mirror of https://github.com/ArduPilot/ardupilot
482 lines
13 KiB
C++
482 lines
13 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Rover.h"
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#include "version.h"
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#if LOGGING_ENABLED == ENABLED
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#if CLI_ENABLED == ENABLED
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// Code to interact with the user to dump or erase logs
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// Creates a constant array of structs representing menu options
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// and stores them in Flash memory, not RAM.
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// User enters the string in the console to call the functions on the right.
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// See class Menu in AP_Coommon for implementation details
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static const struct Menu::command log_menu_commands[] = {
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{"dump", MENU_FUNC(dump_log)},
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{"erase", MENU_FUNC(erase_logs)},
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{"enable", MENU_FUNC(select_logs)},
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{"disable", MENU_FUNC(select_logs)}
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};
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// A Macro to create the Menu
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MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&rover, &Rover::print_log_menu, bool));
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bool Rover::print_log_menu(void)
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{
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cliSerial->printf("logs enabled: ");
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if (0 == g.log_bitmask) {
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cliSerial->printf("none");
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}else{
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// Macro to make the following code a bit easier on the eye.
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// Pass it the capitalised name of the log option, as defined
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// in defines.h but without the LOG_ prefix. It will check for
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// the bit being set and print the name of the log option to suit.
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#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf(" %s", #_s)
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PLOG(ATTITUDE_FAST);
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PLOG(ATTITUDE_MED);
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PLOG(GPS);
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PLOG(PM);
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PLOG(CTUN);
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PLOG(NTUN);
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PLOG(MODE);
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PLOG(IMU);
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PLOG(CMD);
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PLOG(CURRENT);
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PLOG(SONAR);
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PLOG(COMPASS);
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PLOG(CAMERA);
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PLOG(STEERING);
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#undef PLOG
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}
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cliSerial->println();
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DataFlash.ListAvailableLogs(cliSerial);
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return(true);
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}
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int8_t Rover::dump_log(uint8_t argc, const Menu::arg *argv)
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{
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int16_t dump_log_num;
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uint16_t dump_log_start;
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uint16_t dump_log_end;
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// check that the requested log number can be read
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dump_log_num = argv[1].i;
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if (dump_log_num == -2) {
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DataFlash.DumpPageInfo(cliSerial);
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return(-1);
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} else if (dump_log_num <= 0) {
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cliSerial->printf("dumping all\n");
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Log_Read(0, 1, 0);
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return(-1);
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} else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
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cliSerial->printf("bad log number\n");
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return(-1);
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}
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DataFlash.get_log_boundaries(dump_log_num, dump_log_start, dump_log_end);
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Log_Read((uint16_t)dump_log_num, dump_log_start, dump_log_end);
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return 0;
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}
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int8_t Rover::erase_logs(uint8_t argc, const Menu::arg *argv)
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{
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in_mavlink_delay = true;
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do_erase_logs();
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in_mavlink_delay = false;
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return 0;
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}
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int8_t Rover::select_logs(uint8_t argc, const Menu::arg *argv)
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{
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uint16_t bits;
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if (argc != 2) {
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cliSerial->printf("missing log type\n");
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return(-1);
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}
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bits = 0;
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// Macro to make the following code a bit easier on the eye.
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// Pass it the capitalised name of the log option, as defined
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// in defines.h but without the LOG_ prefix. It will check for
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// that name as the argument to the command, and set the bit in
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// bits accordingly.
