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Rover: support multiple simultaneous backends

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This commit is contained in:
Peter Barker 2015-11-10 09:40:10 +11:00 committed by Andrew Tridgell
parent f57d237181
commit 5d46a9add0
4 changed files with 9 additions and 4 deletions
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5
APMrover2/Log.cpp
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@ -211,8 +211,7 @@ struct PACKED log_Startup {
uint16_t command_total; uint16_t command_total;
}; };
// do not add any extra log writes to this function; see LogStartup.cpp void Rover::Log_Write_Startup(uint8_t type)
bool Rover::Log_Write_Startup(uint8_t type)
{ {
struct log_Startup pkt = { struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG), LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
@ -220,7 +219,7 @@ bool Rover::Log_Write_Startup(uint8_t type)
startup_type : type, startup_type : type,
command_total : mission.num_commands() command_total : mission.num_commands()
}; };
return DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Control_Tuning { struct PACKED log_Control_Tuning {

4
APMrover2/Parameters.cpp
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@ -500,6 +500,10 @@ const AP_Param::Info Rover::var_info[] = {
// @Path: ../libraries/AP_Arming/AP_Arming.cpp // @Path: ../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming), GOBJECT(arming, "ARMING_", AP_Arming),
// @Group: LOG
// @Path: ../libraries/DataFlash/DataFlash.cpp
GOBJECT(DataFlash, "LOG", DataFlash_Class),
// @Group: BATT // @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor), GOBJECT(battery, "BATT", AP_BattMonitor),

2
APMrover2/Parameters.h
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@ -196,6 +196,8 @@ public:
k_param_steerController, k_param_steerController,
k_param_barometer, k_param_barometer,
k_param_DataFlash = 253, // Logging Group
// 254,255: reserved // 254,255: reserved
}; };

2
APMrover2/Rover.h
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@ -420,7 +420,7 @@ private:
void do_erase_logs(void); void do_erase_logs(void);
void Log_Write_Performance(); void Log_Write_Performance();
void Log_Write_Steering(); void Log_Write_Steering();
bool Log_Write_Startup(uint8_t type); void Log_Write_Startup(uint8_t type);
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();
void Log_Write_Nav_Tuning(); void Log_Write_Nav_Tuning();
void Log_Write_Sonar(); void Log_Write_Sonar();