mirror of https://github.com/ArduPilot/ardupilot
488 lines
12 KiB
Plaintext
488 lines
12 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#if LOGGING_ENABLED == DISABLED
|
|
|
|
// 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);
|
|
|
|
// 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)
|
|
/*{
|
|
Serial.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},
|
|
};
|
|
|
|
// A Macro to create the Menu
|
|
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
|
|
|
|
static void get_log_boundaries(byte log_num, int & start_page, int & end_page);
|
|
|
|
static bool
|
|
print_log_menu(void)
|
|
{
|
|
int log_start;
|
|
int log_end;
|
|
int temp;
|
|
int last_log_num = find_last_log();
|
|
|
|
uint16_t num_logs = get_num_logs();
|
|
|
|
if (num_logs == 0) {
|
|
Serial.printf_P(PSTR("\nNo logs\n\n"));
|
|
}else{
|
|
Serial.printf_P(PSTR("\n%d logs\n"), num_logs);
|
|
|
|
for(int i=num_logs;i>=1;i--) {
|
|
int last_log_start = log_start, last_log_end = log_end;
|
|
temp = last_log_num-i+1;
|
|
get_log_boundaries(temp, log_start, log_end);
|
|
Serial.printf_P(PSTR("Log %d, start %d, end %d\n"), temp, log_start, log_end);
|
|
if (last_log_start == log_start && last_log_end == log_end) {
|
|
// we are printing bogus logs
|
|
break;
|
|
}
|
|
}
|
|
Serial.println();
|
|
}
|
|
return(true);
|
|
}
|
|
|
|
static int8_t
|
|
dump_log(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
int dump_log;
|
|
int dump_log_start;
|
|
int dump_log_end;
|
|
byte last_log_num;
|
|
|
|
// check that the requested log number can be read
|
|
dump_log = argv[1].i;
|
|
last_log_num = find_last_log();
|
|
|
|
if (dump_log == -2) {
|
|
for(int count=1; count<=DF_LAST_PAGE; count++) {
|
|
DataFlash.StartRead(count);
|
|
Serial.printf_P(PSTR("DF page, log file #, log page: %d,\t"), count);
|
|
Serial.printf_P(PSTR("%d,\t"), DataFlash.GetFileNumber());
|
|
Serial.printf_P(PSTR("%d\n"), DataFlash.GetFilePage());
|
|
}
|
|
return(-1);
|
|
} else if (dump_log <= 0) {
|
|
Serial.printf_P(PSTR("dumping all\n"));
|
|
Log_Read(1, DF_LAST_PAGE);
|
|
return(-1);
|
|
} else if ((argc != 2) || (dump_log <= (last_log_num - get_num_logs())) || (dump_log > last_log_num)) {
|
|
Serial.printf_P(PSTR("bad log number\n"));
|
|
return(-1);
|
|
}
|
|
|
|
get_log_boundaries(dump_log, dump_log_start, dump_log_end);
|
|
/*Serial.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);
|
|
//Serial.printf_P(PSTR("Done\n"));
|
|
return (0);
|
|
}
|
|
|
|
static int8_t
|
|
erase_logs(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
Serial.printf_P(PSTR("\nErasing log...\n"));
|
|
DataFlash.SetFileNumber(0xFFFF);
|
|
for(int j = 1; j <= DF_LAST_PAGE; j++) {
|
|
DataFlash.PageErase(j);
|
|
DataFlash.StartWrite(j); // We need this step to clean FileNumbers
|
|
if(j%128 == 0) Serial.printf_P(PSTR("+"));
|
|
}
|
|
|
|
Serial.printf_P(PSTR("\nLog erased.\n"));
|
|
DataFlash.FinishWrite();
|
|
return 0;
|
|
}
|
|
|
|
static int8_t
|
|
process_logs(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
log_menu.run();
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
// This function determines the number of whole or partial log files in the DataFlash
|
|
// Wholly overwritten files are (of course) lost.
