DataFlash: added support for printing flight mode as a string

makes analysing logs easier.

Pair-Programmed-With: Randy

libraries/DataFlash/DataFlash.h

@@ -42,6 +42,7 @@ public:
                                 uint16_t start_page, uint16_t end_page, 
                                 uint8_t num_types,
                                 const struct LogStructure *structure,
+                                void (*printMode)(AP_HAL::BetterStream *port, uint8_t mode),
                                 AP_HAL::BetterStream *port) = 0;
     virtual void DumpPageInfo(AP_HAL::BetterStream *port) = 0;
     virtual void ShowDeviceInfo(AP_HAL::BetterStream *port) = 0;
@@ -76,6 +77,7 @@ protected:
     void _print_log_entry(uint8_t msg_type, 
                           uint8_t num_types, 
                           const struct LogStructure *structure,
+                          void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
                           AP_HAL::BetterStream *port);
     
     void Log_Write_Parameter(const AP_Param *ap, const AP_Param::ParamToken &token, 
@@ -118,6 +120,7 @@ Format characters in the format string for binary log messages
   e   : int32_t * 100
   E   : uint32_t * 100
   L   : int32_t latitude/longitude
+  M   : uint8_t flight mode
  */
 
 // structure used to define logging format

libraries/DataFlash/DataFlash_Block.h

@@ -39,6 +39,7 @@ public:
                         uint16_t start_page, uint16_t end_page, 
                         uint8_t num_types,
                         const struct LogStructure *structure,
+                        void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
                         AP_HAL::BetterStream *port);
     void DumpPageInfo(AP_HAL::BetterStream *port);
     void ShowDeviceInfo(AP_HAL::BetterStream *port);

libraries/DataFlash/DataFlash_File.cpp

@@ -174,7 +174,7 @@ void DataFlash_File::WriteBlock(const void *pBuffer, uint16_t size)
 */
 void DataFlash_File::ReadBlock(void *pkt, uint16_t size)
 {
-    if (_read_fd == -1 || !_initialised || size <= 3) {
+    if (_read_fd == -1 || !_initialised) {
         return;
     }
 
@@ -295,6 +295,7 @@ void DataFlash_File::LogReadProcess(uint16_t log_num,
                                     uint16_t start_page, uint16_t end_page, 
                                     uint8_t num_types,
                                     const struct LogStructure *structure,
+                                    void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
                                     AP_HAL::BetterStream *port)
 {
     uint8_t log_step = 0;
@@ -346,7 +347,7 @@ void DataFlash_File::LogReadProcess(uint16_t log_num,
 
             case 2:
                 log_step = 0;
-                _print_log_entry(data, num_types, structure, port);
+                _print_log_entry(data, num_types, structure, print_mode, port);
                 break;
         }
         if (_read_offset >= (end_page+1) * DATAFLASH_PAGE_SIZE) {

libraries/DataFlash/DataFlash_File.h

@@ -36,6 +36,7 @@ public:
                         uint16_t start_page, uint16_t end_page, 
                         uint8_t num_types,
                         const struct LogStructure *structure,
+                        void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
                         AP_HAL::BetterStream *port);
     void DumpPageInfo(AP_HAL::BetterStream *port);
     void ShowDeviceInfo(AP_HAL::BetterStream *port);

libraries/DataFlash/LogFile.cpp

@@ -270,6 +270,7 @@ void DataFlash_Class::_print_format_headers(uint8_t num_types,
 void DataFlash_Class::_print_log_entry(uint8_t msg_type, 
                                        uint8_t num_types, 
                                        const struct LogStructure *structure,
+                                       void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
                                        AP_HAL::BetterStream *port)
 {
     uint8_t i;
@@ -385,6 +386,11 @@ void DataFlash_Class::_print_log_entry(uint8_t msg_type,
             ofs += sizeof(v)-1;
             break;
         }
+        case 'M': {
+            print_mode(port, pkt[ofs]);
+            ofs += 1;
+            break;
+        }
         default:
             ofs = msg_len;
             break;
@@ -403,6 +409,7 @@ void DataFlash_Block::LogReadProcess(uint16_t log_num,
                                      uint16_t start_page, uint16_t end_page, 
                                      uint8_t num_types,
                                      const struct LogStructure *structure,
+                                     void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
                                      AP_HAL::BetterStream *port)
 {
     uint8_t log_step = 0;
@@ -438,7 +445,7 @@ void DataFlash_Block::LogReadProcess(uint16_t log_num,
 
 			case 2:
 				log_step = 0;
-                _print_log_entry(data, num_types, structure, port);
+                _print_log_entry(data, num_types, structure, print_mode, port);
                 break;
 		}
         uint16_t new_page = GetPage();
@@ -632,4 +639,3 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor *ins)
     };
     WriteBlock(&pkt, sizeof(pkt));
 }
-

libraries/DataFlash/examples/DataFlash_test/DataFlash_test.pde

@@ -108,6 +108,12 @@ void setup()
     hal.scheduler->delay(100);
 }
 
+static void
+print_mode(AP_HAL::BetterStream *port, uint8_t mode)
+{
+    port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
+}
+
 void loop()
 {
     uint16_t start, end;
@@ -117,7 +123,9 @@ void loop()
     DataFlash.get_log_boundaries(log_num, start, end); 
 	DataFlash.LogReadProcess(log_num, start, end, 
                              sizeof(log_structure)/sizeof(log_structure[0]),
-                             log_structure, hal.console);
+                             log_structure, 
+                             print_mode,
+                             hal.console);
     hal.console->printf("\nTest complete.  Test will repeat in 20 seconds\n");
     hal.scheduler->delay(20000);
 }