mirror of https://github.com/ArduPilot/ardupilot
136 lines
3.5 KiB
Plaintext
136 lines
3.5 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* Example of DataFlash library.
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* Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
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*/
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// Libraries
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include <AP_HAL_Empty.h>
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#include <AP_HAL_PX4.h>
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_Progmem.h>
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#include <AP_Math.h>
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#include <AP_Compass.h>
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#include <Filter.h>
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#include <AP_Declination.h>
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#include <AP_Airspeed.h>
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#include <AP_Baro.h>
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#include <AP_AHRS.h>
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#include <AP_ADC.h>
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#include <AP_ADC_AnalogSource.h>
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#include <AP_InertialSensor.h>
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#include <AP_GPS.h>
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#include <DataFlash.h>
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#include <GCS_MAVLink.h>
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#include <AP_Notify.h>
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#include <AP_Vehicle.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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DataFlash_APM2 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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DataFlash_APM1 DataFlash;
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#else
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DataFlash_Empty DataFlash;
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#endif
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#define LOG_TEST_MSG 1
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struct PACKED log_Test {
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LOG_PACKET_HEADER;
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uint16_t v1, v2, v3, v4;
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int32_t l1, l2;
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};
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static const struct LogStructure log_structure[] PROGMEM = {
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LOG_COMMON_STRUCTURES,
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{ LOG_TEST_MSG, sizeof(log_Test),
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"TEST", "HHHHii", "V1,V2,V3,V4,L1,L2" }
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};
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#define NUM_PACKETS 500
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static uint16_t log_num;
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void setup()
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{
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DataFlash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0]));
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hal.console->println("Dataflash Log Test 1.0");
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// Test
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hal.scheduler->delay(20);
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DataFlash.ReadManufacturerID();
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hal.scheduler->delay(10);
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DataFlash.ShowDeviceInfo(hal.console);
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if (DataFlash.NeedErase()) {
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hal.console->println("Erasing...");
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DataFlash.EraseAll();
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}
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// We start to write some info (sequentialy) starting from page 1
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// This is similar to what we will do...
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log_num = DataFlash.StartNewLog();
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hal.console->printf("Using log number %u\n", log_num);
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hal.console->println("After testing perform erase before using DataFlash for logging!");
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hal.console->println("");
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hal.console->println("Writing to flash... wait...");
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uint32_t total_micros = 0;
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uint16_t i;
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for (i = 0; i < NUM_PACKETS; i++) {
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uint32_t start = hal.scheduler->micros();
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// note that we use g++ style initialisers to make larger
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// structures easier to follow
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struct log_Test pkt = {
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LOG_PACKET_HEADER_INIT(LOG_TEST_MSG),
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v1 : 2000 + i,
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v2 : 2001 + i,
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v3 : 2002 + i,
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v4 : 2003 + i,
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l1 : (long)i * 5000,
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l2 : (long)i * 16268
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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total_micros += hal.scheduler->micros() - start;
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hal.scheduler->delay(20);
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}
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hal.console->printf("Average write time %.1f usec/byte\n",
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(double)total_micros/((float)i*sizeof(struct log_Test)));
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hal.scheduler->delay(100);
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}
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static void
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print_mode(AP_HAL::BetterStream *port, uint8_t mode)
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{
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port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
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}
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void loop()
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{
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uint16_t start, end;
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hal.console->printf("Start read of log %u\n", log_num);
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DataFlash.get_log_boundaries(log_num, start, end);
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DataFlash.LogReadProcess(log_num, start, end,
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print_mode,
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hal.console);
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hal.console->printf("\nTest complete. Test will repeat in 20 seconds\n");
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hal.scheduler->delay(20000);
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}
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AP_HAL_MAIN();
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