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ardupilot/ArduCopter/Log.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash log memory
// Code to interact with the user to dump or erase logs
#define HEAD_BYTE1 0xA3 // Decimal 163
#define HEAD_BYTE2 0x95 // Decimal 149
#define END_BYTE 0xBA // Decimal 186
// These are function definitions so the Menu can be constructed before the functions
// are defined below. Order matters to the compiler.
static bool print_log_menu(void);
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);
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
// printf_P is a version of print_f that reads from flash memory
//static int8_t help_log(uint8_t argc, const Menu::arg *argv)
/*{
* cliSerial->printf_P(PSTR("\n"
* "Commands:\n"
* " dump <n>"
* " erase (all logs)\n"
* " enable <name> | all\n"
* " disable <name> | all\n"
* "\n"));
* return 0;
* }*/
// 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
const struct Menu::command log_menu_commands[] PROGMEM = {
{"dump", dump_log},
{"erase", erase_logs},
{"enable", select_logs},
{"disable", select_logs}
};
static int32_t get_int(float f)
{
float_int.float_value = f;
return float_int.int_value;
}
static float get_float(int32_t i)
{
float_int.int_value = i;
return float_int.float_value;
}
// A Macro to create the Menu
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
static bool
print_log_menu(void)
{
int16_t log_start;
int16_t log_end;
int16_t temp;
int16_t last_log_num = DataFlash.find_last_log();
uint16_t num_logs = DataFlash.get_num_logs();
cliSerial->printf_P(PSTR("logs enabled: "));
if (0 == g.log_bitmask) {
cliSerial->printf_P(PSTR("none"));
}else{
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) cliSerial->printf_P(PSTR(" ATTITUDE_FAST"));
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) cliSerial->printf_P(PSTR(" ATTITUDE_MED"));
if (g.log_bitmask & MASK_LOG_GPS) cliSerial->printf_P(PSTR(" GPS"));
if (g.log_bitmask & MASK_LOG_PM) cliSerial->printf_P(PSTR(" PM"));
if (g.log_bitmask & MASK_LOG_CTUN) cliSerial->printf_P(PSTR(" CTUN"));
if (g.log_bitmask & MASK_LOG_NTUN) cliSerial->printf_P(PSTR(" NTUN"));
if (g.log_bitmask & MASK_LOG_RAW) cliSerial->printf_P(PSTR(" RAW"));
if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf_P(PSTR(" CMD"));
if (g.log_bitmask & MASK_LOG_CUR) cliSerial->printf_P(PSTR(" CURRENT"));
if (g.log_bitmask & MASK_LOG_MOTORS) cliSerial->printf_P(PSTR(" MOTORS"));
if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(PSTR(" OPTFLOW"));
if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(PSTR(" PID"));
if (g.log_bitmask & MASK_LOG_ITERM) cliSerial->printf_P(PSTR(" ITERM"));
if (g.log_bitmask & MASK_LOG_INAV) cliSerial->printf_P(PSTR(" INAV"));
}
cliSerial->println();
if (num_logs == 0) {
cliSerial->printf_P(PSTR("\nNo logs\n\n"));
}else{
cliSerial->printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs);
for(int16_t i=num_logs; i>=1; i--) {
int16_t last_log_start = log_start, last_log_end = log_end;
temp = last_log_num-i+1;
DataFlash.get_log_boundaries(temp, log_start, log_end);
cliSerial->printf_P(PSTR("Log %d, start %d, end %d\n"), (int)temp, (int)log_start, (int)log_end);
if (last_log_start == log_start && last_log_end == log_end) {
// we are printing bogus logs
break;
}
}
cliSerial->println();
}
return(true);
}
static int8_t
dump_log(uint8_t argc, const Menu::arg *argv)
{
int16_t dump_log;
int16_t dump_log_start;
int16_t dump_log_end;
int16_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) {
for(uint16_t count=1; count<=DataFlash.df_NumPages; count++) {
DataFlash.StartRead(count);
cliSerial->printf_P(PSTR("DF page, log file #, log page: %d,\t"), (int)count);
cliSerial->printf_P(PSTR("%d,\t"), (int)DataFlash.GetFileNumber());
cliSerial->printf_P(PSTR("%d\n"), (int)DataFlash.GetFilePage());
}
return(-1);
} else if (dump_log <= 0) {
cliSerial->printf_P(PSTR("dumping all\n"));
Log_Read(1, DataFlash.df_NumPages);
return(-1);
} else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (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);
/*cliSerial->printf_P(PSTR("Dumping Log number %d, start %d, end %d\n"),
* dump_log,
* dump_log_start,
