mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
8f17f95cbc
updated motor setup test to be sequencial pulses of the motors in CW order. Fixed Mission scripting logic fixed Free yaw error in neutral throttle fixed D term issue with Baro hold - was too high incremented firmware revision, removed frame var removed setup show from startup removed unused EEPROM functions fixed broken demo mission fixed non working loiter with delay git-svn-id: https://arducopter.googlecode.com/svn/trunk@2275 f9c3cf11-9bcb-44bc-f272-b75c42450872
783 lines
19 KiB
Plaintext
783 lines
19 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// Code to Write and Read packets from DataFlash log memory
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// Code to interact with the user to dump or erase logs
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#define HEAD_BYTE1 0xA3 // Decimal 163
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#define HEAD_BYTE2 0x95 // Decimal 149
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#define END_BYTE 0xBA // Decimal 186
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// These are function definitions so the Menu can be constructed before the functions
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// are defined below. Order matters to the compiler.
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static int8_t print_log_menu(uint8_t argc, const Menu::arg *argv);
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static int8_t dump_log(uint8_t argc, const Menu::arg *argv);
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static int8_t erase_logs(uint8_t argc, const Menu::arg *argv);
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static int8_t select_logs(uint8_t argc, const Menu::arg *argv);
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of print_f that reads from flash memory
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static int8_t help_log(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("\n"
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"Commands:\n"
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" dump <n>"
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" erase (all logs)\n"
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" enable <name> | all\n"
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" disable <name> | all\n"
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"\n"));
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}
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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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const struct Menu::command log_menu_commands[] PROGMEM = {
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{"dump", dump_log},
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{"erase", erase_logs},
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{"enable", select_logs},
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{"disable", select_logs},
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{"help", help_log}
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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, print_log_menu);
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static bool
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print_log_menu(void)
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{
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int log_start;
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int log_end;
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byte last_log_num = get_num_logs();
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Serial.printf_P(PSTR("logs enabled: "));
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if (0 == g.log_bitmask) {
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Serial.printf_P(PSTR("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) Serial.printf_P(PSTR(" %S"), PSTR(#_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(RAW);
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PLOG(CMD);
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PLOG(CURRENT);
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#undef PLOG
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}
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Serial.println();
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if (last_log_num == 0) {
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Serial.printf_P(PSTR("\nNo logs\n"));
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}else{
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Serial.printf_P(PSTR("\n%d logs\n"), last_log_num);
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for(int i = 1; i < last_log_num + 1; i++) {
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get_log_boundaries(last_log_num, i, log_start, log_end);
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Serial.printf_P(PSTR("Log # %d, start %d, end %d\n"),
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i, log_start, log_end);
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}
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Serial.println();
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}
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return(true);
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}
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static int8_t
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dump_log(uint8_t argc, const Menu::arg *argv)
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{
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byte dump_log;
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int dump_log_start;
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int dump_log_end;
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byte last_log_num;
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// check that the requested log number can be read
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dump_log = argv[1].i;
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last_log_num = get_num_logs();
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if ((argc != 2) || (dump_log < 1) || (dump_log > last_log_num)) {
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Serial.printf_P(PSTR("bad log number\n"));
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return(-1);
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}
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get_log_boundaries(last_log_num, dump_log, dump_log_start, dump_log_end);
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Serial.printf_P(PSTR("Dumping Log number %d, start %d, end %d\n"),
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dump_log,
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dump_log_start,
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dump_log_end);
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Log_Read(dump_log_start, dump_log_end);
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Serial.printf_P(PSTR("Done\n"));
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}
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static int8_t
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erase_logs(uint8_t argc, const Menu::arg *argv)
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{
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//for(int i = 10 ; i > 0; i--) {
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// Serial.printf_P(PSTR("ATTENTION - Erasing log in %d seconds.\n"), i);
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// delay(1000);
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//}
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Serial.printf_P(PSTR("\nErasing log...\n"));
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for(int j = 1; j < 4096; j++)
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DataFlash.PageErase(j);
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DataFlash.StartWrite(1);
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_INDEX_MSG);
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DataFlash.WriteByte(0);
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DataFlash.WriteByte(END_BYTE);
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DataFlash.FinishWrite();
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Serial.printf_P(PSTR("\nLog erased.\n"));
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}
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static int8_t
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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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Serial.printf_P(PSTR("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_P(argv[1].str, PSTR("all"))) {
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bits = ~(bits = 0);
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} else {
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#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(#_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(RAW);
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TARG(CMD);
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TARG(CURRENT);
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#undef TARG
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}
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if (!strcasecmp_P(argv[0].str, PSTR("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
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process_logs(uint8_t argc, const Menu::arg *argv)
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{
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log_menu.run();
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}
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byte get_num_logs(void)
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{
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int page = 1;
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byte data;
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byte log_step = 0;
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DataFlash.StartRead(1);
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while (page == 1) {
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data = DataFlash.ReadByte();
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switch(log_step) //This is a state machine to read the packets
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{
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case 0:
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if(data==HEAD_BYTE1) // Head byte 1
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log_step++;
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break;
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case 1:
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if(data==HEAD_BYTE2) // Head byte 2
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log_step++;
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else
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log_step = 0;
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break;
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case 2:
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if(data==LOG_INDEX_MSG){
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byte num_logs = DataFlash.ReadByte();
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return num_logs;
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}else{
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log_step=0; // Restart, we have a problem...
