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ardupilot/ArduPlane/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->println_P(PSTR("logs enabled: "));
if (0 == g.log_bitmask) {
cliSerial->println_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);
PLOG(COMPASS);
PLOG(TECS);
PLOG(CAMERA);
PLOG(RC);
PLOG(SONAR);
#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)
|| ((uint16_t)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)
{
gcs_send_text_P(SEVERITY_LOW, PSTR("Erasing logs"));
DataFlash.EraseAll();
gcs_send_text_P(SEVERITY_LOW, PSTR("Log erase complete"));
}
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)
{
uint32_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 = 0xFFFFFFFFUL;
} 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);
TARG(COMPASS);
TARG(TECS);
TARG(CAMERA);
TARG(RC);
TARG(SONAR);
#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;
}
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t roll;
int16_t pitch;
uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
};
// Write an attitude packet
static void Log_Write_Attitude(void)
{
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_ms : hal.scheduler->millis(),
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor,
error_rp : (uint16_t)(ahrs.get_error_rp() * 100),
error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#if AP_AHRS_NAVEKF_AVAILABLE
DataFlash.Log_Write_EKF(ahrs);
DataFlash.Log_Write_AHRS2(ahrs);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
sitl.Log_Write_SIMSTATE(DataFlash);
#endif
}
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint32_t loop_time;
uint16_t main_loop_count;
uint32_t g_dt_max;
int16_t gyro_drift_x;
int16_t gyro_drift_y;
int16_t gyro_drift_z;
uint8_t i2c_lockup_count;
uint16_t ins_error_count;
};
// Write a performance monitoring packet. Total length : 19 bytes
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,
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),
i2c_lockup_count: hal.i2c->lockup_count(),
ins_error_count : ins.error_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED 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));
}
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write a Camera packet. Total length : 26 bytes
static void Log_Write_Camera()
{
#if CAMERA == ENABLED
struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
gps_time : g_gps->time_week_ms,
gps_week : g_gps->time_week,
latitude : current_loc.lat,
longitude : current_loc.lng,
altitude : current_loc.alt,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif
}
struct PACKED 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);
}
}
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t nav_roll_cd;
int16_t roll;
int16_t nav_pitch_cd;
int16_t pitch;
int16_t throttle_out;
int16_t rudder_out;
float accel_y;
};
// Write a control tuning packet. Total length : 22 bytes
static void Log_Write_Control_Tuning()
{
Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
time_ms : hal.scheduler->millis(),
nav_roll_cd : (int16_t)nav_roll_cd,
roll : (int16_t)ahrs.roll_sensor,
nav_pitch_cd : (int16_t)nav_pitch_cd,
pitch : (int16_t)ahrs.pitch_sensor,
throttle_out : (int16_t)channel_throttle->servo_out,
rudder_out : (int16_t)channel_rudder->servo_out,
accel_y : accel.y
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Write a TECS tuning packet
static void Log_Write_TECS_Tuning(void)
{
SpdHgt_Controller->log_data(DataFlash, LOG_TECS_MSG);
}
struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint16_t yaw;
uint32_t wp_distance;
uint16_t target_bearing_cd;
uint16_t nav_bearing_cd;
int16_t altitude_error_cm;
int16_t airspeed_cm;
float altitude;
uint32_t groundspeed_cm;
};
// Write a navigation tuning packe
static void Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_ms : hal.scheduler->millis(),
yaw : (uint16_t)ahrs.yaw_sensor,
wp_distance : wp_distance,
target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(),
nav_bearing_cd : (uint16_t)nav_controller->nav_bearing_cd(),
altitude_error_cm : (int16_t)altitude_error_cm,
airspeed_cm : (int16_t)airspeed.get_airspeed_cm(),
altitude : barometer.get_altitude(),
groundspeed_cm : g_gps->ground_speed_cm
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Mode {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t mode;
uint8_t mode_num;
};
// 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),
time_ms : hal.scheduler->millis(),
mode : mode,
mode_num : mode
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Sonar {
LOG_PACKET_HEADER;
uint32_t timestamp;
float distance;
float voltage;
float baro_alt;
float groundspeed;
uint8_t throttle;
};
// Write a sonar packet
static void Log_Write_Sonar()
{
struct log_Sonar pkt = {
LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
timestamp : hal.scheduler->millis(),
distance : sonar.distance_cm(),
voltage : sonar.voltage(),
baro_alt : barometer.get_altitude(),
groundspeed : (0.01f * g_gps->ground_speed_cm),
throttle : (uint8_t)(100 * channel_throttle->norm_output())
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Current {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t throttle_in;
int16_t battery_voltage;
int16_t current_amps;
uint16_t board_voltage;
float current_total;
};
struct PACKED log_Arm_Disarm {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t arm_state;
uint16_t arm_checks;
};
static void Log_Write_Current()
{
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
time_ms : hal.scheduler->millis(),
throttle_in : channel_throttle->control_in,
