Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/APMrover2/Log.pde

455 lines
13 KiB
Plaintext
Raw Blame History

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if LOGGING_ENABLED == ENABLED
#if CLI_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);
PLOG(SONAR);
PLOG(COMPASS);
PLOG(CAMERA);
PLOG(STEERING);
#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 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);
TARG(SONAR);
TARG(COMPASS);
TARG(CAMERA);
TARG(STEERING);
#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;
}
#endif // CLI_ENABLED == ENABLED
static void do_erase_logs(void)
{
cliSerial->printf_P(PSTR("\nErasing log...\n"));
DataFlash.EraseAll();
cliSerial->printf_P(PSTR("\nLog erased.\n"));
}
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint32_t time_ms;
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),
time_ms : millis(),
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));
}
// Write a mission command. Total length : 36 bytes
static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
{
mavlink_mission_item_t mav_cmd = {};
AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd);
DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
}
struct PACKED log_Steering {
LOG_PACKET_HEADER;
uint32_t time_ms;
float demanded_accel;
float achieved_accel;
};
// Write a steering packet
static void Log_Write_Steering()
{
struct log_Steering pkt = {
LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
time_ms : hal.scheduler->millis(),
demanded_accel : lateral_acceleration,
achieved_accel : gps.ground_speed() * ins.get_gyro().z,
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Startup {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t startup_type;
uint16_t command_total;
};
static void Log_Write_Startup(uint8_t type)
{
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
time_ms : millis(),
startup_type : type,
command_total : mission.num_commands()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
// write all commands to the dataflash as well
Log_Write_EntireMission();
}
static void Log_Write_EntireMission()
{
DataFlash.Log_Write_Message_P(PSTR("New mission"));
AP_Mission::Mission_Command cmd;
for (uint16_t i = 0; i < mission.num_commands(); i++) {
if (mission.read_cmd_from_storage(i,cmd)) {
Log_Write_Cmd(cmd);
}
}
}
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t steer_out;
int16_t roll;
int16_t pitch;
int16_t throttle_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 : millis(),
steer_out : (int16_t)channel_steer->servo_out,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
throttle_out : (int16_t)channel_throttle->servo_out,
accel_y : accel.y
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint16_t yaw;
float wp_distance;
uint16_t target_bearing_cd;
uint16_t nav_bearing_cd;
int8_t throttle;
};
// 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_NTUN_MSG),
time_ms : 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(),
throttle : (int8_t)(100 * channel_throttle->norm_output())
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Write an attitude packet
static void Log_Write_Attitude()
{
Vector3f targets(0,0,0); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
DataFlash.Log_Write_Attitude(ahrs, targets);
#if AP_AHRS_NAVEKF_AVAILABLE
#if defined(OPTFLOW) and (OPTFLOW == ENABLED)
DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
#else
DataFlash.Log_Write_EKF(ahrs,false);
#endif
DataFlash.Log_Write_AHRS2(ahrs);
#endif
DataFlash.Log_Write_POS(ahrs);
}
struct PACKED log_Sonar {
LOG_PACKET_HEADER;
uint32_t time_ms;
float lateral_accel;
uint16_t sonar1_distance;
uint16_t sonar2_distance;
uint16_t detected_count;
int8_t turn_angle;
uint16_t turn_time;
uint16_t ground_speed;
int8_t throttle;
};
// Write a sonar packet
static void Log_Write_Sonar()
{
uint16_t turn_time = 0;
if (!is_zero(obstacle.turn_angle)) {
turn_time = hal.scheduler->millis() - obstacle.detected_time_ms;
}
struct log_Sonar pkt = {
LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
time_ms : millis(),
lateral_accel : lateral_acceleration,
sonar1_distance : (uint16_t)sonar.distance_cm(0),
sonar2_distance : (uint16_t)sonar.distance_cm(1),
detected_count : obstacle.detected_count,
turn_angle : (int8_t)obstacle.turn_angle,
turn_time : turn_time,
ground_speed : (uint16_t)(ground_speed*100),
throttle : (int8_t)(100 * channel_throttle->norm_output())
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
static void Log_Write_Current()
{
DataFlash.Log_Write_Current(battery, channel_throttle->control_in);
// also write power status
DataFlash.Log_Write_Power();
}
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);
}
static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IIHIhhhBH", "TimeMS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "IBH", "TimeMS,SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Ihcchf", "TimeMS,Steer,Roll,Pitch,ThrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "IHfHHb", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,Thr" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "IfHHHbHCb", "TimeMS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
{ LOG_STEERING_MSG, sizeof(log_Steering),
"STER", "Iff", "TimeMS,Demanded,Achieved" },
};
#if CLI_ENABLED == ENABLED
// 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" 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_mode,
cliSerial);
}
#endif // CLI_ENABLED
// start a new log
static void start_logging()
{
in_mavlink_delay = true;
DataFlash.StartNewLog();
in_mavlink_delay = false;
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_EntireMission() {}
static void Log_Write_Current() {}
static void Log_Write_Nav_Tuning() {}
static void Log_Write_Performance() {}
static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
static void Log_Write_Control_Tuning() {}
static void Log_Write_Sonar() {}
static void Log_Write_Attitude() {}
static void start_logging() {}
static void Log_Write_RC(void) {}
#endif // LOGGING_ENABLED
Reference in New Issue View Git Blame Copy Permalink