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ardupilot/APMrover2/Log.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash log memory
// Code to interact with the user to dump or erase logs
// These are function definitions so the Menu can be constructed before the functions
// are defined below. Order matters to the compiler.
static int8_t dump_log(uint8_t argc, const Menu::arg *argv);
static int8_t erase_logs(uint8_t argc, const Menu::arg *argv);
static int8_t select_logs(uint8_t argc, const Menu::arg *argv);
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
// See class Menu in AP_Coommon for implementation details
static const struct Menu::command log_menu_commands[] PROGMEM = {
{"dump", dump_log},
{"erase", erase_logs},
{"enable", select_logs},
{"disable", select_logs}
};
// A Macro to create the Menu
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
static bool
print_log_menu(void)
{
cliSerial->printf_P(PSTR("logs enabled: "));
if (0 == g.log_bitmask) {
cliSerial->printf_P(PSTR("none"));
}else{
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// the bit being set and print the name of the log option to suit.
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf_P(PSTR(" %S"), PSTR(#_s))
PLOG(ATTITUDE_FAST);
PLOG(ATTITUDE_MED);
PLOG(GPS);
PLOG(PM);
PLOG(CTUN);
PLOG(NTUN);
PLOG(MODE);
PLOG(IMU);
PLOG(CMD);
PLOG(CURRENT);
#undef PLOG
}
cliSerial->println();
DataFlash.ListAvailableLogs(cliSerial);
return(true);
}
static int8_t
dump_log(uint8_t argc, const Menu::arg *argv)
{
int16_t dump_log;
uint16_t dump_log_start;
uint16_t dump_log_end;
uint16_t last_log_num;
// check that the requested log number can be read
dump_log = argv[1].i;
last_log_num = DataFlash.find_last_log();
if (dump_log == -2) {
DataFlash.DumpPageInfo(cliSerial);
return(-1);
} else if (dump_log <= 0) {
cliSerial->printf_P(PSTR("dumping all\n"));
Log_Read(0, 1, 0);
return(-1);
} else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (dump_log > last_log_num)) {
cliSerial->printf_P(PSTR("bad log number\n"));
return(-1);
}
DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
Log_Read((uint16_t)dump_log, dump_log_start, dump_log_end);
return 0;
}
static void do_erase_logs(void)
{
cliSerial->printf_P(PSTR("\nErasing log...\n"));
DataFlash.EraseAll();
cliSerial->printf_P(PSTR("\nLog erased.\n"));
}
static int8_t
erase_logs(uint8_t argc, const Menu::arg *argv)
{
in_mavlink_delay = true;
do_erase_logs();
in_mavlink_delay = false;
return 0;
}
static int8_t
select_logs(uint8_t argc, const Menu::arg *argv)
{
uint16_t bits;
if (argc != 2) {
cliSerial->printf_P(PSTR("missing log type\n"));
return(-1);
}
bits = 0;
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// that name as the argument to the command, and set the bit in
// bits accordingly.