* dump_log_end);
*/
Log_Read(dump_log_start, dump_log_end);
//cliSerial->printf_P(PSTR("Done\n"));
return (0);
}
static void do_erase_logs(void)
{
gcs_send_text_P(SEVERITY_LOW, PSTR("Erasing logs\n"));
DataFlash.EraseAll(mavlink_delay);
gcs_send_text_P(SEVERITY_LOW, PSTR("Log erase complete\n"));
}
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(RAW);
TARG(CMD);
TARG(CUR);
TARG(MOTORS);
TARG(OPTFLOW);
TARG(PID);
TARG(ITERM);
TARG(INAV);
#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;
}
// print_latlon - prints an latitude or longitude value held in an int32_t
// probably this should be moved to AP_Common
void print_latlon(BetterStream *s, int32_t lat_or_lon)
{
int32_t dec_portion, frac_portion;
int32_t abs_lat_or_lon = labs(lat_or_lon);
// extract decimal portion (special handling of negative numbers to ensure we round towards zero)
dec_portion = abs_lat_or_lon / T7;
// extract fractional portion
frac_portion = abs_lat_or_lon - dec_portion*T7;
// print output including the minus sign
if( lat_or_lon < 0 ) {
s->printf_P(PSTR("-"));
}
s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion);
}
// Write an GPS packet. Total length : 31 bytes
static void Log_Write_GPS()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_GPS_MSG);
DataFlash.WriteLong(g_gps->time); // 1
DataFlash.WriteByte(g_gps->num_sats); // 2
DataFlash.WriteLong(current_loc.lat); // 3
DataFlash.WriteLong(current_loc.lng); // 4
DataFlash.WriteLong(current_loc.alt); // 5
DataFlash.WriteLong(g_gps->altitude); // 6
DataFlash.WriteInt(g_gps->ground_speed); // 7
DataFlash.WriteLong(g_gps->ground_course); // 8
DataFlash.WriteByte(END_BYTE);
}
// Read a GPS packet
static void Log_Read_GPS()
{
int32_t temp1 = DataFlash.ReadLong(); // 1 time
int8_t temp2 = DataFlash.ReadByte(); // 2 sats
int32_t temp3 = DataFlash.ReadLong(); // 3 lat
int32_t temp4 = DataFlash.ReadLong(); // 4 lon
float temp5 = DataFlash.ReadLong() / 100.0; // 5 sensor alt
float temp6 = DataFlash.ReadLong() / 100.0; // 6 gps alt
int16_t temp7 = DataFlash.ReadInt(); // 7 ground speed
int32_t temp8 = DataFlash.ReadLong(); // 8 ground course
// 1 2 3 4 5 6 7 8
cliSerial->printf_P(PSTR("GPS, %ld, %d, "),
(long)temp1, // 1 time
(int)temp2); // 2 sats
print_latlon(&Serial, temp3);
cliSerial->print_P(PSTR(", "));
print_latlon(&Serial, temp4);
cliSerial->printf_P(PSTR(", %4.4f, %4.4f, %d, %ld\n"),
temp5, // 5 gps alt
temp6, // 6 sensor alt
(int)temp7, // 7 ground speed
(long)temp8); // 8 ground course
}
static void Log_Write_Raw()
{
Vector3f gyro = ins.get_gyro();
Vector3f accel = ins.get_accel();
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_RAW_MSG);
DataFlash.WriteLong(get_int(gyro.x));
DataFlash.WriteLong(get_int(gyro.y));
DataFlash.WriteLong(get_int(gyro.z));
DataFlash.WriteLong(get_int(accel.x));
DataFlash.WriteLong(get_int(accel.y));
DataFlash.WriteLong(get_int(accel.z));
DataFlash.WriteByte(END_BYTE);
/*
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_RAW_MSG);
DataFlash.WriteLong(get_int(ahrs._omega_I.x));
DataFlash.WriteLong(get_int(ahrs._omega_I.y));
DataFlash.WriteByte(END_BYTE);
*/
}
// Read a raw accel/gyro packet
static void Log_Read_Raw()
{
float logvar;
cliSerial->printf_P(PSTR("RAW,"));
for (int16_t y = 0; y < 6; y++) {
logvar = get_float(DataFlash.ReadLong());
cliSerial->print(logvar);
cliSerial->print_P(PSTR(", "));
}
cliSerial->println_P(PSTR(" "));
/*
float temp1 = get_float(DataFlash.ReadLong());
float temp2 = get_float(DataFlash.ReadLong());
cliSerial->printf_P(PSTR("RAW, %4.4f, %4.4f\n"),
temp1,
temp2);
*/
}
// Write an Current data packet. Total length : 16 bytes
static void Log_Write_Current()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CURRENT_MSG);
DataFlash.WriteInt(g.rc_3.control_in); // 1
DataFlash.WriteLong(throttle_integrator); // 2
DataFlash.WriteInt(battery_voltage1 * 100.0); // 3
DataFlash.WriteInt(current_amps1 * 100.0); // 4
DataFlash.WriteInt(current_total1); // 5
DataFlash.WriteByte(END_BYTE);
}
// Read a Current packet
static void Log_Read_Current()
{
int16_t temp1 = DataFlash.ReadInt(); // 1
int32_t temp2 = DataFlash.ReadLong(); // 2
float temp3 = DataFlash.ReadInt() / 100.f; // 3
float temp4 = DataFlash.ReadInt() / 100.f; // 4
