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Rover: move wheelEncoder logging to library

This commit is contained in:
Tom Pittenger 2019-02-04 22:00:15 -07:00 committed by Randy Mackay
parent 3f58461839
commit d5c67e0b07
4 changed files with 1 additions and 34 deletions
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2
APMrover2/APMrover2.cpp
View File

@ -245,7 +245,7 @@ void Rover::update_logging2(void)
if (should_log(MASK_LOG_RC)) { if (should_log(MASK_LOG_RC)) {
Log_Write_RC(); Log_Write_RC();
Log_Write_WheelEncoder(); g2.wheel_encoder.Log_Write();
} }
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {

31
APMrover2/Log.cpp
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@ -307,34 +307,6 @@ void Rover::Log_Write_RC(void)
} }
} }
// wheel encoder packet
struct PACKED log_WheelEncoder {
LOG_PACKET_HEADER;
uint64_t time_us;
float distance_0;
uint8_t quality_0;
float distance_1;
uint8_t quality_1;
};
// log wheel encoder information
void Rover::Log_Write_WheelEncoder()
{
// return immediately if no wheel encoders are enabled
if (!g2.wheel_encoder.enabled(0) && !g2.wheel_encoder.enabled(1)) {
return;
}
struct log_WheelEncoder pkt = {
LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG),
time_us : AP_HAL::micros64(),
distance_0 : g2.wheel_encoder.get_distance(0),
quality_0 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f),
distance_1 : g2.wheel_encoder.get_distance(1),
quality_1 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f)
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
void Rover::Log_Write_Vehicle_Startup_Messages() void Rover::Log_Write_Vehicle_Startup_Messages()
{ {
// only 200(?) bytes are guaranteed by AP_Logger // only 200(?) bytes are guaranteed by AP_Logger
@ -365,8 +337,6 @@ const LogStructure Rover::log_structure[] = {
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" }, "GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
{ LOG_ERROR_MSG, sizeof(log_Error), { LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" }, "ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder),
"WENC", "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1", "sm-m-", "F0-0-" },
}; };
void Rover::log_init(void) void Rover::log_init(void)
@ -389,7 +359,6 @@ void Rover::Log_Write_Throttle() {}
void Rover::Log_Write_Rangefinder() {} void Rover::Log_Write_Rangefinder() {}
void Rover::Log_Write_RC(void) {} void Rover::Log_Write_RC(void) {}
void Rover::Log_Write_Steering() {} void Rover::Log_Write_Steering() {}
void Rover::Log_Write_WheelEncoder() {}
void Rover::Log_Write_Vehicle_Startup_Messages() {} void Rover::Log_Write_Vehicle_Startup_Messages() {}
#endif // LOGGING_ENABLED #endif // LOGGING_ENABLED

1
APMrover2/Rover.h
View File

@ -460,7 +460,6 @@ private:
void Log_Write_Throttle(); void Log_Write_Throttle();
void Log_Write_Rangefinder(); void Log_Write_Rangefinder();
void Log_Write_RC(void); void Log_Write_RC(void);
void Log_Write_WheelEncoder();
void Log_Write_Vehicle_Startup_Messages(); void Log_Write_Vehicle_Startup_Messages();
void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page); void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
void log_init(void); void log_init(void);

1
APMrover2/defines.h
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@ -29,7 +29,6 @@
#define LOG_ARM_DISARM_MSG 0x08 #define LOG_ARM_DISARM_MSG 0x08
#define LOG_STEERING_MSG 0x0D #define LOG_STEERING_MSG 0x0D
#define LOG_GUIDEDTARGET_MSG 0x0E #define LOG_GUIDEDTARGET_MSG 0x0E
#define LOG_WHEELENCODER_MSG 0x0F
#define LOG_ERROR_MSG 0x13 #define LOG_ERROR_MSG 0x13
#define TYPE_AIRSTART_MSG 0x00 #define TYPE_AIRSTART_MSG 0x00