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}
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break;
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}
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page = DataFlash.GetPage();
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}
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return 0;
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}
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void start_new_log(byte num_existing_logs)
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{
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int start_pages[50] = {0,0,0};
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int end_pages[50] = {0,0,0};
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if (num_existing_logs > 0) {
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for(int i=0;i<num_existing_logs;i++) {
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get_log_boundaries(num_existing_logs, i+1,start_pages[i],end_pages[i]);
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}
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end_pages[num_existing_logs - 1] = find_last_log_page(start_pages[num_existing_logs - 1]);
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}
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if (end_pages[num_existing_logs - 1] < 4095 && num_existing_logs < MAX_NUM_LOGS) {
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if(num_existing_logs > 0)
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start_pages[num_existing_logs] = end_pages[num_existing_logs - 1] + 1;
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else
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start_pages[0] = 2;
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num_existing_logs++;
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DataFlash.StartWrite(1);
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_INDEX_MSG);
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DataFlash.WriteByte(num_existing_logs);
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for(int i=0;i<MAX_NUM_LOGS;i++) {
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DataFlash.WriteInt(start_pages[i]);
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DataFlash.WriteInt(end_pages[i]);
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}
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DataFlash.WriteByte(END_BYTE);
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DataFlash.FinishWrite();
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DataFlash.StartWrite(start_pages[num_existing_logs-1]);
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}else{
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gcs.send_text_P(SEVERITY_LOW,PSTR("<start_new_log> Logs full"));
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}
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}
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void get_log_boundaries(byte num_logs, byte log_num, int & start_page, int & end_page)
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{
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int page = 1;
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byte data;
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byte log_step = 0;
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DataFlash.StartRead(1);
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while (page = 1) {
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data = DataFlash.ReadByte();
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switch(log_step) //This is a state machine to read the packets
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{
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case 0:
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if(data==HEAD_BYTE1) // Head byte 1
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log_step++;
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break;
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case 1:
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if(data==HEAD_BYTE2) // Head byte 2
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log_step++;
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else
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log_step = 0;
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break;
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case 2:
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if(data==LOG_INDEX_MSG){
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byte num_logs = DataFlash.ReadByte();
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for(int i=0;i<log_num;i++) {
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start_page = DataFlash.ReadInt();
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end_page = DataFlash.ReadInt();
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}
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if(log_num==num_logs)
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end_page = find_last_log_page(start_page);
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return; // This is the normal exit point
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}else{
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log_step=0; // Restart, we have a problem...