int16_t temp5 = DataFlash.ReadInt(); // 5
// 1 2 3 4 5
cliSerial->printf_P(PSTR("CURR, %d, %ld, %4.4f, %4.4f, %d\n"),
(int)temp1,
(long)temp2,
temp3,
temp4,
(int)temp5);
}
// Write an Motors packet. Total length : 12 ~ 20 bytes
static void Log_Write_Motors()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_MOTORS_MSG);
#if FRAME_CONFIG == TRI_FRAME
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //3
DataFlash.WriteInt(g.rc_4.radio_out); //4
#elif FRAME_CONFIG == HEXA_FRAME
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //4
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]); //5
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //6
#elif FRAME_CONFIG == Y6_FRAME
//left
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //2
//right
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]); //3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //4
//back
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //5
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //6
#elif FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //4
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]); //5
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //6
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_7]); //7
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_8]); //8
#elif FRAME_CONFIG == HELI_FRAME
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //4
DataFlash.WriteInt(motors.ext_gyro_gain); //5
#else // quads
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //4
#endif
DataFlash.WriteByte(END_BYTE);
}
// Read a Motors packet.
static void Log_Read_Motors()
{
#if FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
int16_t temp1 = DataFlash.ReadInt(); // 1
int16_t temp2 = DataFlash.ReadInt(); // 2
int16_t temp3 = DataFlash.ReadInt(); // 3
int16_t temp4 = DataFlash.ReadInt(); // 4
int16_t temp5 = DataFlash.ReadInt(); // 5
int16_t temp6 = DataFlash.ReadInt(); // 6
// 1 2 3 4 5 6
cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d, %d, %d\n"),
(int)temp1, //1
(int)temp2, //2
(int)temp3, //3
(int)temp4, //4
(int)temp5, //5
(int)temp6); //6
#elif FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
int16_t temp1 = DataFlash.ReadInt(); // 1
int16_t temp2 = DataFlash.ReadInt(); // 2
int16_t temp3 = DataFlash.ReadInt(); // 3
int16_t temp4 = DataFlash.ReadInt(); // 4
int16_t temp5 = DataFlash.ReadInt(); // 5
int16_t temp6 = DataFlash.ReadInt(); // 6
int16_t temp7 = DataFlash.ReadInt(); // 7
int16_t temp8 = DataFlash.ReadInt(); // 8
// 1 2 3 4 5 6 7 8
cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d, %d, %d, %d, %d\n"),
(int)temp1, //1
(int)temp2, //2
(int)temp3, //3
(int)temp4, //4
(int)temp5, //5
(int)temp6, //6
(int)temp7, //7
(int)temp8); //8
#elif FRAME_CONFIG == HELI_FRAME
int16_t temp1 = DataFlash.ReadInt(); // 1
int16_t temp2 = DataFlash.ReadInt(); // 2
int16_t temp3 = DataFlash.ReadInt(); // 3
int16_t temp4 = DataFlash.ReadInt(); // 4
int16_t temp5 = DataFlash.ReadInt(); // 5
// 1 2 3 4 5
cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d, %d\n"),
(int)temp1, //1
(int)temp2, //2
(int)temp3, //3
(int)temp4, //4
(int)temp5); //5
#else // quads, TRIs
int16_t temp1 = DataFlash.ReadInt(); // 1
int16_t temp2 = DataFlash.ReadInt(); // 2
int16_t temp3 = DataFlash.ReadInt(); // 3
int16_t temp4 = DataFlash.ReadInt(); // 4
// 1 2 3 4
cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d\n"),
(int)temp1, //1
(int)temp2, //2
(int)temp3, //3
(int)temp4); //4;
#endif
}
// Write an optical flow packet. Total length : 30 bytes
static void Log_Write_Optflow()
{
#if OPTFLOW == ENABLED
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_OPTFLOW_MSG);
DataFlash.WriteInt((int)optflow.dx);
DataFlash.WriteInt((int)optflow.dy);
DataFlash.WriteInt((int)optflow.surface_quality);
DataFlash.WriteInt((int)optflow.x_cm);
DataFlash.WriteInt((int)optflow.y_cm);
DataFlash.WriteLong(optflow.vlat); //optflow_offset.lat + optflow.lat);
DataFlash.WriteLong(optflow.vlon); //optflow_offset.lng + optflow.lng);
DataFlash.WriteLong(of_roll);
DataFlash.WriteLong(of_pitch);
DataFlash.WriteByte(END_BYTE);
#endif // OPTFLOW == ENABLED
}
// Read an optical flow packet.
