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DataFlash: added RCIN and SRVO log methods

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This commit is contained in:
Andrew Tridgell 2013-11-26 08:44:00 +11:00
parent 0a2f2619de
commit 825b360fb0
2 changed files with 71 additions and 1 deletions
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36
libraries/DataFlash/DataFlash.h
View File

@ -47,6 +47,8 @@ public:
void Log_Write_Parameter(const char *name, float value);
void Log_Write_GPS(const GPS *gps, int32_t relative_alt);
void Log_Write_IMU(const AP_InertialSensor &ins);
void Log_Write_RCIN(void);
void Log_Write_SERVO(void);
void Log_Write_Message(const char *message);
void Log_Write_Message_P(const prog_char_t *message);
@ -167,6 +169,32 @@ struct PACKED log_IMU {
float accel_x, accel_y, accel_z;
};
struct PACKED log_RCIN {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint16_t chan1;
uint16_t chan2;
uint16_t chan3;
uint16_t chan4;
uint16_t chan5;
uint16_t chan6;
uint16_t chan7;
uint16_t chan8;
};
struct PACKED log_SERVO {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint16_t chan1;
uint16_t chan2;
uint16_t chan3;
uint16_t chan4;
uint16_t chan5;
uint16_t chan6;
uint16_t chan7;
uint16_t chan8;
};
#define LOG_COMMON_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \
"FMT", "BBnNZ", "Type,Length,Name,Format" }, \
@ -177,7 +205,11 @@ struct PACKED log_IMU {
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
"MSG", "Z", "Message" }
"MSG", "Z", "Message"}, \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
"RCIN", "Ihhhhhhhh", "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }, \
{ LOG_SERVO_MSG, sizeof(log_SERVO), \
"SRVO", "Ihhhhhhhh", "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }
// message types for common messages
#define LOG_FORMAT_MSG 128
@ -185,6 +217,8 @@ struct PACKED log_IMU {
#define LOG_GPS_MSG 130
#define LOG_IMU_MSG 131
#define LOG_MESSAGE_MSG 132
#define LOG_RCIN_MSG 133
#define LOG_SERVO_MSG 134
#include "DataFlash_Block.h"
#include "DataFlash_File.h"

36
libraries/DataFlash/LogFile.cpp
View File

@ -647,6 +647,42 @@ void DataFlash_Class::Log_Write_GPS(const GPS *gps, int32_t relative_alt)
WriteBlock(&pkt, sizeof(pkt));
}
// Write an RCIN packet
void DataFlash_Class::Log_Write_RCIN(void)
{
struct log_RCIN pkt = {
LOG_PACKET_HEADER_INIT(LOG_RCIN_MSG),
timestamp : hal.scheduler->millis(),
chan1 : hal.rcin->read(0),
chan2 : hal.rcin->read(1),
chan3 : hal.rcin->read(2),
chan4 : hal.rcin->read(3),
chan5 : hal.rcin->read(4),
chan6 : hal.rcin->read(5),
chan7 : hal.rcin->read(6),
chan8 : hal.rcin->read(7)
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write an SERVO packet
void DataFlash_Class::Log_Write_SERVO(void)
{
struct log_SERVO pkt = {
LOG_PACKET_HEADER_INIT(LOG_SERVO_MSG),
timestamp : hal.scheduler->millis(),
chan1 : hal.rcout->read(0),
chan2 : hal.rcout->read(1),
chan3 : hal.rcout->read(2),
chan4 : hal.rcout->read(3),
chan5 : hal.rcout->read(4),
chan6 : hal.rcout->read(5),
chan7 : hal.rcout->read(6),
chan8 : hal.rcout->read(7)
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write an raw accel/gyro data packet
void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)