battery_voltage : (int16_t)(battery.voltage() * 100.0),
current_amps : (int16_t)(battery.current_amps() * 100.0),
board_voltage : (uint16_t)(hal.analogin->board_voltage()*1000),
current_total : battery.current_total_mah()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
// also write power status
DataFlash.Log_Write_Power();
}
static void Log_Arm_Disarm() {
struct log_Arm_Disarm pkt = {
LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
time_ms : hal.scheduler->millis(),
arm_state : arming.is_armed(),
arm_checks : arming.get_enabled_checks()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Compass {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
};
// Write a Compass packet. Total length : 15 bytes
static void Log_Write_Compass()
{
const Vector3f &mag_offsets = compass.get_offsets();
const Vector3f &mag = compass.get_field();
struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag.x,
mag_y : (int16_t)mag.y,
mag_z : (int16_t)mag.z,
offset_x : (int16_t)mag_offsets.x,
offset_y : (int16_t)mag_offsets.y,
offset_z : (int16_t)mag_offsets.z
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#if COMPASS_MAX_INSTANCES > 1
if (compass.get_count() > 1) {
const Vector3f &mag2_offsets = compass.get_offsets(1);
const Vector3f &mag2 = compass.get_field(1);
struct log_Compass pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS2_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag2.x,
mag_y : (int16_t)mag2.y,
mag_z : (int16_t)mag2.z,
offset_x : (int16_t)mag2_offsets.x,
offset_y : (int16_t)mag2_offsets.y,
offset_z : (int16_t)mag2_offsets.z
};
DataFlash.WriteBlock(&pkt2, sizeof(pkt2));
}
#endif
}
static void Log_Write_GPS(void)
{
DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
}
static void Log_Write_IMU()
{
DataFlash.Log_Write_IMU(ins);
}
static void Log_Write_RC(void)
{
DataFlash.Log_Write_RCIN();
DataFlash.Log_Write_RCOUT();
}
static void Log_Write_Baro(void)
{
DataFlash.Log_Write_Baro(barometer);
}
struct PACKED log_AIRSPEED {
LOG_PACKET_HEADER;
uint32_t timestamp;
float airspeed;
float diffpressure;
int16_t temperature;
};
// Write a AIRSPEED packet
static void Log_Write_Airspeed(void)
{
float temperature;
if (!airspeed.get_temperature(temperature)) {
temperature = 0;
}
struct log_AIRSPEED pkt = {
LOG_PACKET_HEADER_INIT(LOG_AIRSPEED_MSG),
timestamp : hal.scheduler->millis(),
airspeed : airspeed.get_raw_airspeed(),
diffpressure : airspeed.get_differential_pressure(),
temperature : (int16_t)(temperature * 100.0f)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
static void Log_Write_AHRS2()
{
DataFlash.Log_Write_AHRS2(ahrs);
}
static void Log_Write_SIMSTATE()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
sitl.Log_Write_SIMSTATE(DataFlash);
#endif
}
static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "IccCCC", "TimeMS,Roll,Pitch,Yaw,ErrorRP,ErrorYaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHIhhhBH", "LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "BB", "SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Icccchhf", "TimeMS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "ICICCccfI", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "IffffB", "TimeMS,DistCM,Volt,BaroAlt,GSpd,Thr" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "IMB", "TimeMS,Mode,ModeNum" },
{ LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "IhhhHf", "TimeMS,Thr,Volt,Curr,Vcc,CurrTot" },
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "Ihhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ" },
{ LOG_COMPASS2_MSG, sizeof(log_Compass),
"MAG2", "Ihhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
"ARM", "IHB", "TimeMS,ArmState,ArmChecks" },
{ LOG_AIRSPEED_MSG, sizeof(log_AIRSPEED),
"ARSP", "Iffc", "TimeMS,Airspeed,DiffPress,Temp" },
{ LOG_AHRS2_MSG, sizeof(log_AHRS2),
"AHR2","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" },
{ LOG_EKF1_MSG, sizeof(log_EKF1),
"EKF1","IccCffffffbbb","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" },
TECS_LOG_FORMAT(LOG_TECS_MSG),
};
// Read the DataFlash.log memory : Packet Parser
static void Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page)
{
cliSerial->printf_P(PSTR("\n" FIRMWARE_STRING
"\nFree RAM: %u\n"),
(unsigned)hal.util->available_memory());
cliSerial->println_P(PSTR(HAL_BOARD_NAME));
DataFlash.LogReadProcess(log_num, start_page, end_page,
print_flight_mode,
cliSerial);
}
// start a new log
static void start_logging()
{
DataFlash.StartNewLog();
DataFlash.Log_Write_Message_P(PSTR(FIRMWARE_STRING));
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
DataFlash.Log_Write_Message_P(PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
#endif
// write system identifier as well if available
char sysid[40];
if (hal.util->get_system_id(sysid)) {
DataFlash.Log_Write_Message(sysid);
}
}
#else // LOGGING_ENABLED
// dummy functions
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_TECS_Tuning() {}
static void Log_Write_Performance() {}
static void Log_Write_Attitude() {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_Camera() {}
static void Log_Write_Mode(uint8_t mode) {}
static void Log_Write_Compass() {}
static void Log_Write_GPS() {}
static void Log_Write_IMU() {}
static void Log_Write_RC() {}
static void Log_Write_Airspeed(void) {}
static void Log_Write_Baro(void) {}
static void Log_Write_AHRS2() {}
static void Log_Write_SIMSTATE() {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {
return 0;
}
#endif // LOGGING_ENABLED
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