static void Log_Read_Optflow()
{
int16_t temp1 = DataFlash.ReadInt(); // 1
int16_t temp2 = DataFlash.ReadInt(); // 2
int16_t temp3 = DataFlash.ReadInt(); // 3
int16_t temp4 = DataFlash.ReadInt(); // 4
int16_t temp5 = DataFlash.ReadInt(); // 5
float temp6 = DataFlash.ReadLong(); // 6
float temp7 = DataFlash.ReadLong(); // 7
int32_t temp8 = DataFlash.ReadLong(); // 8
int32_t temp9 = DataFlash.ReadLong(); // 9
cliSerial->printf_P(PSTR("OF, %d, %d, %d, %d, %d, %4.7f, %4.7f, %ld, %ld\n"),
(int)temp1,
(int)temp2,
(int)temp3,
(int)temp4,
(int)temp5,
temp6,
temp7,
(long)temp8,
(long)temp9);
}
// Write an Nav Tuning packet. Total length : 24 bytes
static void Log_Write_Nav_Tuning()
{
//Matrix3f tempmat = dcm.get_dcm_matrix();
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_NAV_TUNING_MSG);
DataFlash.WriteInt(wp_distance); // 1
DataFlash.WriteInt(target_bearing/100); // 2
DataFlash.WriteInt(long_error); // 3
DataFlash.WriteInt(lat_error); // 4
DataFlash.WriteInt(nav_pitch); // 5
DataFlash.WriteInt(nav_roll); // 6
DataFlash.WriteInt(lon_speed); // 7
DataFlash.WriteInt(lat_speed); // 8
DataFlash.WriteByte(END_BYTE);
}
// Read a Nav Tuning packet.
static void Log_Read_Nav_Tuning()
{
int16_t temp;
cliSerial->printf_P(PSTR("NTUN, "));
for(int8_t i = 1; i < 8; i++ ) {
temp = DataFlash.ReadInt();
cliSerial->printf_P(PSTR("%d, "), (int)temp);
}
// read 8
temp = DataFlash.ReadInt();
cliSerial->printf_P(PSTR("%d\n"), (int)temp);
}
// Write a control tuning packet. Total length : 26 bytes
static void Log_Write_Control_Tuning()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
DataFlash.WriteInt(g.rc_3.control_in); // 1
DataFlash.WriteInt(sonar_alt); // 2
DataFlash.WriteInt(baro_alt); // 3
DataFlash.WriteInt(next_WP.alt); // 4
DataFlash.WriteInt(nav_throttle); // 5
DataFlash.WriteInt(angle_boost); // 6
DataFlash.WriteInt(climb_rate_actual); // 7
DataFlash.WriteInt(g.rc_3.servo_out); // 8
DataFlash.WriteInt(desired_climb_rate); // 9
DataFlash.WriteByte(END_BYTE);
}
// Read an control tuning packet
static void Log_Read_Control_Tuning()
{
int16_t temp;
cliSerial->printf_P(PSTR("CTUN, "));
for(uint8_t i = 1; i < 9; i++ ) {
temp = DataFlash.ReadInt();
cliSerial->printf_P(PSTR("%d, "), (int)temp);
}
// read 9
temp = DataFlash.ReadInt();
cliSerial->printf_P(PSTR("%d\n"), (int)temp);
}
static void Log_Write_Iterm()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ITERM_MSG);
DataFlash.WriteInt((int16_t)g.pi_stabilize_roll.get_integrator()); // 1
DataFlash.WriteInt((int16_t)g.pi_stabilize_pitch.get_integrator()); // 2
DataFlash.WriteInt((int16_t)g.pi_stabilize_yaw.get_integrator()); // 3
DataFlash.WriteInt((int16_t)g.pid_rate_roll.get_integrator()); // 4
DataFlash.WriteInt((int16_t)g.pid_rate_pitch.get_integrator()); // 5
DataFlash.WriteInt((int16_t)g.pid_rate_yaw.get_integrator()); // 6
DataFlash.WriteInt((int16_t)g.pid_nav_lat.get_integrator()); // 7
DataFlash.WriteInt((int16_t)g.pid_nav_lon.get_integrator()); // 8
DataFlash.WriteInt((int16_t)g.pid_loiter_rate_lat.get_integrator()); // 9
DataFlash.WriteInt((int16_t)g.pid_loiter_rate_lon.get_integrator()); // 10
DataFlash.WriteInt((int16_t)g.pid_throttle.get_integrator()); // 11
DataFlash.WriteInt(g.throttle_cruise); // 12
DataFlash.WriteByte(END_BYTE);
}
// Read an control tuning packet
static void Log_Read_Iterm()
{
int16_t temp;
cliSerial->printf_P(PSTR("ITERM, "));
for(uint8_t i = 1; i < 12; i++ ) {
temp = DataFlash.ReadInt();
cliSerial->printf_P(PSTR("%d, "), (int)temp);
}
// read 12
temp = DataFlash.ReadInt();
cliSerial->println((int)temp);
}
// Write a performance monitoring packet. Total length : 11 bytes