//
if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
bits = ~0;
} else {
#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(#_s))) bits |= MASK_LOG_ ## _s
TARG(ATTITUDE_FAST);
TARG(ATTITUDE_MED);
TARG(GPS);
TARG(PM);
TARG(CTUN);
TARG(NTUN);
TARG(MODE);
TARG(IMU);
TARG(CMD);
TARG(CURRENT);
#undef TARG
}
if (!strcasecmp_P(argv[0].str, PSTR("enable"))) {
g.log_bitmask.set_and_save(g.log_bitmask | bits);
}else{
g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
}
return(0);
}
static int8_t
process_logs(uint8_t argc, const Menu::arg *argv)
{
log_menu.run();
return 0;
}
// print_latlon - prints an latitude or longitude value held in an int32_t
// probably this should be moved to AP_Common
void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon)
{
int32_t dec_portion, frac_portion;
int32_t abs_lat_or_lon = labs(lat_or_lon);
// extract decimal portion (special handling of negative numbers to ensure we round towards zero)
dec_portion = abs_lat_or_lon / T7;
// extract fractional portion
frac_portion = abs_lat_or_lon - dec_portion*T7;
// print output including the minus sign
if( lat_or_lon < 0 ) {
s->printf_P(PSTR("-"));
}
s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion);
}
struct log_Attitute {
LOG_PACKET_HEADER;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write an attitude packet. Total length : 10 bytes
static void Log_Write_Attitude(int16_t log_roll, int16_t log_pitch, uint16_t log_yaw)
{
struct log_Attitute pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
roll : log_roll,
pitch : log_pitch,
yaw : log_yaw
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read an attitude packet
static void Log_Read_Attitude()
{
struct log_Attitute pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("ATT, %d, %d, %u\n"),
(int)pkt.roll,
(int)pkt.pitch,
(unsigned)pkt.yaw);
}
struct log_Performance {
LOG_PACKET_HEADER;
uint32_t loop_time;
uint16_t main_loop_count;
int16_t g_dt_max;
uint8_t renorm_count;
uint8_t renorm_blowup;
uint8_t gps_fix_count;
int16_t gyro_drift_x;
int16_t gyro_drift_y;
int16_t gyro_drift_z;
int16_t pm_test;
};
// Write a performance monitoring packet. Total length : 19 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_Performance()
{
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
loop_time : millis()- perf_mon_timer,
main_loop_count : mainLoop_count,
g_dt_max : G_Dt_max,
renorm_count : ahrs.renorm_range_count,
renorm_blowup : ahrs.renorm_blowup_count,
gps_fix_count : gps_fix_count,
gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
pm_test : pmTest1
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
#endif
// Read a performance packet
static void Log_Read_Performance()
{
struct log_Performance pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("PM, %lu, %u, %d, %u, %u, %u, %d, %d, %d, %d\n"),
pkt.loop_time,
(unsigned)pkt.main_loop_count,
(int)pkt.g_dt_max,
(unsigned)pkt.renorm_count,
(unsigned)pkt.renorm_blowup,
(unsigned)pkt.gps_fix_count,
(int)pkt.gyro_drift_x,
(int)pkt.gyro_drift_y,
(int)pkt.gyro_drift_z,
(int)pkt.pm_test);
}
struct log_Cmd {
LOG_PACKET_HEADER;
uint8_t command_total;
uint8_t command_number;
uint8_t waypoint_id;
uint8_t waypoint_options;
uint8_t waypoint_param1;
int32_t waypoint_altitude;
int32_t waypoint_latitude;
int32_t waypoint_longitude;
};
// Write a command processing packet. Total length : 19 bytes
static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
{
struct log_Cmd pkt = {
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
command_total : g.command_total,
command_number : num,
waypoint_id : wp->id,
waypoint_options : wp->options,
waypoint_param1 : wp->p1,
waypoint_altitude : wp->alt,
waypoint_latitude : wp->lat,
waypoint_longitude : wp->lng
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a command processing packet
static void Log_Read_Cmd()
{
struct log_Cmd pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("CMD, %u, %u, %u, %u, %u, %ld, %ld, %ld\n"),