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//
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if (!strcasecmp(argv[1].str, "all")) {
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bits = ~0;
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} else {
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#define TARG(_s) if (!strcasecmp(argv[1].str, #_s)) bits |= MASK_LOG_ ## _s
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TARG(ATTITUDE_FAST);
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TARG(ATTITUDE_MED);
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TARG(GPS);
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TARG(PM);
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TARG(CTUN);
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TARG(NTUN);
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TARG(MODE);
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TARG(IMU);
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TARG(CMD);
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TARG(CURRENT);
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TARG(SONAR);
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TARG(COMPASS);
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TARG(CAMERA);
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TARG(STEERING);
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#undef TARG
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}
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if (!strcasecmp(argv[0].str, "enable")) {
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g.log_bitmask.set_and_save(g.log_bitmask | bits);
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}else{
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g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
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}
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return(0);
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}
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int8_t Rover::process_logs(uint8_t argc, const Menu::arg *argv)
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{
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log_menu.run();
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return 0;
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}
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#endif // CLI_ENABLED == ENABLED
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void Rover::do_erase_logs(void)
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{
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cliSerial->printf("\nErasing log...\n");
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DataFlash.EraseAll();
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cliSerial->printf("\nLog erased.\n");
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}
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struct PACKED log_Performance {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint32_t loop_time;
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uint16_t main_loop_count;
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uint32_t g_dt_max;
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int16_t gyro_drift_x;
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int16_t gyro_drift_y;
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int16_t gyro_drift_z;
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uint8_t i2c_lockup_count;
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uint16_t ins_error_count;
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};
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// Write a performance monitoring packet. Total length : 19 bytes
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void Rover::Log_Write_Performance()
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{
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struct log_Performance pkt = {
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LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
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time_us : AP_HAL::micros64(),
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loop_time : millis()- perf_mon_timer,
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main_loop_count : mainLoop_count,
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g_dt_max : G_Dt_max,
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gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
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gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
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gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
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i2c_lockup_count: 0,
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ins_error_count : ins.error_count()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Steering {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float demanded_accel;
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float achieved_accel;
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};
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// Write a steering packet
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void Rover::Log_Write_Steering()
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{
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struct log_Steering pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
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time_us : AP_HAL::micros64(),
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demanded_accel : lateral_acceleration,
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achieved_accel : ahrs.groundspeed() * ins.get_gyro().z,
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Startup {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t startup_type;
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uint16_t command_total;
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};
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void Rover::Log_Write_Startup(uint8_t type)
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{
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struct log_Startup pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
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time_us : AP_HAL::micros64(),
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startup_type : type,
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command_total : mission.num_commands()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Control_Tuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t steer_out;
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int16_t roll;
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int16_t pitch;
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int16_t throttle_out;
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float accel_y;
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};
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// Write a control tuning packet. Total length : 22 bytes
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void Rover::Log_Write_Control_Tuning()
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{
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Vector3f accel = ins.get_accel();
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struct log_Control_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
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time_us : AP_HAL::micros64(),
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steer_out : (int16_t)channel_steer->get_servo_out(),
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roll : (int16_t)ahrs.roll_sensor,
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pitch : (int16_t)ahrs.pitch_sensor,
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throttle_out : (int16_t)channel_throttle->get_servo_out(),
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accel_y : accel.y
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Nav_Tuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t yaw;
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float wp_distance;
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uint16_t target_bearing_cd;
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uint16_t nav_bearing_cd;
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int8_t throttle;
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float xtrack_error;
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};
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// Write a navigation tuning packet
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void Rover::Log_Write_Nav_Tuning()
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{
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struct log_Nav_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
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time_us : AP_HAL::micros64(),
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yaw : (uint16_t)ahrs.yaw_sensor,
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wp_distance : wp_distance,
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target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(),
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nav_bearing_cd : (uint16_t)nav_controller->nav_bearing_cd(),
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throttle : (int8_t)(100 * channel_throttle->norm_output()),
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xtrack_error : nav_controller->crosstrack_error()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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// Write an attitude packet
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void Rover::Log_Write_Attitude()
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{
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Vector3f targets(0,0,0); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
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DataFlash.Log_Write_Attitude(ahrs, targets);
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#if AP_AHRS_NAVEKF_AVAILABLE
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#if defined(OPTFLOW) and (OPTFLOW == ENABLED)
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DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
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#else
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DataFlash.Log_Write_EKF(ahrs,false);
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#endif
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DataFlash.Log_Write_AHRS2(ahrs);
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#endif
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DataFlash.Log_Write_POS(ahrs);
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DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
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DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pidSpeedThrottle.get_pid_info());
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}
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struct PACKED log_Sonar {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float lateral_accel;
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uint16_t sonar1_distance;
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uint16_t sonar2_distance;
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uint16_t detected_count;
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int8_t turn_angle;
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uint16_t turn_time;
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uint16_t ground_speed;
