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ardupilot/APMrover2/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
// These are function definitions so the Menu can be constructed before the functions
// are defined below. Order matters to the compiler.
static int8_t dump_log(uint8_t argc, const Menu::arg *argv);
static int8_t erase_logs(uint8_t argc, const Menu::arg *argv);
static int8_t select_logs(uint8_t argc, const Menu::arg *argv);
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
// See class Menu in AP_Coommon for implementation details
static const struct Menu::command log_menu_commands[] PROGMEM = {
{"dump", dump_log},
{"erase", erase_logs},
{"enable", select_logs},
{"disable", select_logs}
};
// A Macro to create the Menu
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
static bool
print_log_menu(void)
{
cliSerial->printf_P(PSTR("logs enabled: "));
if (0 == g.log_bitmask) {
cliSerial->printf_P(PSTR("none"));
}else{
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// the bit being set and print the name of the log option to suit.
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf_P(PSTR(" %S"), PSTR(#_s))
PLOG(ATTITUDE_FAST);
PLOG(ATTITUDE_MED);
PLOG(GPS);
PLOG(PM);
PLOG(CTUN);
PLOG(NTUN);
PLOG(MODE);
PLOG(IMU);
PLOG(CMD);
PLOG(CURRENT);
PLOG(SONAR);
PLOG(COMPASS);
PLOG(CAMERA);
#undef PLOG
}
cliSerial->println();
DataFlash.ListAvailableLogs(cliSerial);
return(true);
}
static int8_t
dump_log(uint8_t argc, const Menu::arg *argv)
{
int16_t dump_log;
uint16_t dump_log_start;
uint16_t dump_log_end;
uint16_t last_log_num;
// check that the requested log number can be read
dump_log = argv[1].i;
last_log_num = DataFlash.find_last_log();
if (dump_log == -2) {
DataFlash.DumpPageInfo(cliSerial);
return(-1);
} else if (dump_log <= 0) {
cliSerial->printf_P(PSTR("dumping all\n"));
Log_Read(0, 1, 0);
return(-1);
} else if ((argc != 2)
|| ((uint16_t)dump_log > last_log_num))
{
cliSerial->printf_P(PSTR("bad log number\n"));
return(-1);
}
DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
Log_Read((uint16_t)dump_log, dump_log_start, dump_log_end);
return 0;
}
static void do_erase_logs(void)
{
cliSerial->printf_P(PSTR("\nErasing log...\n"));
DataFlash.EraseAll();
cliSerial->printf_P(PSTR("\nLog erased.\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(IMU);
TARG(CMD);
TARG(CURRENT);
TARG(SONAR);
TARG(COMPASS);
TARG(CAMERA);
#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;
}
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint32_t loop_time;
uint16_t main_loop_count;
uint32_t g_dt_max;
uint8_t renorm_count;
uint8_t renorm_blowup;
uint8_t gps_fix_count;
int16_t gyro_drift_x;
int16_t gyro_drift_y;
int16_t gyro_drift_z;
uint8_t i2c_lockup_count;
};
// Write a performance monitoring packet. Total length : 19 bytes
static void Log_Write_Performance()
{
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
loop_time : millis()- perf_mon_timer,
main_loop_count : mainLoop_count,
g_dt_max : G_Dt_max,
renorm_count : ahrs.renorm_range_count,
renorm_blowup : ahrs.renorm_blowup_count,
gps_fix_count : gps_fix_count,
gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
i2c_lockup_count: hal.i2c->lockup_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Cmd {
LOG_PACKET_HEADER;
uint8_t command_total;
uint8_t command_number;
uint8_t waypoint_id;
uint8_t waypoint_options;
uint8_t waypoint_param1;
int32_t waypoint_altitude;
int32_t waypoint_latitude;
int32_t waypoint_longitude;
};
// Write a command processing packet. Total length : 19 bytes
static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
{
struct log_Cmd pkt = {
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
command_total : g.command_total,
command_number : num,
waypoint_id : wp->id,
waypoint_options : wp->options,
waypoint_param1 : wp->p1,
waypoint_altitude : wp->alt,
waypoint_latitude : wp->lat,
waypoint_longitude : wp->lng
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write a Camera packet. Total length : 26 bytes
static void Log_Write_Camera()
{
#if CAMERA == ENABLED
struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
gps_time : g_gps->time_week_ms,
gps_week : g_gps->time_week,
latitude : current_loc.lat,
longitude : current_loc.lng,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif
}
struct PACKED log_Startup {
LOG_PACKET_HEADER;
uint8_t startup_type;
uint8_t command_total;
};
static void Log_Write_Startup(uint8_t type)
{
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
startup_type : type,
command_total : g.command_total
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
// write all commands to the dataflash as well
struct Location cmd;
for (uint8_t i = 0; i <= g.command_total; i++) {
cmd = get_cmd_with_index(i);
Log_Write_Cmd(i, &cmd);
}
}
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
int16_t steer_out;
int16_t roll;
int16_t pitch;
int16_t throttle_out;
float accel_y;
};
// Write a control tuning packet. Total length : 22 bytes
static void Log_Write_Control_Tuning()
{
Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
steer_out : (int16_t)channel_steer->servo_out,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