(unsigned)pkt.command_total,
(unsigned)pkt.command_number,
(unsigned)pkt.waypoint_id,
(unsigned)pkt.waypoint_options,
(unsigned)pkt.waypoint_param1,
(long)pkt.waypoint_altitude,
(long)pkt.waypoint_latitude,
(long)pkt.waypoint_longitude);
}
struct log_Startup {
LOG_PACKET_HEADER;
uint8_t startup_type;
uint8_t command_total;
};
static void Log_Write_Startup(uint8_t type)
{
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
startup_type : type,
command_total : g.command_total
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
// write all commands to the dataflash as well
struct Location cmd;
for (uint8_t i = 0; i <= g.command_total; i++) {
cmd = get_cmd_with_index(i);
Log_Write_Cmd(i, &cmd);
}
}
static void Log_Read_Startup()
{
struct log_Startup pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
switch( pkt.startup_type ) {
case TYPE_AIRSTART_MSG:
cliSerial->printf_P(PSTR("AIR START"));
break;
case TYPE_GROUNDSTART_MSG:
cliSerial->printf_P(PSTR("GROUND START"));
break;
default:
cliSerial->printf_P(PSTR("UNKNOWN STARTUP"));
break;
}
cliSerial->printf_P(PSTR(" - %u commands in memory\n"),(unsigned)pkt.command_total);
}
struct log_Control_Tuning {
LOG_PACKET_HEADER;
int16_t steer_out;
int16_t roll;
int16_t pitch;
int16_t throttle_out;
int16_t accel_y;
};
// Write a control tuning packet. Total length : 22 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_Control_Tuning()
{
Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
steer_out : (int16_t)g.channel_steer.servo_out,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
throttle_out : (int16_t)g.channel_throttle.servo_out,
accel_y : (int16_t)(accel.y * 10000)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
#endif
// Read an control tuning packet
static void Log_Read_Control_Tuning()
{
struct log_Control_Tuning pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("CTUN, %4.2f, %4.2f, %4.2f, %4.2f, %4.2f\n"),
(float)pkt.steer_out / 100.f,
(float)pkt.roll / 100.f,
(float)pkt.pitch / 100.f,
(float)pkt.throttle_out / 100.f,
(float)pkt.accel_y / 10000.f
);
}
struct log_Nav_Tuning {
LOG_PACKET_HEADER;
uint16_t yaw;
float wp_distance;
uint16_t target_bearing_cd;
uint16_t nav_bearing_cd;
int16_t nav_gain_scheduler;
};
// Write a navigation tuning packet. Total length : 18 bytes
static void Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
yaw : (uint16_t)ahrs.yaw_sensor,
wp_distance : wp_distance,
target_bearing_cd : (uint16_t)target_bearing,
nav_bearing_cd : (uint16_t)nav_bearing,
nav_gain_scheduler : (int16_t)(nav_gain_scaler*1000)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a nav tuning packet
static void Log_Read_Nav_Tuning()
{
struct log_Nav_Tuning pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("NTUN, %4.4f, %4.2f, %4.4f, %4.4f, %4.4f\n"),
(float)pkt.yaw/100.0f,
pkt.wp_distance,
(float)(pkt.target_bearing_cd/100.0f),
(float)(pkt.nav_bearing_cd/100.0f),
(float)(pkt.nav_gain_scheduler/100.0f));
}
struct log_Mode {
LOG_PACKET_HEADER;
uint8_t mode;
};
// Write a mode packet. Total length : 5 bytes
static void Log_Write_Mode(uint8_t mode)
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
mode : mode
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a mode packet
static void Log_Read_Mode()
{
struct log_Mode pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("MOD,"));
print_mode(pkt.mode);
}
struct log_GPS {
LOG_PACKET_HEADER;
uint32_t gps_time;
uint8_t gps_fix;
uint8_t num_sats;
int32_t latitude;
int32_t longitude;
int32_t rel_altitude;
int32_t altitude;
uint32_t ground_speed;
int32_t ground_course;
};
// Write an GPS packet. Total length : 30 bytes
static void Log_Write_GPS( uint32_t log_Time, int32_t log_Lattitude, int32_t log_Longitude, int32_t log_gps_alt, int32_t log_mix_alt,
uint32_t log_Ground_Speed, int32_t log_Ground_Course, uint8_t log_Fix, uint8_t log_NumSats)
{