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int8_t throttle;
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};
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// Write a sonar packet
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void Rover::Log_Write_Sonar()
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{
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uint16_t turn_time = 0;
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if (!is_zero(obstacle.turn_angle)) {
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turn_time = AP_HAL::millis() - obstacle.detected_time_ms;
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}
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struct log_Sonar pkt = {
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LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
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time_us : AP_HAL::micros64(),
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lateral_accel : lateral_acceleration,
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sonar1_distance : (uint16_t)sonar.distance_cm(0),
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sonar2_distance : (uint16_t)sonar.distance_cm(1),
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detected_count : obstacle.detected_count,
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turn_angle : (int8_t)obstacle.turn_angle,
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turn_time : turn_time,
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ground_speed : (uint16_t)(ground_speed*100),
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throttle : (int8_t)(100 * channel_throttle->norm_output())
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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void Rover::Log_Write_Current()
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{
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DataFlash.Log_Write_Current(battery);
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// also write power status
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DataFlash.Log_Write_Power();
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}
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struct PACKED log_Arm_Disarm {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t arm_state;
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uint16_t arm_checks;
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};
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void Rover::Log_Arm_Disarm() {
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struct log_Arm_Disarm pkt = {
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LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
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time_us : AP_HAL::micros64(),
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arm_state : arming.is_armed(),
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arm_checks : arming.get_enabled_checks()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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void Rover::Log_Write_RC(void)
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{
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DataFlash.Log_Write_RCIN();
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DataFlash.Log_Write_RCOUT();
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if (rssi.enabled()) {
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DataFlash.Log_Write_RSSI(rssi);
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}
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}
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void Rover::Log_Write_Baro(void)
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{
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DataFlash.Log_Write_Baro(barometer);
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}
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// log ahrs home and EKF origin to dataflash
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void Rover::Log_Write_Home_And_Origin()
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{
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#if AP_AHRS_NAVEKF_AVAILABLE
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// log ekf origin if set
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Location ekf_orig;
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if (ahrs.get_origin(ekf_orig)) {
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DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig);
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}
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#endif
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// log ahrs home if set
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if (home_is_set != HOME_UNSET) {
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DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
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}
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}
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const LogStructure Rover::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
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"PM", "QIHIhhhBH", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
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{ LOG_STARTUP_MSG, sizeof(log_Startup),
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"STRT", "QBH", "TimeUS,SType,CTot" },
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{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
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"CTUN", "Qhcchf", "TimeUS,Steer,Roll,Pitch,ThrOut,AccY" },
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{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
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"NTUN", "QHfHHbf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr,XT" },
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{ LOG_SONAR_MSG, sizeof(log_Sonar),
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"SONR", "QfHHHbHCb", "TimeUS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
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{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
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"ARM", "QBH", "TimeUS,ArmState,ArmChecks" },
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{ LOG_STEERING_MSG, sizeof(log_Steering),
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"STER", "Qff", "TimeUS,Demanded,Achieved" },
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};
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void Rover::log_init(void)
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{
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
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if (!DataFlash.CardInserted()) {
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gcs_send_text(MAV_SEVERITY_WARNING, "No dataflash card inserted");
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g.log_bitmask.set(0);
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} else if (DataFlash.NeedPrep()) {
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gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");
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DataFlash.Prep();
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gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
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for (uint8_t i=0; i<num_gcs; i++) {
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gcs[i].reset_cli_timeout();
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}
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}
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if (g.log_bitmask != 0) {
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start_logging();
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}
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arming.set_logging_available(DataFlash.CardInserted());
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}
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#if CLI_ENABLED == ENABLED
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// Read the DataFlash log memory : Packet Parser
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void Rover::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
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{
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cliSerial->printf("\n" FIRMWARE_STRING
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"\nFree RAM: %u\n",
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(unsigned)hal.util->available_memory());
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cliSerial->println(HAL_BOARD_NAME);
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DataFlash.LogReadProcess(list_entry, start_page, end_page,
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FUNCTOR_BIND_MEMBER(&Rover::print_mode, void, AP_HAL::BetterStream *, uint8_t),
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cliSerial);
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}
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#endif // CLI_ENABLED
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void Rover::Log_Write_Vehicle_Startup_Messages()
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{
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// only 200(?) bytes are guaranteed by DataFlash
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Log_Write_Startup(TYPE_GROUNDSTART_MSG);
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DataFlash.Log_Write_Mode(control_mode);
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}
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// start a new log
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void Rover::start_logging()
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{
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in_mavlink_delay = true;
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DataFlash.set_mission(&mission);
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DataFlash.setVehicle_Startup_Log_Writer(
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FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
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);
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DataFlash.StartNewLog();
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in_mavlink_delay = false;
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}
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#else // LOGGING_ENABLED
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// dummy functions
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void Rover::Log_Write_Startup(uint8_t type) {}
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void Rover::Log_Write_Current() {}
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void Rover::Log_Write_Nav_Tuning() {}
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void Rover::Log_Write_Performance() {}
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int8_t Rover::process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
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void Rover::Log_Write_Control_Tuning() {}
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void Rover::Log_Write_Sonar() {}
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void Rover::Log_Write_Attitude() {}
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void Rover::start_logging() {}
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void Rover::Log_Write_RC(void) {}
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#endif // LOGGING_ENABLED
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