 +961,18 @@ struct PACKED log_CSRV {
uint8_t power_pct;
};
struct PACKED log_CESC {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint32_t error_count;
float voltage;
float current;
float temperature;
int32_t rpm;
uint8_t power_pct;
};
struct PACKED log_AIRSPEED {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -1496,6 +1508,8 @@ struct PACKED log_Arm_Disarm {
"ESC8", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_CSRV_MSG, sizeof(log_CSRV), \
"CSRV","QBfffB","TimeUS,Id,Pos,Force,Speed,Pow", "s#---%", "F-0000" }, \
{ LOG_CESC_MSG, sizeof(log_CESC), \
"CESC","QBIfffiB","TimeUS,Id,ECnt,Voltage,Curr,Temp,RPM,Pow", "s#-vAOq%", "F-000000" }, \
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \
"MAG2",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \
@ -1644,6 +1658,7 @@ enum LogMessages : uint8_t {
LOG_ESC7_MSG,
LOG_ESC8_MSG,
LOG_CSRV_MSG,
LOG_CESC_MSG,
LOG_BAR2_MSG,
LOG_ARSP_MSG,
LOG_ATTITUDE_MSG,