Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Alignment with APM 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2293 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-15 17:42:32 +00:00
parent 6514dd8890
commit 6d056a569e
1 changed files with 93 additions and 86 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
ArduCopterMega/Log.pde
View File

@ -122,6 +122,7 @@ erase_logs(uint8_t argc, const Menu::arg *argv)
// delay(1000); // delay(1000);
//} //}
// lay down a bunch of "log end" messages.
Serial.printf_P(PSTR("\nErasing log...\n")); Serial.printf_P(PSTR("\nErasing log...\n"));
for(int j = 1; j < 4096; j++) for(int j = 1; j < 4096; j++)
DataFlash.PageErase(j); DataFlash.PageErase(j);
@ -189,23 +190,26 @@ byte get_num_logs(void)
{ {
int page = 1; int page = 1;
byte data; byte data;
byte log_step = 0; byte log_step;
DataFlash.StartRead(1); DataFlash.StartRead(1);
while (page == 1) { while (page == 1) {
data = DataFlash.ReadByte(); data = DataFlash.ReadByte();
switch(log_step) //This is a state machine to read the packets
{ switch(log_step){ //This is a state machine to read the packets
case 0: case 0:
if(data==HEAD_BYTE1) // Head byte 1 if(data==HEAD_BYTE1) // Head byte 1
log_step++; log_step++;
break; break;
case 1: case 1:
if(data==HEAD_BYTE2) // Head byte 2 if(data==HEAD_BYTE2) // Head byte 2
log_step++; log_step++;
else else
log_step = 0; log_step = 0;
break; break;
case 2: case 2:
if(data==LOG_INDEX_MSG){ if(data==LOG_INDEX_MSG){
byte num_logs = DataFlash.ReadByte(); byte num_logs = DataFlash.ReadByte();
@ -220,6 +224,7 @@ byte get_num_logs(void)
return 0; return 0;
} }
// send the number of the last log?
void start_new_log(byte num_existing_logs) void start_new_log(byte num_existing_logs)
{ {
int start_pages[50] = {0, 0, 0}; int start_pages[50] = {0, 0, 0};
@ -264,10 +269,10 @@ void get_log_boundaries(byte num_logs, byte log_num, int & start_page, int & end
{ {
int page = 1; int page = 1;
byte data; byte data;
byte log_step = 0; byte log_step;
DataFlash.StartRead(1); DataFlash.StartRead(1);
while (page = 1) { while (page == 1) {
data = DataFlash.ReadByte(); data = DataFlash.ReadByte();
switch(log_step) //This is a state machine to read the packets switch(log_step) //This is a state machine to read the packets
{ {
@ -283,11 +288,14 @@ void get_log_boundaries(byte num_logs, byte log_num, int & start_page, int & end
break; break;
case 2: case 2:
if(data==LOG_INDEX_MSG){ if(data==LOG_INDEX_MSG){
byte num_logs = DataFlash.ReadByte(); byte num_logs = DataFlash.ReadByte();
for(int i=0;i<log_num;i++) { for(int i=0;i<log_num;i++) {
start_page = DataFlash.ReadInt(); start_page = DataFlash.ReadInt();
end_page = DataFlash.ReadInt(); end_page = DataFlash.ReadInt();
} }
if(log_num==num_logs) if(log_num==num_logs)
end_page = find_last_log_page(start_page); end_page = find_last_log_page(start_page);
@ -750,19 +758,18 @@ void Log_Read(int start_page, int end_page)
log_step++; log_step++;
}else if(data == LOG_STARTUP_MSG){ }else if(data == LOG_STARTUP_MSG){
// not implemented Log_Read_Startup();
log_step++; log_step++;
}else {
}else if(data == LOG_GPS_MSG){ if(data == LOG_GPS_MSG){
Log_Read_GPS(); Log_Read_GPS();
log_step++; log_step++;
}else{ }else{
Serial.printf_P(PSTR("Error P: %d\n"),packet_count); Serial.printf_P(PSTR("Error Reading Packet: %d\n"),packet_count);
log_step = 0; // Restart, we have a problem... log_step = 0; // Restart, we have a problem...
} }
}
break; break;
case 3: case 3:
if(data == END_BYTE){ if(data == END_BYTE){
packet_count++; packet_count++;