struct log_GPS pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
gps_time : log_Time,
gps_fix : log_Fix,
num_sats : log_NumSats,
latitude : log_Lattitude,
longitude : log_Longitude,
rel_altitude : log_mix_alt,
altitude : log_gps_alt,
ground_speed : log_Ground_Speed,
ground_course : log_Ground_Course
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a GPS packet
static void Log_Read_GPS()
{
struct log_GPS pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("GPS, %ld, %u, %u, "),
(long)pkt.gps_time,
(unsigned)pkt.gps_fix,
(unsigned)pkt.num_sats);
print_latlon(cliSerial, pkt.latitude);
cliSerial->print_P(PSTR(", "));
print_latlon(cliSerial, pkt.longitude);
cliSerial->printf_P(PSTR(", %4.4f, %4.4f, %lu, %ld\n"),
(float)pkt.rel_altitude*0.01,
(float)pkt.altitude*0.01,
(unsigned long)pkt.ground_speed,
(long)pkt.ground_course);
}
struct log_IMU {
LOG_PACKET_HEADER;
Vector3f gyro;
Vector3f accel;
};
// Write an raw accel/gyro data packet. Total length : 28 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_IMU()
{
struct log_IMU pkt = {
LOG_PACKET_HEADER_INIT(LOG_IMU_MSG),
gyro : ins.get_gyro(),
accel : ins.get_accel()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
#endif
// Read a raw accel/gyro packet
static void Log_Read_IMU()
{
struct log_IMU pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("IMU, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f\n"),
pkt.gyro.x,
pkt.gyro.y,
pkt.gyro.z,
pkt.accel.x,
pkt.accel.y,
pkt.accel.z);
}
struct log_Current {
LOG_PACKET_HEADER;
int16_t throttle_in;
int16_t battery_voltage;
int16_t current_amps;
int16_t current_total;
};
static void Log_Write_Current()
{
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
throttle_in : g.channel_throttle.control_in,
battery_voltage : (int16_t)(battery_voltage1 * 100.0),
current_amps : (int16_t)(current_amps1 * 100.0),
current_total : (int16_t)current_total1
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a Current packet
static void Log_Read_Current()
{
struct log_Current pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("CURRENT, %d, %4.4f, %4.4f, %d\n"),
(int)pkt.throttle_in,
((float)pkt.battery_voltage / 100.f),
((float)pkt.current_amps / 100.f),
(int)pkt.current_total);
}
// Read the DataFlash log memory : Packet Parser
static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
{
cliSerial->printf_P(PSTR("\n" THISFIRMWARE
"\nFree RAM: %u\n"),
memcheck_available_memory());
DataFlash.log_read_process(log_num, start_page, end_page, log_callback);
}
// Read the DataFlash log memory : Packet Parser
static void log_callback(uint8_t msgid)
{
switch (msgid) {
case LOG_ATTITUDE_MSG:
Log_Read_Attitude();
break;
case LOG_MODE_MSG:
Log_Read_Mode();
break;
case LOG_CONTROL_TUNING_MSG:
Log_Read_Control_Tuning();
break;
case LOG_NAV_TUNING_MSG:
Log_Read_Nav_Tuning();
break;
case LOG_PERFORMANCE_MSG:
Log_Read_Performance();
break;
case LOG_IMU_MSG:
Log_Read_IMU();
break;
case LOG_CMD_MSG:
Log_Read_Cmd();
break;
case LOG_CURRENT_MSG:
Log_Read_Current();
break;
case LOG_STARTUP_MSG:
Log_Read_Startup();
break;
case LOG_GPS_MSG:
Log_Read_GPS();
break;
}
}
#else // LOGGING_ENABLED
// dummy functions
static void Log_Write_Mode(uint8_t mode) {}
static void Log_Write_Startup(uint8_t type) {}
static void Log_Write_Cmd(uint8_t num, const struct Location *wp) {}
static void Log_Write_Current() {}
static void Log_Write_Nav_Tuning() {}
static void Log_Write_GPS( uint32_t log_Time, int32_t log_Lattitude, int32_t log_Longitude, int32_t log_gps_alt, int32_t log_mix_alt,
uint32_t log_Ground_Speed, int32_t log_Ground_Course, uint8_t log_Fix, uint8_t log_NumSats) {}
static void Log_Write_Performance() {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
static void Log_Write_Attitude(int16_t log_roll, int16_t log_pitch, uint16_t log_yaw) {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_IMU() {}
#endif // LOGGING_ENABLED
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