static void Log_Write_Performance()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
DataFlash.WriteByte(ahrs.renorm_range_count); //1
DataFlash.WriteByte(ahrs.renorm_blowup_count); //2
DataFlash.WriteByte(gps_fix_count); //3
DataFlash.WriteInt(perf_info_get_num_long_running()); //4 - number of long running loops
DataFlash.WriteInt(perf_info_get_num_loops()); //5 - total number of loops
DataFlash.WriteLong(perf_info_get_max_time()); //6 - time of longest running loop
DataFlash.WriteByte(END_BYTE);
}
// Read a performance packet
static void Log_Read_Performance()
{
int8_t temp1 = DataFlash.ReadByte();
int8_t temp2 = DataFlash.ReadByte();
int8_t temp3 = DataFlash.ReadByte();
uint16_t temp4 = DataFlash.ReadInt();
uint16_t temp5 = DataFlash.ReadInt();
uint32_t temp6 = DataFlash.ReadLong();
// 1 2 3 4 5 6
cliSerial->printf_P(PSTR("PM, %d, %d, %d, %u, %u, %lu\n"),
(int)temp1,
(int)temp2,
(int)temp3,
(unsigned int)temp4,
(unsigned int)temp5,
(unsigned long)temp6);
}
// Write a command processing packet. Total length : 21 bytes
static 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.command_total); // 1
DataFlash.WriteByte(num); // 2
DataFlash.WriteByte(wp->id); // 3
DataFlash.WriteByte(wp->options); // 4
DataFlash.WriteByte(wp->p1); // 5
DataFlash.WriteLong(wp->alt); // 6
DataFlash.WriteLong(wp->lat); // 7
DataFlash.WriteLong(wp->lng); // 8
DataFlash.WriteByte(END_BYTE);
}
//CMD, 3, 0, 16, 8, 1, 800, 340440192, -1180692736
// Read a command processing packet
static void Log_Read_Cmd()
{
int8_t temp1 = DataFlash.ReadByte();
int8_t temp2 = DataFlash.ReadByte();
int8_t temp3 = DataFlash.ReadByte();
int8_t temp4 = DataFlash.ReadByte();
int8_t temp5 = DataFlash.ReadByte();
int32_t temp6 = DataFlash.ReadLong();
int32_t temp7 = DataFlash.ReadLong();
int32_t temp8 = DataFlash.ReadLong();
// 1 2 3 4 5 6 7 8
cliSerial->printf_P(PSTR( "CMD, %d, %d, %d, %d, %d, %ld, %ld, %ld\n"),
(int)temp1,
(int)temp2,
(int)temp3,
(int)temp4,
(int)temp5,
(long)temp6,
(long)temp7,
(long)temp8);
}
// Write an attitude packet. Total length : 16 bytes
static void Log_Write_Attitude()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt(control_roll); // 1
DataFlash.WriteInt((int16_t)ahrs.roll_sensor); // 2
DataFlash.WriteInt(control_pitch); // 3
DataFlash.WriteInt((int16_t)ahrs.pitch_sensor); // 4
DataFlash.WriteInt(g.rc_4.control_in); // 5
DataFlash.WriteInt((uint16_t)ahrs.yaw_sensor); // 6
DataFlash.WriteInt((uint16_t)nav_yaw); // 7 (this used to be compass.heading)
DataFlash.WriteByte(END_BYTE);
}
// Read an attitude packet
static void Log_Read_Attitude()
{
int16_t temp1 = DataFlash.ReadInt();
int16_t temp2 = DataFlash.ReadInt();
int16_t temp3 = DataFlash.ReadInt();
int16_t temp4 = DataFlash.ReadInt();
int16_t temp5 = DataFlash.ReadInt();
uint16_t temp6 = DataFlash.ReadInt();
uint16_t temp7 = DataFlash.ReadInt();
// 1 2 3 4 5 6 7 8 9
cliSerial->printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u, %u\n"),
(int)temp1,
(int)temp2,
(int)temp3,
(int)temp4,
(int)temp5,
(unsigned)temp6,
(unsigned)temp7);
}
// Write an INAV packet. Total length : 36 Bytes
static void Log_Write_INAV(float delta_t)
{
#if INERTIAL_NAV == ENABLED
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_INAV_MSG);
DataFlash.WriteInt((int16_t)baro_alt); // 1 barometer altitude
DataFlash.WriteInt((int16_t)inertial_nav._position.z); // 2 accel + baro filtered altitude
DataFlash.WriteInt((int16_t)climb_rate_actual); // 3 barometer based climb rate
DataFlash.WriteInt((int16_t)inertial_nav._velocity.z); // 4 accel + baro based climb rate
DataFlash.WriteLong(get_int(inertial_nav._comp_filter._comp_k1o.x)); // 5 accel correction x-axis
