Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Added some useful error messages. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@823 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-11 01:55:14 +00:00
parent 9e6fcded41
commit d8b3dd9aa1
4 changed files with 60 additions and 46 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/APM_BinComm/APM_BinComm.cpp
View File

@ -102,7 +102,7 @@ BinComm::update(void)
{
char text[50];
strncpy(text,"buffer overflow",50);
send_msg_status_text(1,text);
send_msg_status_text(SEVERITY_LOW,text);
}
while (count--)
@ -219,6 +219,12 @@ BinComm::_decode(uint8_t inByte)
// dont' acknowledge an acknowledgement, will echo infinetly
if (_messageID != MSG_ACKNOWLEDGE) send_msg_acknowledge(_messageID,_sumA,_sumB);
}
else
{
char str[50];
sprintf(str,"<bincomm> unhandled messageID:%x",_messageID);
send_msg_status_text(SEVERITY_LOW,str);
}
} else {
badMessagesReceived++;
}

9
libraries/APM_BinComm/APM_BinComm.h
View File

@ -185,6 +185,15 @@ public:
///
//@{
/// Message serverities
enum severities
{
SEVERITY_LOW = 1,
SEVERITY_MEDIUM = 2,
SEVERITY_HIGH = 3,
SEVERITY_CRITICAL = 4,
};
/// Variables defined
/// XXX these should probably be handled by the database/MIB?
enum variableID {

15
libraries/APM_BinComm/protocol/protocol.def
View File

@ -59,11 +59,17 @@
#
# Acknowledge message
#
# Required by protocol, don't change
message 0x00 MSG_ACKNOWLEDGE
uint8_t msgID
uint8_t sum1
uint8_t sum2
#
# Text status message
# Required by protocol, don't change
message 0x05 MSG_STATUS_TEXT
uint8_t severity
char text 50
#
# System heartbeat
@ -100,13 +106,6 @@ message 0x04 MSG_PRESSURE
int32_t pressureAltitude
int16_t airSpeed
#
# Text status message
#
message 0x05 MSG_STATUS_TEXT
uint8_t severity
char text 50
#
# Algorithm performance report
#

74
libraries/APM_BinComm/protocol/protocol.h
View File

@ -47,6 +47,43 @@ unpack_msg_acknowledge(
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_STATUS_TEXT
//@{
/// Structure describing the payload section of the MSG_STATUS_TEXT message
struct msg_status_text {
uint8_t severity;
char text[50];
};
/// Send a MSG_STATUS_TEXT message
inline void
send_msg_status_text(
const uint8_t severity,
const char (&text)[50])
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, severity);
_pack(__p, text, 50);
_encodeBuf.header.length = 51;
_encodeBuf.header.messageID = MSG_STATUS_TEXT;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_STATUS_TEXT message
inline void
unpack_msg_status_text(
uint8_t &severity,
char (&text)[50])
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, severity);
_unpack(__p, text, 50);
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_HEARTBEAT
//@{
@ -230,43 +267,6 @@ unpack_msg_pressure(
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_STATUS_TEXT
//@{
/// Structure describing the payload section of the MSG_STATUS_TEXT message
struct msg_status_text {
uint8_t severity;
char text[50];
};
/// Send a MSG_STATUS_TEXT message
inline void
send_msg_status_text(
const uint8_t severity,
const char (&text)[50])
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, severity);
_pack(__p, text, 50);
_encodeBuf.header.length = 51;
_encodeBuf.header.messageID = MSG_STATUS_TEXT;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_STATUS_TEXT message
inline void
unpack_msg_status_text(
uint8_t &severity,
char (&text)[50])
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, severity);
_unpack(__p, text, 50);
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_PERF_REPORT
//@{