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}
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break;
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}
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page = DataFlash.GetPage();
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}
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// Error condition if we reach here with page = 2 TO DO - report condition
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}
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int find_last_log_page(int bottom_page)
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{
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int top_page = 4096;
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int look_page;
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long check;
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while((top_page - bottom_page) > 1) {
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look_page = (top_page + bottom_page) / 2;
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DataFlash.StartRead(look_page);
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check = DataFlash.ReadLong();
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if(check == 0xFFFFFFFF)
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top_page = look_page;
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else
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bottom_page = look_page;
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}
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return top_page;
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}
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void Log_Write_Nav_Tuning()
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{
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Matrix3f tempmat = dcm.get_dcm_matrix();
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_NAV_TUNING_MSG);
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DataFlash.WriteInt((int)(dcm.yaw_sensor/100)); // 1
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DataFlash.WriteInt((int)wp_distance); // 2
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DataFlash.WriteByte(wp_verify_byte); // 3
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DataFlash.WriteInt((int)(target_bearing/100)); // 4
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DataFlash.WriteInt((int)(nav_bearing/100)); // 5
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DataFlash.WriteInt((int)(g.rc_3.servo_out)); // 6
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DataFlash.WriteByte(altitude_sensor); // 7
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DataFlash.WriteInt((int)sonar_alt); // 8
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DataFlash.WriteInt((int)baro_alt); // 9
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DataFlash.WriteInt((int)home.alt); // 10
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DataFlash.WriteInt((int)next_WP.alt); // 11
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DataFlash.WriteInt((int)altitude_error); // 12
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DataFlash.WriteInt((int)(wrap_360(ToDeg(compass.heading)*100)/100)); // Just a temp hack
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DataFlash.WriteLong(compass.last_update); // Just a temp hack
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DataFlash.WriteInt((int)(tempmat.b.x*1000)); // Just a temp hack
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DataFlash.WriteInt((int)(compass.heading_x*1000)); // Just a temp hack
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DataFlash.WriteInt((int)(tempmat.a.x*1000)); // Just a temp hack
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DataFlash.WriteInt((int)(compass.heading_y*1000)); // Just a temp hack
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DataFlash.WriteByte(END_BYTE);
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}
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// 1 2 3 4 5 6 7 8 9 10 11
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//NTUN, 236, 0, 132, 10, 0, 0, 29, 2963, 16545, 16682, 108
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void Log_Read_Nav_Tuning()
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{
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// 1 2 3 4 5 6 7 8 9 10 11
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Serial.printf_P(PSTR( "NTUN, %d, %d, %d, "
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"%d, %d, "
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"%d, %d, %d, %d, "
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"%d, %d, %d, "
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"%d, %ld, %4.4f, %4.4f, %4.4f, %4.4f\n"),
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DataFlash.ReadInt(), //yaw sensor