DataFlash.WriteLong(get_int(inertial_nav._comp_filter._comp_k1o.y)); // 6 accel correction y-axis
DataFlash.WriteLong(get_int(inertial_nav._comp_filter._comp_k1o.z)); // 7 accel correction z-axis
DataFlash.WriteLong(get_int(inertial_nav._comp_filter.comp_k1o_ef.z));// 8 accel correction earth frame
DataFlash.WriteLong(get_int(inertial_nav._accel_ef.x)); // 9 accel earth frame x-axis
DataFlash.WriteLong(get_int(inertial_nav._accel_ef.y)); // 10 accel earth frame y-axis
DataFlash.WriteLong(get_int(inertial_nav._accel_ef.z)); // 11 accel earth frame z-axis
DataFlash.WriteLong(get_int(delta_t)); // 12 time delta of samples
DataFlash.WriteLong(g_gps->latitude-home.lat); // 13 lat from home
DataFlash.WriteLong(g_gps->longitude-home.lng); // 14 lon from home
DataFlash.WriteLong(get_int(inertial_nav.get_latitude_diff())); // 15 accel based lat from home
DataFlash.WriteLong(get_int(inertial_nav.get_longitude_diff())); // 16 accel based lon from home
DataFlash.WriteLong(get_int(inertial_nav.get_latitude_velocity())); // 17 accel based lat velocity
DataFlash.WriteLong(get_int(inertial_nav.get_longitude_velocity())); // 18 accel based lon velocity
DataFlash.WriteByte(END_BYTE);
#endif
}
// Read an INAV packet
static void Log_Read_INAV()
{
int16_t temp1 = DataFlash.ReadInt(); // 1 barometer altitude
int16_t temp2 = DataFlash.ReadInt(); // 2 accel + baro filtered altitude
int16_t temp3 = DataFlash.ReadInt(); // 3 barometer based climb rate
int16_t temp4 = DataFlash.ReadInt(); // 4 accel + baro based climb rate
float temp5 = get_float(DataFlash.ReadLong()); // 5 accel correction x-axis
float temp6 = get_float(DataFlash.ReadLong()); // 6 accel correction y-axis
float temp7 = get_float(DataFlash.ReadLong()); // 7 accel correction z-axis
float temp8 = get_float(DataFlash.ReadLong()); // 8 accel correction earth frame
float temp9 = get_float(DataFlash.ReadLong()); // 9 accel earth frame x-axis
float temp10 = get_float(DataFlash.ReadLong()); // 10 accel earth frame y-axis
float temp11 = get_float(DataFlash.ReadLong()); // 11 accel earth frame z-axis
float temp12 = get_float(DataFlash.ReadLong()); // 12 time delta of samples
int32_t temp13 = DataFlash.ReadLong(); // 13 lat from home
int32_t temp14 = DataFlash.ReadLong(); // 14 lon from home
float temp15 = get_float(DataFlash.ReadLong()); // 15 accel based lat from home
float temp16 = get_float(DataFlash.ReadLong()); // 16 accel based lon from home
float temp17 = get_float(DataFlash.ReadLong()); // 17 accel based lat velocity
float temp18 = get_float(DataFlash.ReadLong()); // 18 accel based lon velocity
// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
cliSerial->printf_P(PSTR("INAV, %d, %d, %d, %d, %6.4f, %6.4f, %6.4f, %6.4f, %6.4f, %6.4f, %6.4f, %6.4f, %ld, %ld, %6.4f, %6.4f, %6.4f, %6.4f\n"),
(int)temp1,
(int)temp2,
(int)temp3,
(int)temp4,
temp5,
temp6,
temp7,
temp8,
temp9,
temp10,
temp11,
temp12,
temp13,
temp14,
temp15,
temp16,
temp17,
temp18);
}
// Write a mode packet. Total length : 7 bytes
static void Log_Write_Mode(byte mode)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_MODE_MSG);
DataFlash.WriteByte(mode);
DataFlash.WriteInt(g.throttle_cruise);
DataFlash.WriteByte(END_BYTE);
}
// Read a mode packet
static void Log_Read_Mode()
{
cliSerial->printf_P(PSTR("MOD:"));
print_flight_mode(DataFlash.ReadByte());
cliSerial->printf_P(PSTR(", %d\n"),(int)DataFlash.ReadInt());
}
// Write Startup packet. Total length : 4 bytes
static void Log_Write_Startup()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_STARTUP_MSG);
DataFlash.WriteByte(END_BYTE);
}
// Read a startup packet
static void Log_Read_Startup()
{
cliSerial->printf_P(PSTR("START UP\n"));