|
|
static byte get_num_logs(void)
|
|
{
|
|
uint16_t lastpage;
|
|
uint16_t last;
|
|
uint16_t first;
|
|
|
|
if(find_last_page() == 1) return 0;
|
|
|
|
DataFlash.StartRead(1);
|
|
|
|
if(DataFlash.GetFileNumber() == 0XFFFF) return 0;
|
|
|
|
lastpage = find_last_page();
|
|
DataFlash.StartRead(lastpage);
|
|
last = DataFlash.GetFileNumber();
|
|
DataFlash.StartRead(lastpage + 2);
|
|
first = DataFlash.GetFileNumber();
|
|
if(first > last) {
|
|
DataFlash.StartRead(1);
|
|
first = DataFlash.GetFileNumber();
|
|
}
|
|
if(last == first)
|
|
{
|
|
return 1;
|
|
} else {
|
|
return (last - first + 1);
|
|
}
|
|
}
|
|
|
|
// This function starts a new log file in the DataFlash
|
|
static void start_new_log()
|
|
{
|
|
uint16_t last_page = find_last_page();
|
|
|
|
DataFlash.StartRead(last_page);
|
|
//Serial.print("last page: "); Serial.println(last_page);
|
|
//Serial.print("file #: "); Serial.println(DataFlash.GetFileNumber());
|
|
//Serial.print("file page: "); Serial.println(DataFlash.GetFilePage());
|
|
|
|
if(find_last_log() == 0 || DataFlash.GetFileNumber() == 0xFFFF) {
|
|
DataFlash.SetFileNumber(1);
|
|
DataFlash.StartWrite(1);
|
|
//Serial.println("start log from 0");
|
|
return;
|
|
}
|
|
|
|
// Check for log of length 1 page and suppress
|
|
if(DataFlash.GetFilePage() <= 1) {
|
|
DataFlash.SetFileNumber(DataFlash.GetFileNumber()); // Last log too short, reuse its number
|
|
DataFlash.StartWrite(last_page); // and overwrite it
|
|
//Serial.println("start log from short");
|
|
} else {
|
|
if(last_page == 0xFFFF) last_page=0;
|
|
DataFlash.SetFileNumber(DataFlash.GetFileNumber()+1);
|
|
DataFlash.StartWrite(last_page + 1);
|
|
//Serial.println("start log normal");
|
|
}
|
|
}
|
|
|
|
// This function finds the first and last pages of a log file
|
|
// The first page may be greater than the last page if the DataFlash has been filled and partially overwritten.
|
|
static void get_log_boundaries(byte log_num, int & start_page, int & end_page)
|
|
{
|
|
int num = get_num_logs();
|
|
int look;
|
|
if(num == 1)
|
|
{
|
|
DataFlash.StartRead(DF_LAST_PAGE);
|
|
if(DataFlash.GetFileNumber() == 0xFFFF)
|
|
{
|
|
start_page = 1;
|
|
end_page = find_last_page_of_log((uint16_t)log_num);
|
|
} else {
|
|
end_page = find_last_page_of_log((uint16_t)log_num);
|
|
start_page = end_page + 1;
|
|
}
|
|
|
|
} else {
|
|
if(log_num==1) {
|
|
DataFlash.StartRead(DF_LAST_PAGE);
|
|
if(DataFlash.GetFileNumber() == 0xFFFF) {
|
|
start_page = 1;
|
|
} else {
|
|
start_page = find_last_page() + 1;
|
|
}
|
|
} else {
|
|
if(log_num == find_last_log() - num + 1) {
|
|
start_page = find_last_page() + 1;
|
|
} else {
|
|
look = log_num-1;
|
|
do {
|
|
start_page = find_last_page_of_log(look) + 1;
|
|
look--;
|
|
} while (start_page <= 0 && look >=1);
|
|
}
|
|
}
|
|
}
|
|
if(start_page == DF_LAST_PAGE+1 || start_page == 0) start_page=1;
|
|
end_page = find_last_page_of_log((uint16_t)log_num);
|
|
if(end_page <= 0) end_page = start_page;
|
|
}
|
|
|
|
static bool check_wrapped(void)
|
|
{
|
|
DataFlash.StartRead(DF_LAST_PAGE);
|
|
if(DataFlash.GetFileNumber() == 0xFFFF)
|
|
return 0;
|
|
else
|
|
return 1;
|
|
}
|
|
|
|
// This funciton finds the last log number
|
|
static int find_last_log(void)
|
|
{
|
|
int last_page = find_last_page();
|
|
DataFlash.StartRead(last_page);
|
|
return DataFlash.GetFileNumber();
|
|
}
|
|
|
|
// This function finds the last page of the last file
|
|
static int find_last_page(void)
|
|
{
|
|
uint16_t look;
|
|
uint16_t bottom = 1;
|
|
uint16_t top = DF_LAST_PAGE;
|
|
uint32_t look_hash;
|
|
uint32_t bottom_hash;
|
|
uint32_t top_hash;
|
|
|
|
DataFlash.StartRead(bottom);
|
|
bottom_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
|
|
|
|
while(top-bottom > 1)
|
|
{
|
|
look = (top+bottom)/2;
|
|
DataFlash.StartRead(look);
|
|
look_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
|
|
if (look_hash >= 0xFFFF0000) look_hash = 0;
|
|
|
|
if(look_hash < bottom_hash) {
|
|