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DataFlash.ReadInt(), //distance
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DataFlash.ReadByte(), //bitmask
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DataFlash.ReadInt(), //target bearing
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DataFlash.ReadInt(), //nav bearing
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DataFlash.ReadInt(), //throttle
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DataFlash.ReadByte(), //Alt sensor
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DataFlash.ReadInt(), //Sonar
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DataFlash.ReadInt(), //Baro
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DataFlash.ReadInt(), //home.alt
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DataFlash.ReadInt(), //Next_alt
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DataFlash.ReadInt(), //Alt Error
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DataFlash.ReadInt(),
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DataFlash.ReadLong(),
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(float)DataFlash.ReadInt()/1000,
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(float)DataFlash.ReadInt()/1000,
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(float)DataFlash.ReadInt()/1000,
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(float)DataFlash.ReadInt()/1000);
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}
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// Write a mode packet. Total length : 5 bytes
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void Log_Write_Mode(byte mode)
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{
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_MODE_MSG);
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DataFlash.WriteByte(mode);
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DataFlash.WriteByte(END_BYTE);
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}
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// Write an GPS packet. Total length : 30 bytes
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void Log_Write_GPS()
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{
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_GPS_MSG);
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DataFlash.WriteLong(g_gps->time); // 1
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DataFlash.WriteByte(g_gps->fix); // 2
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DataFlash.WriteByte(g_gps->num_sats); // 3
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DataFlash.WriteLong(current_loc.lat); // 4
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DataFlash.WriteLong(current_loc.lng); // 5
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DataFlash.WriteLong(g_gps->altitude); // 6
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DataFlash.WriteLong(current_loc.alt); // 7
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DataFlash.WriteInt(g_gps->ground_speed/100); // 8
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DataFlash.WriteInt((int)(g_gps->ground_course/100)); // 9
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DataFlash.WriteByte(END_BYTE);
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}
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// Read a GPS packet
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void Log_Read_GPS()
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{
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Serial.printf_P(PSTR("GPS, %ld, %d, %d, "
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"%4.7f, %4.7f, %4.4f, %4.4f, "
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"%4.4f, %d\n"),
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DataFlash.ReadLong(), // 1 time
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(int)DataFlash.ReadByte(), // 2 fix
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(int)DataFlash.ReadByte(), // 3 sats
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(float)DataFlash.ReadLong() / t7, // 4 lat
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(float)DataFlash.ReadLong() / t7, // 5 lon
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(float)DataFlash.ReadLong() / 100.0, // 6 gps alt
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(float)DataFlash.ReadLong() / 100.0, // 7 sensor alt
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DataFlash.ReadInt(), // 8 ground speed
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DataFlash.ReadInt()); // 9 ground course
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}
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// Write an raw accel/gyro data packet. Total length : 28 bytes
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#if HIL_MODE != HIL_MODE_ATTITUDE
