/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /* ************************************************************ */ /* Test for DataFlash Log library */ /* ************************************************************ */ #ifndef DataFlash_h #define DataFlash_h #include #include #include #include #include #include #include class DataFlash_Class { public: // initialisation virtual void Init(const struct LogStructure *structure, uint8_t num_types); virtual bool CardInserted(void) = 0; // erase handling virtual bool NeedErase(void) = 0; virtual void EraseAll() = 0; /* Write a block of data at current offset */ virtual void WriteBlock(const void *pBuffer, uint16_t size) = 0; // high level interface virtual uint16_t find_last_log(void) = 0; virtual void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page) = 0; virtual void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) = 0; virtual int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) = 0; virtual uint16_t get_num_logs(void) = 0; virtual void LogReadProcess(uint16_t log_num, uint16_t start_page, uint16_t end_page, 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; virtual void ListAvailableLogs(AP_HAL::BetterStream *port) = 0; /* logging methods common to all vehicles */ uint16_t StartNewLog(void); void AddLogFormats(const struct LogStructure *structures, uint8_t num_types); void EnableWrites(bool enable) { _writes_enabled = enable; } void Log_Write_Format(const struct LogStructure *structure); void Log_Write_Parameter(const char *name, float value); void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, int32_t relative_alt); void Log_Write_IMU(const AP_InertialSensor &ins); void Log_Write_RCIN(void); void Log_Write_RCOUT(void); void Log_Write_Baro(AP_Baro &baro); void Log_Write_Power(void); void Log_Write_AHRS2(AP_AHRS &ahrs); #if AP_AHRS_NAVEKF_AVAILABLE void Log_Write_EKF(AP_AHRS_NavEKF &ahrs); #endif void Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd); void Log_Write_Radio(const mavlink_radio_t &packet); void Log_Write_Message(const char *message); void Log_Write_Message_P(const prog_char_t *message); bool logging_started(void) const { return log_write_started; } /* every logged packet starts with 3 bytes */ struct log_Header { uint8_t head1, head2, msgid; }; protected: /* read and print a log entry using the format strings from the given structure */ void _print_log_entry(uint8_t msg_type, void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode), AP_HAL::BetterStream *port); void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt); void Log_Write_Parameter(const AP_Param *ap, const AP_Param::ParamToken &token, enum ap_var_type type); void Log_Write_Parameters(void); virtual uint16_t start_new_log(void) = 0; const struct LogStructure *_structures; uint8_t _num_types; bool _writes_enabled; bool log_write_started; /* read a block */ virtual void ReadBlock(void *pkt, uint16_t size) = 0; }; /* unfortunately these need to be macros because of a limitation of named member structure initialisation in g++ */ #define LOG_PACKET_HEADER uint8_t head1, head2, msgid; #define LOG_PACKET_HEADER_INIT(id) head1 : HEAD_BYTE1, head2 : HEAD_BYTE2, msgid : id // once the logging code is all converted we will remove these from // this header #define HEAD_BYTE1 0xA3 // Decimal 163 #define HEAD_BYTE2 0x95 // Decimal 149 /* Format characters in the format string for binary log messages b : int8_t B : uint8_t h : int16_t H : uint16_t i : int32_t I : uint32_t f : float n : char[4] N : char[16] Z : char[64] c : int16_t * 100 C : uint16_t * 100 e : int32_t * 100 E : uint32_t * 100 L : int32_t latitude/longitude M : uint8_t flight mode */ // structure used to define logging format struct LogStructure { uint8_t msg_type; uint8_t msg_len; const char name[5]; const char format[16]; const char labels[64]; }; /* log structures common to all vehicle types */ struct PACKED log_Format { LOG_PACKET_HEADER; uint8_t type; uint8_t length; char name[4]; char format[16]; char labels[64]; }; struct PACKED log_Parameter { LOG_PACKET_HEADER; char name[16]; float value; }; struct PACKED log_GPS { LOG_PACKET_HEADER; uint8_t status; uint32_t gps_week_ms; uint16_t gps_week; uint8_t num_sats; uint16_t hdop; int32_t latitude; int32_t longitude; int32_t rel_altitude; int32_t altitude; uint32_t ground_speed; int32_t ground_course; float vel_z; uint32_t apm_time; }; struct PACKED log_GPS2 { LOG_PACKET_HEADER; uint8_t status; uint32_t gps_week_ms; uint16_t gps_week; uint8_t num_sats; uint16_t hdop; int32_t latitude; int32_t longitude; int32_t altitude; uint32_t ground_speed; int32_t ground_course; float vel_z; uint32_t apm_time; uint8_t dgps_numch; uint32_t dgps_age; }; struct PACKED log_Message { LOG_PACKET_HEADER; char msg[64]; }; struct PACKED log_IMU { LOG_PACKET_HEADER; uint32_t timestamp; float gyro_x, gyro_y, gyro_z; float accel_x, accel_y, accel_z; }; struct PACKED log_RCIN { LOG_PACKET_HEADER; uint32_t timestamp; uint16_t chan1; uint16_t chan2; uint16_t chan3; uint16_t chan4; uint16_t chan5; uint16_t chan6; uint16_t chan7; uint16_t chan8; uint16_t chan9; uint16_t chan10; uint16_t chan11; uint16_t chan12; uint16_t chan13; uint16_t chan14; }; struct PACKED log_RCOUT { LOG_PACKET_HEADER; uint32_t timestamp; uint16_t chan1; uint16_t chan2; uint16_t chan3; uint16_t chan4; uint16_t chan5; uint16_t chan6; uint16_t chan7; uint16_t chan8; }; struct PACKED log_BARO { LOG_PACKET_HEADER; uint32_t timestamp; float altitude; float pressure; int16_t temperature; }; struct PACKED log_AHRS { LOG_PACKET_HEADER; uint32_t time_ms; int16_t roll; int16_t pitch; uint16_t yaw; float alt; int32_t lat; int32_t lng; }; struct PACKED log_POWR { LOG_PACKET_HEADER; uint32_t time_ms; uint16_t Vcc; uint16_t Vservo; uint16_t flags; }; struct PACKED log_EKF1 { LOG_PACKET_HEADER; uint32_t time_ms; int16_t roll; int16_t pitch; uint16_t yaw; float velN; float velE; float velD; float posN; float posE; float posD; int16_t gyrX; int16_t gyrY; int16_t gyrZ; }; struct PACKED log_EKF2 { LOG_PACKET_HEADER; uint32_t time_ms; int8_t accX; int8_t accY; int8_t accZ; int16_t windN; int16_t windE; int16_t magN; int16_t magE; int16_t magD; int16_t magX; int16_t magY; int16_t magZ; }; struct PACKED log_EKF3 { LOG_PACKET_HEADER; uint32_t time_ms; int16_t innovVN; int16_t innovVE; int16_t innovVD; int16_t innovPN; int16_t innovPE; int16_t innovPD; int16_t innovMX; int16_t innovMY; int16_t innovMZ; int16_t innovVT; }; struct PACKED log_EKF4 { LOG_PACKET_HEADER; uint32_t time_ms; int16_t sqrtvarV; int16_t sqrtvarP; int16_t sqrtvarH; int16_t sqrtvarMX; int16_t sqrtvarMY; int16_t sqrtvarMZ; int16_t sqrtvarVT; int8_t offsetNorth; int8_t offsetEast; }; struct PACKED log_Cmd { LOG_PACKET_HEADER; uint32_t time_ms; uint16_t command_total; uint16_t sequence; uint16_t command; float param1; float param2; float param3; float param4; float latitude; float longitude; float altitude; }; struct PACKED log_Radio { LOG_PACKET_HEADER; uint32_t time_ms; uint8_t rssi; uint8_t remrssi; uint8_t txbuf; uint8_t noise; uint8_t remnoise; uint16_t rxerrors; uint16_t fixed; }; #define LOG_COMMON_STRUCTURES \ { LOG_FORMAT_MSG, sizeof(log_Format), \ "FMT", "BBnNZ", "Type,Length,Name,Format,Columns" }, \ { LOG_PARAMETER_MSG, sizeof(log_Parameter), \ "PARM", "Nf", "Name,Value" }, \ { LOG_GPS_MSG, sizeof(log_GPS), \ "GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \ { LOG_GPS2_MSG, sizeof(log_GPS2), \ "GPS2", "BIHBcLLeEefIBI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,T,DSc,DAg" }, \ { LOG_IMU_MSG, sizeof(log_IMU), \ "IMU", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \ { LOG_IMU2_MSG, sizeof(log_IMU), \ "IMU2", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \ { LOG_MESSAGE_MSG, sizeof(log_Message), \ "MSG", "Z", "Message"}, \ { LOG_RCIN_MSG, sizeof(log_RCIN), \ "RCIN", "Ihhhhhhhhhhhhhh", "TimeMS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14" }, \ { LOG_RCOUT_MSG, sizeof(log_RCOUT), \ "RCOU", "Ihhhhhhhh", "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }, \ { LOG_BARO_MSG, sizeof(log_BARO), \ "BARO", "Iffc", "TimeMS,Alt,Press,Temp" }, \ { LOG_POWR_MSG, sizeof(log_POWR), \ "POWR","ICCH","TimeMS,Vcc,VServo,Flags" }, \ { LOG_AHR2_MSG, sizeof(log_AHRS), \ "AHR2","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \ { LOG_SIMSTATE_MSG, sizeof(log_AHRS), \ "SIM","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \ { LOG_EKF1_MSG, sizeof(log_EKF1), \ "EKF1","IccCffffffccc","TimeMS,Roll,Pitch,Yaw,VN,VE,VD,PN,PE,PD,GX,GY,GZ" }, \ { LOG_EKF2_MSG, sizeof(log_EKF2), \ "EKF2","Ibbbcchhhhhh","TimeMS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ" }, \ { LOG_EKF3_MSG, sizeof(log_EKF3), \ "EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \ { LOG_EKF4_MSG, sizeof(log_EKF4), \ "EKF4","Icccccccbb","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE" }, \ { LOG_CMD_MSG, sizeof(log_Cmd), \ "CMD", "IHHHfffffff","TimeMS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \ { LOG_RADIO_MSG, sizeof(log_Radio), \ "RAD", "IBBBBBHH", "TimeMS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" } // message types 0 to 100 reversed for vehicle specific use // message types for common messages #define LOG_FORMAT_MSG 128 #define LOG_PARAMETER_MSG 129 #define LOG_GPS_MSG 130 #define LOG_IMU_MSG 131 #define LOG_MESSAGE_MSG 132 #define LOG_RCIN_MSG 133 #define LOG_RCOUT_MSG 134 #define LOG_IMU2_MSG 135 #define LOG_BARO_MSG 136 #define LOG_POWR_MSG 137 #define LOG_AHR2_MSG 138 #define LOG_SIMSTATE_MSG 139 #define LOG_EKF1_MSG 140 #define LOG_EKF2_MSG 141 #define LOG_EKF3_MSG 142 #define LOG_EKF4_MSG 143 #define LOG_GPS2_MSG 144 #define LOG_CMD_MSG 145 #define LOG_RADIO_MSG 146 // message types 200 to 210 reversed for GPS driver use // message types 211 to 220 reversed for autotune use #include "DataFlash_Block.h" #include "DataFlash_File.h" #endif