// move down
|
|
top = look;
|
|
} else {
|
|
// move up
|
|
bottom = look;
|
|
bottom_hash = look_hash;
|
|
}
|
|
}
|
|
|
|
DataFlash.StartRead(top);
|
|
top_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
|
|
if (top_hash >= 0xFFFF0000) top_hash = 0;
|
|
if (top_hash > bottom_hash)
|
|
{
|
|
return top;
|
|
} else {
|
|
return bottom;
|
|
}
|
|
}
|
|
|
|
// This function finds the last page of a particular log file
|
|
static int find_last_page_of_log(uint16_t log_number)
|
|
{
|
|
|
|
uint16_t look;
|
|
uint16_t bottom;
|
|
uint16_t top;
|
|
uint32_t look_hash;
|
|
uint32_t check_hash;
|
|
|
|
if(check_wrapped())
|
|
{
|
|
DataFlash.StartRead(1);
|
|
bottom = DataFlash.GetFileNumber();
|
|
if (bottom > log_number)
|
|
{
|
|
bottom = find_last_page();
|
|
top = DF_LAST_PAGE;
|
|
} else {
|
|
bottom = 1;
|
|
top = find_last_page();
|
|
}
|
|
} else {
|
|
bottom = 1;
|
|
top = find_last_page();
|
|
}
|
|
|
|
check_hash = (long)log_number<<16 | 0xFFFF;
|
|
while(top-bottom > 1)
|
|
{
|
|
look = (top+bottom)/2;
|
|
DataFlash.StartRead(look);
|
|
look_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
|
|
if (look_hash >= 0xFFFF0000) look_hash = 0;
|
|
|
|
if(look_hash > check_hash) {
|
|
// move down
|
|
top = look;
|
|
} else {
|
|
// move up
|
|
bottom = look;
|
|
}
|
|
}
|
|
|
|
DataFlash.StartRead(top);
|
|
if (DataFlash.GetFileNumber() == log_number) return top;
|
|
|
|
DataFlash.StartRead(bottom);
|
|
if (DataFlash.GetFileNumber() == log_number) return bottom;
|
|
|
|
return -1;
|
|
}
|
|
|
|
|
|
|
|
// Write an GPS packet. Total length : 30 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
|
|
float temp3 = DataFlash.ReadLong() / t7; // 3 lat
|
|
float temp4 = DataFlash.ReadLong() / t7; // 4 lon
|
|
float temp5 = DataFlash.ReadLong() / 100.0; // 5 gps alt
|
|
float temp6 = DataFlash.ReadLong() / 100.0; // 6 sensor 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
|
|
Serial.printf_P(PSTR("GPS, %ld, %d, %4.7f, %4.7f, %4.4f, %4.4f, %d, %ld\n"),
|
|
temp1, // 1 time
|
|
temp2, // 2 sats
|
|
temp3, // 3 lat
|
|
temp4, // 4 lon
|
|
temp5, // 5 gps alt
|
|
temp6, // 6 sensor alt
|
|
temp7, // 7 ground speed
|
|
temp8); // 8 ground course
|
|
}
|
|
|
|
|
|
// Read the DataFlash log memory
|
|
static void Log_Read(int start_page, int end_page)
|
|
{
|
|
int packet_count = 0;
|
|
|
|
#ifdef AIRFRAME_NAME
|
|
Serial.printf_P(PSTR((AIRFRAME_NAME)
|
|
#endif
|
|
Serial.printf_P(PSTR("\n" THISFIRMWARE
|
|
"\nFree RAM: %u\n"),
|
|
memcheck_available_memory());
|
|
|
|
if(start_page > end_page)
|
|
{
|
|
packet_count = Log_Read_Process(start_page, DF_LAST_PAGE);
|
|
packet_count += Log_Read_Process(1, end_page);
|
|
} else {
|
|
packet_count = Log_Read_Process(start_page, end_page);
|
|
}
|
|
|
|
//Serial.printf_P(PSTR("Number of packets read: %d\n"), packet_count);
|
|
}
|
|
|
|
// Read the DataFlash log memory : Packet Parser
|
|
static int Log_Read_Process(int start_page, int end_page)
|
|
{
|
|
byte data;
|
|
byte log_step = 0;
|
|
int page = start_page;
|
|
int 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;
|
|
Serial.println(".");
|
|
}
|
|
break;
|
|
|
|
case 2:
|
|
log_step = 0;
|
|
Log_Read_GPS();
|
|
break;
|
|
}
|
|
page = DataFlash.GetPage();
|
|
}
|
|
return packet_count;
|
|
}
|
|
|
|
|
|
static void Log_Write_Startup() {}
|
|
static void Log_Read_Startup() {}
|
|
static void Log_Write_Cmd(byte num, struct Location *wp) {}
|
|
static void Log_Write_Raw() {}
|
|
static void Log_Write_Mode(byte mode) {}
|
|
static void Log_Write_Current() {}
|
|
static void Log_Write_Attitude() {}
|
|
static void Log_Write_Data(int8_t _type, float _data){}
|
|
static void Log_Write_Data(int8_t _type, int32_t _data){}
|
|
#ifdef OPTFLOW_ENABLED
|
|
static void Log_Write_Optflow() {}
|
|
#endif
|
|
static void Log_Write_Nav_Tuning() {}
|
|
static void Log_Write_Control_Tuning() {}
|
|
static void Log_Write_Motors() {}
|
|
static void Log_Write_Performance() {}
|
|
|
|
#endif
|