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void Log_Write_Raw()
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{
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Vector3f gyro = imu.get_gyro();
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Vector3f accel = imu.get_accel();
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gyro *= t7; // Scale up for storage as long integers
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accel *= t7;
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_RAW_MSG);
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DataFlash.WriteLong((long)gyro.x);
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DataFlash.WriteLong((long)gyro.y);
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DataFlash.WriteLong((long)gyro.z);
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DataFlash.WriteLong((long)accel.x);
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DataFlash.WriteLong((long)accel.y);
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DataFlash.WriteLong((long)accel.z);
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DataFlash.WriteByte(END_BYTE);
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}
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#endif
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void Log_Write_Current()
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{
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_CURRENT_MSG);
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DataFlash.WriteInt(g.rc_3.control_in);
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DataFlash.WriteLong(throttle_integrator);
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DataFlash.WriteInt((int)(battery_voltage * 100.0));
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DataFlash.WriteInt((int)(current_amps * 100.0));
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DataFlash.WriteInt((int)current_total);
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DataFlash.WriteByte(END_BYTE);
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}
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// Read a Current packet
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void Log_Read_Current()
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{
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Serial.printf_P(PSTR("CURR: %d, %ld, %4.4f, %4.4f, %d\n"),
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DataFlash.ReadInt(),
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DataFlash.ReadLong(),
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((float)DataFlash.ReadInt() / 100.f),
|
|
((float)DataFlash.ReadInt() / 100.f),
|
|
DataFlash.ReadInt());
|
|
}
|
|
|
|
|
|
// Write a control tuning packet. Total length : 22 bytes
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
void Log_Write_Control_Tuning()
|
|
{
|
|
DataFlash.WriteByte(HEAD_BYTE1);
|
|
DataFlash.WriteByte(HEAD_BYTE2);
|
|
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
|
|
|
|
// Control
|
|
DataFlash.WriteInt((int)(g.rc_3.control_in));
|
|
DataFlash.WriteInt((int)(g.rc_3.servo_out));
|
|
DataFlash.WriteInt((int)(g.rc_4.control_in));
|
|
DataFlash.WriteInt((int)(g.rc_4.servo_out));
|
|
|
|
// yaw
|
|
DataFlash.WriteByte(yaw_debug);
|
|
DataFlash.WriteInt((int)yaw_error);
|
|
DataFlash.WriteInt((int)(dcm.yaw_sensor/100));
|
|
DataFlash.WriteInt((int)(omega.z * 1000));
|
|
|
|
// Pitch/roll
|
|
DataFlash.WriteInt((int)(dcm.pitch_sensor/100));
|
|
DataFlash.WriteInt((int)(dcm.roll_sensor/100));
|
|
|
|
DataFlash.WriteInt((int)g.throttle_cruise);
|
|
DataFlash.WriteInt((int)g.pid_baro_throttle.get_integrator());
|
|
DataFlash.WriteInt((int)g.pid_sonar_throttle.get_integrator());
|
|
|
|
// Position
|
|
//DataFlash.WriteInt((int)dcm.pitch_sensor);
|
|
//DataFlash.WriteInt((int)dcm.roll_sensor);
|
|
//DataFlash.WriteInt((int)(dcm.yaw_sensor/10));
|
|
|
|
DataFlash.WriteByte(END_BYTE);
|
|
}
|
|
#endif
|
|
|
|
// Read an control tuning packet
|
|
void Log_Read_Control_Tuning()
|
|
{
|
|
Serial.printf_P(PSTR( "CTUN, %d, %d, %d, %d, "
|
|
"%d, %d, %d, %1.4f, "
|
|
"%d, %d, "
|
|
"%d, %d, %d\n"),
|
|
|
|
// Control
|
|
DataFlash.ReadInt(),
|
|
DataFlash.ReadInt(),
|
|
DataFlash.ReadInt(),
|
|
DataFlash.ReadInt(),
|
|
|
|
// yaw
|
|
(int)DataFlash.ReadByte(),
|
|
DataFlash.ReadInt(),
|
|
DataFlash.ReadInt(),
|
|
(float)DataFlash.ReadInt() / 1000.0,// Gyro Rate
|
|
|
|
// Pitch/roll
|
|
DataFlash.ReadInt(),
|
|
DataFlash.ReadInt(),
|
|
|
|
// Alt Hold
|
|
DataFlash.ReadInt(),
|
|
DataFlash.ReadInt(),
|
|
DataFlash.ReadInt());
|
|
}
|
|
|
|
// Write a performance monitoring packet. Total length : 19 bytes
|
|
void Log_Write_Performance()
|
|
{
|
|
DataFlash.WriteByte(HEAD_BYTE1);
|
|
DataFlash.WriteByte(HEAD_BYTE2);
|
|
DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
|
|
|
|
DataFlash.WriteLong( millis()- perf_mon_timer);
|
|
DataFlash.WriteInt( mainLoop_count);
