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ACM Logging Events

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This commit is contained in:
Jason Short 2012-11-09 22:04:23 -08:00
parent 3539a6817f
commit 6a2ba899cb
1 changed files with 75 additions and 18 deletions
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93
ArduCopter/Log.pde
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@ -804,7 +804,7 @@ static void Log_Write_INAV(float delta_t)
DataFlash.WriteLong(get_int(inertial_nav.get_longitude_diff())); // 16 accel based lon from home
DataFlash.WriteLong(get_int(inertial_nav.get_latitude_velocity())); // 17 accel based lat velocity
DataFlash.WriteLong(get_int(inertial_nav.get_longitude_velocity())); // 18 accel based lon velocity
DataFlash.WriteByte(END_BYTE);
#endif
}
@ -886,40 +886,91 @@ static void Log_Read_Startup()
Serial.printf_P(PSTR("START UP\n"));
}
static void Log_Write_Data(int8_t _type, float _data)
#define DATA_INT32 0
#define DATA_FLOAT 1
#define DATA_INT16 2
#define DATA_UINT16 3
#define DATA_EVENT 4
static void Log_Write_Data(uint8_t _index, int32_t _data)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_type);
DataFlash.WriteByte(1);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_INT32);
DataFlash.WriteLong(_data);
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Data(uint8_t _index, float _data)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_FLOAT);
DataFlash.WriteLong(get_int(_data));
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Data(int8_t _type, int32_t _data)
static void Log_Write_Data(uint8_t _index, int16_t _data)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_type);
DataFlash.WriteByte(0);
DataFlash.WriteLong(_data);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_INT16);
DataFlash.WriteInt(_data);
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Data(uint8_t _index, uint16_t _data)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_UINT16);
DataFlash.WriteInt(_data);
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Event(uint8_t _index)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_EVENT);
DataFlash.WriteByte(END_BYTE);
}
// Read a mode packet
static void Log_Read_Data()
{
int8_t temp1 = DataFlash.ReadByte();
int8_t temp2 = DataFlash.ReadByte();
int8_t _index = DataFlash.ReadByte();
int8_t _type = DataFlash.ReadByte();
if(temp2 == 1) {
float temp3 = get_float(DataFlash.ReadLong());
Serial.printf_P(PSTR("DATA: %d, %1.6f\n"), (int)temp1, temp3);
}else{
int32_t temp3 = DataFlash.ReadLong();
Serial.printf_P(PSTR("DATA: %d, %ld\n"), (int)temp1, (long)temp3);
if(_type == DATA_EVENT) {
Serial.printf_P(PSTR("EV: %u\n"), _index);
}else if(_type == DATA_FLOAT) {
float _value = get_float(DataFlash.ReadLong());
Serial.printf_P(PSTR("DATA: %u, %1.6f\n"), _index, _value);
}else if(_type == DATA_INT16) {
int16_t _value = DataFlash.ReadInt();
Serial.printf_P(PSTR("DATA: %u, %d\n"), _index, _value);
}else if(_type == DATA_UINT16) {
uint16_t _value = DataFlash.ReadInt();
Serial.printf_P(PSTR("DATA: %u, %u\n"), _index, _value);
}else if(_type == DATA_INT32) {
int32_t _value = DataFlash.ReadLong();
Serial.printf_P(PSTR("DATA: %u, %ld\n"), _index, _value);
}
}
@ -1175,9 +1226,15 @@ static void Log_Write_Iterm() {
}
static void Log_Write_Attitude() {
}
static void Log_Write_Data(int8_t _type, float _data){
static void Log_Write_Data(uint8_t _index, float _data){
}
static void Log_Write_Data(int8_t _type, int32_t _data){
static void Log_Write_Data(uint8_t _index, int32_t _data){
}
static void Log_Write_Data(uint8_t _index, int16_t _data){
}
static void Log_Write_Data(uint8_t _index, uint16_t _data){
}
static void Log_Write_Event(uint8_t _index){
}
static void Log_Write_Optflow() {
}