From ab86dafda7f0e24529812cddc0cf884829bde01d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 4 Mar 2022 11:36:14 +1100
Subject: [PATCH] AP_RPM: move logging of RPM into RPM library

---
 libraries/AP_RPM/AP_RPM.cpp     | 22 +++++++++++++++++++++-
 libraries/AP_RPM/AP_RPM.h       |  2 ++
 libraries/AP_RPM/LogStructure.h | 22 ++++++++++++++++++++++
 3 files changed, 45 insertions(+), 1 deletion(-)
 create mode 100644 libraries/AP_RPM/LogStructure.h

diff --git a/libraries/AP_RPM/AP_RPM.cpp b/libraries/AP_RPM/AP_RPM.cpp
index 0b86a22b47..83423955bb 100644
--- a/libraries/AP_RPM/AP_RPM.cpp
+++ b/libraries/AP_RPM/AP_RPM.cpp
@@ -189,9 +189,11 @@ void AP_RPM::update(void)
         }
     }
 
+#if HAL_LOGGING_ENABLED
     if (enabled(0) || enabled(1)) {
-        AP::logger().Write_RPM(*this);
+        Log_RPM();
     }
+#endif
 }
 
 /*
@@ -259,6 +261,24 @@ bool AP_RPM::arming_checks(size_t buflen, char *buffer) const
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
+void AP_RPM::Log_RPM()
+{
+    float rpm1 = -1, rpm2 = -1;
+
+    get_rpm(0, rpm1);
+    get_rpm(1, rpm2);
+
+    const struct log_RPM pkt{
+        LOG_PACKET_HEADER_INIT(LOG_RPM_MSG),
+        time_us     : AP_HAL::micros64(),
+        rpm1        : rpm1,
+        rpm2        : rpm2
+    };
+    AP::logger().WriteBlock(&pkt, sizeof(pkt));
+}
+#endif
+
 // singleton instance
 AP_RPM *AP_RPM::_singleton;
 
diff --git a/libraries/AP_RPM/AP_RPM.h b/libraries/AP_RPM/AP_RPM.h
index 5d034b8a62..2b2c4070a2 100644
--- a/libraries/AP_RPM/AP_RPM.h
+++ b/libraries/AP_RPM/AP_RPM.h
@@ -104,6 +104,8 @@ private:
     uint8_t num_instances;
 
     void detect_instance(uint8_t instance);
+
+    void Log_RPM();
 };
 
 namespace AP {
diff --git a/libraries/AP_RPM/LogStructure.h b/libraries/AP_RPM/LogStructure.h
new file mode 100644
index 0000000000..d870fabeda
--- /dev/null
+++ b/libraries/AP_RPM/LogStructure.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <AP_Logger/LogStructure.h>
+
+#define LOG_IDS_FROM_RPM \
+    LOG_RPM_MSG
+
+// @LoggerMessage: RPM
+// @Description: Data from RPM sensors
+// @Field: TimeUS: Time since system startup
+// @Field: rpm1: First sensor's data
+// @Field: rpm2: Second sensor's data
+struct PACKED log_RPM {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    float rpm1;
+    float rpm2;
+};
+
+#define LOG_STRUCTURE_FROM_RPM        \
+    { LOG_RPM_MSG, sizeof(log_RPM), \
+      "RPM",  "Qff", "TimeUS,rpm1,rpm2", "sqq", "F00" , true },