|
|
DataFlash.WriteInt( G_Dt_max);
|
|
DataFlash.WriteByte( dcm.gyro_sat_count);
|
|
DataFlash.WriteByte( imu.adc_constraints);
|
|
DataFlash.WriteByte( dcm.renorm_sqrt_count);
|
|
DataFlash.WriteByte( dcm.renorm_blowup_count);
|
|
DataFlash.WriteByte( gps_fix_count);
|
|
DataFlash.WriteInt( (int)(dcm.get_health() * 1000));
|
|
|
|
DataFlash.WriteByte(END_BYTE);
|
|
}
|
|
|
|
// Read a performance packet
|
|
void Log_Read_Performance()
|
|
{
|
|
long pm_time;
|
|
int logvar;
|
|
|
|
Serial.printf_P(PSTR("PM,"));
|
|
pm_time = DataFlash.ReadLong();
|
|
Serial.print(pm_time);
|
|
Serial.print(comma);
|
|
for (int y = 1; y < 9; y++) {
|
|
if(y < 3 || y > 7){
|
|
logvar = DataFlash.ReadInt();
|
|
}else{
|
|
logvar = DataFlash.ReadByte();
|
|
}
|
|
Serial.print(logvar);
|
|
Serial.print(comma);
|
|
}
|
|
Serial.println(" ");
|
|
}
|
|
|
|
// Write a command processing packet.
|
|
//void Log_Write_Cmd(byte num, byte id, byte p1, long alt, long lat, long lng)
|
|
void Log_Write_Cmd(byte num, struct Location *wp)
|
|
{
|
|
DataFlash.WriteByte(HEAD_BYTE1);
|
|
DataFlash.WriteByte(HEAD_BYTE2);
|
|
DataFlash.WriteByte(LOG_CMD_MSG);
|
|
|
|
DataFlash.WriteByte(g.waypoint_total);
|
|
|
|
DataFlash.WriteByte(num);
|
|
DataFlash.WriteByte(wp->id);
|
|
DataFlash.WriteByte(wp->p1);
|
|
DataFlash.WriteByte(wp->options);
|
|
|
|
DataFlash.WriteLong(wp->alt);
|
|
DataFlash.WriteLong(wp->lat);
|
|
DataFlash.WriteLong(wp->lng);
|
|
|
|
DataFlash.WriteByte(END_BYTE);
|
|
}
|
|
|
|
|
|
// Read a command processing packet
|
|
void Log_Read_Cmd()
|
|
{
|
|
Serial.printf_P(PSTR( "CMD, %d, %d, %d, %d, %d, %ld, %ld, %ld\n"),
|
|
|
|
// WP total
|
|
DataFlash.ReadByte(),
|
|
|
|
// num, id, p1, options
|
|
DataFlash.ReadByte(),
|
|
DataFlash.ReadByte(),
|
|
DataFlash.ReadByte(),
|
|
DataFlash.ReadByte(),
|
|
|
|
// Alt, lat long
|
|
DataFlash.ReadLong(),
|
|
DataFlash.ReadLong(),
|
|
DataFlash.ReadLong());
|
|
}
|
|
|
|
// Write an attitude packet. Total length : 10 bytes
|
|
void Log_Write_Attitude()
|
|
{
|
|
DataFlash.WriteByte(HEAD_BYTE1);
|
|
DataFlash.WriteByte(HEAD_BYTE2);
|
|
DataFlash.WriteByte(LOG_ATTITUDE_MSG);
|
|
DataFlash.WriteInt((int)dcm.roll_sensor);
|
|
DataFlash.WriteInt((int)dcm.pitch_sensor);
|
|
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor);
|
|
DataFlash.WriteByte(END_BYTE);
|
|
}
|
|
|
|
// Read an attitude packet
|
|
void Log_Read_Attitude()
|
|
{
|
|
Serial.printf_P(PSTR("ATT, %d, %d, %u\n"),
|
|
DataFlash.ReadInt(),
|
|
DataFlash.ReadInt(),
|
|
(uint16_t)DataFlash.ReadInt());
|
|
}
|
|
|
|
// Read a mode packet
|
|
void Log_Read_Mode()
|
|
{
|
|
Serial.printf_P(PSTR("MOD:"));
|
|
Serial.println(flight_mode_strings[DataFlash.ReadByte()]);
|
|
}
|
|
|
|
// Read a raw accel/gyro packet
|
|
void Log_Read_Raw()
|
|
{
|
|
float logvar;
|
|
Serial.printf_P(PSTR("RAW,"));
|
|
for (int y = 0; y < 6; y++) {
|
|
logvar = (float)DataFlash.ReadLong() / t7;
|
|
Serial.print(logvar);
|
|
Serial.print(comma);
|
|
}
|
|
Serial.println(" ");
|
|
}
|
|
|
|
// Read the DataFlash log memory : Packet Parser
|
|
void Log_Read(int start_page, int end_page)
|
|
{
|
|
byte data;
|
|
byte log_step = 0;
|
|
int packet_count = 0;
|
|
int page = start_page;
|
|
|
|
DataFlash.StartRead(start_page);
|
|
|
|
while (page < end_page && page != -1){
|
|
|
|
data = DataFlash.ReadByte();
|
|
|
|
// This is a state machine to read the packets
|
|
switch(log_step){
|
|
case 0:
|
|
if(data == HEAD_BYTE1) // Head byte 1
|
|
log_step++;
|
|
break;
|
|
|
|
case 1:
|
|
if(data == HEAD_BYTE2) // Head byte 2
|
|
log_step++;
|
|
else
|
|
log_step = 0;
|
|
break;
|
|
|
|
case 2:
|
|
if(data == LOG_ATTITUDE_MSG){
|
|
Log_Read_Attitude();
|
|
log_step++;
|
|
|
|
}else if(data == LOG_MODE_MSG){
|
|
Log_Read_Mode();
|
|
log_step++;
|
|
|
|
}else if(data == LOG_CONTROL_TUNING_MSG){
|
|
Log_Read_Control_Tuning();
|
|
log_step++;
|
|
|
|
}else if(data == LOG_NAV_TUNING_MSG){
|
|
Log_Read_Nav_Tuning();
|
|
log_step++;
|
|
|
|
}else if(data == LOG_PERFORMANCE_MSG){
|
|
Log_Read_Performance();
|
|
log_step++;
|
|
|
|
}else if(data == LOG_RAW_MSG){
|
|
Log_Read_Raw();
|
|
log_step++;
|
|
|
|
}else if(data == LOG_CMD_MSG){
|
|
Log_Read_Cmd();
|
|
log_step++;
|
|
|
|
}else if(data == LOG_CURRENT_MSG){
|
|
Log_Read_Current();
|
|
log_step++;
|
|
|
|
}else if(data == LOG_STARTUP_MSG){
|
|
// not implemented
|
|
log_step++;
|
|
|
|
}else if(data == LOG_GPS_MSG){
|
|
Log_Read_GPS();
|
|
log_step++;
|
|
|
|
}else{
|
|
Serial.printf_P(PSTR("Error P: %d\n"),packet_count);
|
|
log_step = 0; // Restart, we have a problem...
|
|
}
|
|
break;
|
|
|
|
case 3:
|
|
if(data == END_BYTE){
|
|
packet_count++;
|
|
}else{
|
|
Serial.printf_P(PSTR("Error EB: %d\n"),data);
|
|
}
|
|
log_step = 0; // Restart sequence: new packet...
|
|
break;
|
|
}
|
|
|
|
page = DataFlash.GetPage();
|
|
}
|
|
//Serial.printf_P(PSTR("# of packets read: %d\n"), packet_count);
|
|
}
|
|
|
|
|
|
|