throttle_out : (int16_t)channel_throttle->servo_out,
accel_y : accel.y
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint16_t yaw;
float wp_distance;
uint16_t target_bearing_cd;
uint16_t nav_bearing_cd;
int8_t throttle;
};
// Write a navigation tuning packet. Total length : 18 bytes
static void Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
yaw : (uint16_t)ahrs.yaw_sensor,
wp_distance : wp_distance,
target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(),
nav_bearing_cd : (uint16_t)nav_controller->nav_bearing_cd(),
throttle : (int8_t)(100 * channel_throttle->norm_output())
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write an attitude packet
static void Log_Write_Attitude()
{
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct log_Mode {
LOG_PACKET_HEADER;
uint8_t mode;
uint8_t mode_num;
};
// Write a mode packet. Total length : 7 bytes
static void Log_Write_Mode()
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
mode : (uint8_t)control_mode,
mode_num : (uint8_t)control_mode
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Sonar {
LOG_PACKET_HEADER;
float lateral_accel;
uint16_t sonar1_distance;
uint16_t sonar2_distance;
uint16_t detected_count;
int8_t turn_angle;
uint16_t turn_time;
uint16_t ground_speed;
int8_t throttle;
};
// Write a sonar packet
static void Log_Write_Sonar()
{
uint16_t turn_time = 0;
if (obstacle.turn_angle != 0) {
turn_time = hal.scheduler->millis() - obstacle.detected_time_ms;
}
struct log_Sonar pkt = {
LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
lateral_accel : lateral_acceleration,
sonar1_distance : (uint16_t)sonar.distance_cm(),
sonar2_distance : (uint16_t)sonar2.distance_cm(),
detected_count : obstacle.detected_count,
turn_angle : (int8_t)obstacle.turn_angle,
turn_time : turn_time,
ground_speed : (uint16_t)(ground_speed*100),
throttle : (int8_t)(100 * channel_throttle->norm_output())
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Current {
LOG_PACKET_HEADER;
int16_t throttle_in;
int16_t battery_voltage;
int16_t current_amps;
uint16_t board_voltage;
float current_total;
};
static void Log_Write_Current()
{
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
throttle_in : channel_throttle->control_in,
battery_voltage : (int16_t)(battery.voltage() * 100.0),
current_amps : (int16_t)(battery.current_amps() * 100.0),
board_voltage : board_voltage(),
current_total : battery.current_total_mah()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Compass {
LOG_PACKET_HEADER;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
int16_t motor_offset_x;
int16_t motor_offset_y;
int16_t motor_offset_z;
};
// Write a Compass packet. Total length : 15 bytes
static void Log_Write_Compass()
{
Vector3f mag_offsets = compass.get_offsets();
Vector3f mag_motor_offsets = compass.get_motor_offsets();
struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
mag_x : compass.mag_x,
mag_y : compass.mag_y,
mag_z : compass.mag_z,
offset_x : (int16_t)mag_offsets.x,
offset_y : (int16_t)mag_offsets.y,
offset_z : (int16_t)mag_offsets.z,
motor_offset_x : (int16_t)mag_motor_offsets.x,
motor_offset_y : (int16_t)mag_motor_offsets.y,
motor_offset_z : (int16_t)mag_motor_offsets.z
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "ccC", "Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHIBBBhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,I2CErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "BB", "SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "hcchf", "Steer,Roll,Pitch,ThrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "HfHHb", "Yaw,WpDist,TargBrg,NavBrg,Thr" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "fHHHbHCb", "LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
{ LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "hhhHf", "Thr,Volt,Curr,Vcc,CurrTot" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "MB", "Mode,ModeNum" },
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "hhhhhhhhh", "MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
};
// Read the DataFlash log memory : Packet Parser
static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
{
cliSerial->printf_P(PSTR("\n" THISFIRMWARE
"\nFree RAM: %u\n"),
(unsigned) memcheck_available_memory());
cliSerial->println_P(PSTR(HAL_BOARD_NAME));
DataFlash.LogReadProcess(log_num, start_page, end_page,
sizeof(log_structure)/sizeof(log_structure[0]),
log_structure,
print_mode,
cliSerial);
}
// start a new log
static void start_logging()
{
DataFlash.StartNewLog(sizeof(log_structure)/sizeof(log_structure[0]), log_structure);
}
#else // LOGGING_ENABLED
// dummy functions
static void Log_Write_Startup(uint8_t type) {}
static void Log_Write_Cmd(uint8_t num, const struct Location *wp) {}
static void Log_Write_Current() {}
static void Log_Write_Nav_Tuning() {}
static void Log_Write_Performance() {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
static void Log_Write_Control_Tuning() {}
static void Log_Write_Sonar() {}
static void Log_Write_Mode() {}
static void Log_Write_Attitude() {}
static void Log_Write_Compass() {}
static void start_logging() {}
#endif // LOGGING_ENABLED
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