}
#define DATA_INT32 0
#define DATA_FLOAT 1
#define DATA_INT16 2
#define DATA_UINT16 3
#define DATA_EVENT 4
static void Log_Write_Data(uint8_t _index, int32_t _data)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_INT32);
DataFlash.WriteLong(_data);
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Data(uint8_t _index, float _data)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_FLOAT);
DataFlash.WriteLong(get_int(_data));
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Data(uint8_t _index, int16_t _data)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_INT16);
DataFlash.WriteInt(_data);
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Data(uint8_t _index, uint16_t _data)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_UINT16);
DataFlash.WriteInt(_data);
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Event(uint8_t _index)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_index);
DataFlash.WriteByte(DATA_EVENT);
DataFlash.WriteByte(END_BYTE);
}
// Read a mode packet
static void Log_Read_Data()
{
int8_t _index = DataFlash.ReadByte();
int8_t _type = DataFlash.ReadByte();
if(_type == DATA_EVENT) {
cliSerial->printf_P(PSTR("EV: %u\n"), _index);
}else if(_type == DATA_FLOAT) {
float _value = get_float(DataFlash.ReadLong());
cliSerial->printf_P(PSTR("DATA: %u, %1.6f\n"), _index, _value);
}else if(_type == DATA_INT16) {
int16_t _value = DataFlash.ReadInt();
cliSerial->printf_P(PSTR("DATA: %u, %d\n"), _index, _value);
}else if(_type == DATA_UINT16) {
uint16_t _value = DataFlash.ReadInt();
cliSerial->printf_P(PSTR("DATA: %u, %u\n"), _index, _value);
}else if(_type == DATA_INT32) {
int32_t _value = DataFlash.ReadLong();
cliSerial->printf_P(PSTR("DATA: %u, %ld\n"), _index, _value);
}
}
// Write an PID packet. Total length : 28 bytes
static void Log_Write_PID(int8_t pid_id, int32_t error, int32_t p, int32_t i, int32_t d, int32_t output, float gain)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_PID_MSG);
DataFlash.WriteByte(pid_id); // 1
DataFlash.WriteLong(error); // 2
DataFlash.WriteLong(p); // 3
DataFlash.WriteLong(i); // 4
DataFlash.WriteLong(d); // 5
DataFlash.WriteLong(output); // 6
DataFlash.WriteLong(gain * 1000); // 7
DataFlash.WriteByte(END_BYTE);
}
// Read a PID packet
static void Log_Read_PID()
{
int8_t temp1 = DataFlash.ReadByte(); // pid id
int32_t temp2 = DataFlash.ReadLong(); // error
int32_t temp3 = DataFlash.ReadLong(); // p
int32_t temp4 = DataFlash.ReadLong(); // i
int32_t temp5 = DataFlash.ReadLong(); // d
int32_t temp6 = DataFlash.ReadLong(); // output
float temp7 = DataFlash.ReadLong() / 1000.f; // gain
// 1 2 3 4 5 6 7
cliSerial->printf_P(PSTR("PID-%d, %ld, %ld, %ld, %ld, %ld, %4.4f\n"),
(int)temp1, // pid id
(long)temp2, // error
(long)temp3, // p
(long)temp4, // i
(long)temp5, // d
(long)temp6, // output
temp7); // gain
}
// Write a DMP attitude packet. Total length : 16 bytes
static void Log_Write_DMP()
{
#if SECONDARY_DMP_ENABLED == ENABLED
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DMP_MSG);
DataFlash.WriteInt((int16_t)ahrs.roll_sensor); // 1
DataFlash.WriteInt((int16_t)ahrs2.roll_sensor); // 2
DataFlash.WriteInt((int16_t)ahrs.pitch_sensor); // 3
DataFlash.WriteInt((int16_t)ahrs2.pitch_sensor); // 4
DataFlash.WriteInt((uint16_t)ahrs.yaw_sensor); // 5
DataFlash.WriteInt((uint16_t)ahrs2.yaw_sensor); // 6
DataFlash.WriteByte(END_BYTE);
#endif
}
// Read an attitude packet
static void Log_Read_DMP()
{
int16_t temp1 = DataFlash.ReadInt();
int16_t temp2 = DataFlash.ReadInt();
int16_t temp3 = DataFlash.ReadInt();
int16_t temp4 = DataFlash.ReadInt();
uint16_t temp5 = DataFlash.ReadInt();
