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AP_Logger: Split MCU montering into new log message, nan if VCC and servo voltge not avalalbe

This commit is contained in:
Iampete1 2023-01-25 19:12:21 +00:00 committed by Andrew Tridgell
parent 16b1bd8b9a
commit b238ed8dd9
2 changed files with 42 additions and 22 deletions
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42
libraries/AP_Logger/LogFile.cpp
View File

@ -343,30 +343,38 @@ void AP_Logger::Write_Power(void)
// encode armed state in bit 3
safety_and_armed |= 1U<<2;
}
float MCU_temp = 0;
float MCU_voltage = 0;
float MCU_vmin = 0;
float MCU_vmax = 0;
#if HAL_WITH_MCU_MONITORING
MCU_temp = hal.analogin->mcu_temperature();
MCU_voltage = hal.analogin->mcu_voltage();
MCU_vmin = hal.analogin->mcu_voltage_min();
MCU_vmax = hal.analogin->mcu_voltage_max();
#endif
const struct log_POWR pkt{
const uint64_t now = AP_HAL::micros64();
const struct log_POWR powr_pkt{
LOG_PACKET_HEADER_INIT(LOG_POWR_MSG),
time_us : AP_HAL::micros64(),
time_us : now,
#if HAL_HAVE_BOARD_VOLTAGE
Vcc : hal.analogin->board_voltage(),
#else
Vcc : quiet_nanf(),
#endif
#if HAL_HAVE_SERVO_VOLTAGE
Vservo : hal.analogin->servorail_voltage(),
#else
Vservo : quiet_nanf(),
#endif
flags : hal.analogin->power_status_flags(),
accumulated_flags : hal.analogin->accumulated_power_status_flags(),
safety_and_arm : safety_and_armed,
MCU_temp : MCU_temp,
MCU_voltage : MCU_voltage,
MCU_voltage_min : MCU_vmin,
MCU_voltage_max : MCU_vmax,
};
WriteBlock(&pkt, sizeof(pkt));
WriteBlock(&powr_pkt, sizeof(powr_pkt));
#if HAL_WITH_MCU_MONITORING
const struct log_MCU mcu_pkt{
LOG_PACKET_HEADER_INIT(LOG_MCU_MSG),
time_us : now,
MCU_temp : hal.analogin->mcu_temperature(),
MCU_voltage : hal.analogin->mcu_voltage(),
MCU_voltage_min : hal.analogin->mcu_voltage_min(),
MCU_voltage_max : hal.analogin->mcu_voltage_max(),
};
WriteBlock(&mcu_pkt, sizeof(mcu_pkt));
#endif
#endif
}

22
libraries/AP_Logger/LogStructure.h
View File

@ -332,6 +332,11 @@ struct PACKED log_POWR {
uint16_t flags;
uint16_t accumulated_flags;
uint8_t safety_and_arm;
};
struct PACKED log_MCU {
LOG_PACKET_HEADER;
uint64_t time_us;
float MCU_temp;
float MCU_voltage;
float MCU_voltage_min;
@ -974,10 +979,14 @@ struct PACKED log_VER {
// @Field: Flags: System power flags
// @Field: AccFlags: Accumulated System power flags; all flags which have ever been set
// @Field: Safety: Hardware Safety Switch status
// @Field: MTemp: MCU Temperature
// @Field: MVolt: MCU Voltage
// @Field: MVmin: MCU Voltage min
// @Field: MVmax: MCU Voltage max
// @LoggerMessage: MCU
// @Description: MCU voltage and temprature monitering
// @Field: TimeUS: Time since system startup
// @Field: MTemp: Temperature
// @Field: MVolt: Voltage
// @Field: MVmin: Voltage min
// @Field: MVmax: Voltage max
// @LoggerMessage: RAD
// @Description: Telemetry radio statistics
@ -1249,7 +1258,9 @@ LOG_STRUCTURE_FROM_GPS \
LOG_STRUCTURE_FROM_BARO \
LOG_STRUCTURE_FROM_PRECLAND \
{ LOG_POWR_MSG, sizeof(log_POWR), \
"POWR","QffHHBffff","TimeUS,Vcc,VServo,Flags,AccFlags,Safety,MTemp,MVolt,MVmin,MVmax", "svv---Ovvv", "F00---0000", true }, \
"POWR","QffHHB","TimeUS,Vcc,VServo,Flags,AccFlags,Safety", "svv---", "F00---", true }, \
{ LOG_MCU_MSG, sizeof(log_MCU), \
"MCU","Qffff","TimeUS,MTemp,MVolt,MVmin,MVmax", "sOvvv", "F0000", true }, \
{ LOG_CMD_MSG, sizeof(log_Cmd), \
"CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
{ LOG_MAVLINK_COMMAND_MSG, sizeof(log_MAVLink_Command), \
@ -1359,6 +1370,7 @@ enum LogMessages : uint8_t {
LOG_RSSI_MSG,
LOG_IDS_FROM_BARO,
LOG_POWR_MSG,
LOG_MCU_MSG,
LOG_IDS_FROM_AHRS,
LOG_SIMSTATE_MSG,
LOG_CMD_MSG,