uint16_t temp6 = DataFlash.ReadInt();
// 1 2 3 4 5 6
cliSerial->printf_P(PSTR("DMP, %d, %d, %d, %d, %u, %u\n"),
(int)temp1,
(int)temp2,
(int)temp3,
(int)temp4,
(unsigned)temp5,
(unsigned)temp6);
}
// Read the DataFlash log memory
static void Log_Read(int16_t start_page, int16_t end_page)
{
int16_t packet_count = 0;
#ifdef AIRFRAME_NAME
cliSerial->printf_P(PSTR((AIRFRAME_NAME)
#endif
cliSerial->printf_P(PSTR("\n" THISFIRMWARE
"\nFree RAM: %u\n"),
(unsigned) memcheck_available_memory());
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
cliSerial->printf_P(PSTR("APM 2\n"));
#elif CONFIG_APM_HARDWARE == APM2_BETA_HARDWARE
cliSerial->printf_P(PSTR("APM 2Beta\n"));
#else
cliSerial->printf_P(PSTR("APM 1\n"));
#endif
#if CLI_ENABLED == ENABLED
setup_show(0, NULL);
#endif
if(start_page > end_page) {
packet_count = Log_Read_Process(start_page, DataFlash.df_NumPages);
packet_count += Log_Read_Process(1, end_page);
} else {
packet_count = Log_Read_Process(start_page, end_page);
}
//cliSerial->printf_P(PSTR("Number of packets read: %d\n"), (int)packet_count);
}
// Read the DataFlash log memory : Packet Parser
static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
{
byte data;
byte log_step = 0;
int16_t page = start_page;
int16_t packet_count = 0;
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;
cliSerial->println_P(PSTR("."));
}
break;
case 2:
log_step = 0;
switch(data) {
case LOG_ATTITUDE_MSG:
Log_Read_Attitude();
break;
case LOG_MODE_MSG:
Log_Read_Mode();
break;
case LOG_CONTROL_TUNING_MSG:
Log_Read_Control_Tuning();
break;
case LOG_NAV_TUNING_MSG:
Log_Read_Nav_Tuning();
break;
case LOG_PERFORMANCE_MSG:
Log_Read_Performance();
break;
case LOG_RAW_MSG:
Log_Read_Raw();
break;
case LOG_CMD_MSG:
Log_Read_Cmd();
break;
case LOG_CURRENT_MSG:
Log_Read_Current();
break;
case LOG_STARTUP_MSG:
Log_Read_Startup();
break;
case LOG_MOTORS_MSG:
Log_Read_Motors();
break;
case LOG_OPTFLOW_MSG:
Log_Read_Optflow();
break;
case LOG_GPS_MSG:
Log_Read_GPS();
break;
case LOG_DATA_MSG:
Log_Read_Data();
break;
case LOG_PID_MSG:
Log_Read_PID();
break;
case LOG_ITERM_MSG:
Log_Read_Iterm();
break;
case LOG_DMP_MSG:
Log_Read_DMP();
break;
case LOG_INAV_MSG:
Log_Read_INAV();
break;
}
break;
case 3:
if(data == END_BYTE){
packet_count++;
}else{
cliSerial->printf_P(PSTR("Error Reading END_BYTE: %d\n"),data);
}
log_step = 0; // Restart sequence: new packet...
break;
}
page = DataFlash.GetPage();
}
return packet_count;
}
#else // LOGGING_ENABLED
static void Log_Write_Startup() {
}
static void Log_Read_Startup() {
}
static void Log_Read(int16_t start_page, int16_t end_page) {
}
static void Log_Write_Cmd(byte num, struct Location *wp) {
}
static void Log_Write_Mode(byte mode) {
}
static void Log_Write_Raw() {
}
static void Log_Write_GPS() {
}
static void Log_Write_Current() {
}
static void Log_Write_Iterm() {
}
static void Log_Write_Attitude() {
}
static void Log_Write_Data(uint8_t _index, float _data){
}
static void Log_Write_Data(uint8_t _index, int32_t _data){
}
static void Log_Write_Data(uint8_t _index, int16_t _data){
}
static void Log_Write_Data(uint8_t _index, uint16_t _data){
}
static void Log_Write_Event(uint8_t _index){
}
static void Log_Write_Optflow() {
}
static void Log_Write_Nav_Tuning() {
}
static void Log_Write_Control_Tuning() {
}
static void Log_Write_Motors() {
}
static void Log_Write_Performance() {
}
static void Log_Write_PID(int8_t pid_id, int32_t error, int32_t p, int32_t i, int32_t d, int32_t output, float gain) {
}
static void Log_Write_DMP() {
}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {
return 0;
}
#endif // LOGGING_DISABLED
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