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ardupilot/ArduCopterMega/Log.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
// 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 int8_t print_log_menu(uint8_t argc, const Menu::arg *argv);
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)
{
Serial.printf_P(PSTR("\n"
"Commands:\n"
" dump <n> dump log <n>\n"
" erase erase all logs\n"
" enable <name>|all enable logging <name> or everything\n"
" disable <name>|all disable logging <name> or everything\n"
"\n"));
}
// 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},
{"help", help_log}
};
// A Macro to create the Menu
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
static bool
print_log_menu(void)
{
int log_start;
int log_end;
byte last_log_num = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM);
Serial.printf_P(PSTR("logs enabled: "));
if (0 == log_bitmask) {
Serial.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 (log_bitmask & LOGBIT_ ## _s) Serial.printf_P(PSTR(" %S"), PSTR(#_s))
PLOG(ATTITUDE_FAST);
PLOG(ATTITUDE_MED);
PLOG(GPS);
PLOG(PM);
PLOG(CTUN);
PLOG(NTUN);
PLOG(MODE);
PLOG(RAW);
PLOG(CMD);
PLOG(CURRENT);
#undef PLOG
}
Serial.println();
if (last_log_num == 0) {
Serial.printf_P(PSTR("\nNo logs available for download\n"));
} else {
Serial.printf_P(PSTR("\n%d logs available for download\n"), last_log_num);
for(int i=1;i<last_log_num+1;i++) {
log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i-1)*0x02));
log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i)*0x02))-1;
if (i == last_log_num) {
log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE);
}
Serial.printf_P(PSTR("Log number %d, start page %d, end page %d\n"),
i, log_start, log_end);
}
Serial.println();
}
return(true);
}
static int8_t
dump_log(uint8_t argc, const Menu::arg *argv)
{
byte 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 = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM);
if ((argc != 2) || (dump_log < 1) || (dump_log > last_log_num)) {
Serial.printf_P(PSTR("bad log number\n"));
return(-1);
}
dump_log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log-1)*0x02));
dump_log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log)*0x02))-1;
if (dump_log == last_log_num) {
dump_log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE);
}
Serial.printf_P(PSTR("Dumping Log number %d, start page %d, end page %d\n"),
dump_log, dump_log_start, dump_log_end);
Log_Read(dump_log_start, dump_log_end);
Serial.printf_P(PSTR("Log read complete\n"));
}
static int8_t
erase_logs(uint8_t argc, const Menu::arg *argv)
{
for(int i = 10 ; i > 0; i--) {
Serial.printf_P(PSTR("ATTENTION - Erasing log in %d seconds. Power off now to save log! \n"), i);
delay(1000);
}
Serial.printf_P(PSTR("\nErasing log...\n"));
for(int j = 1; j < 4001; j++)
DataFlash.PageErase(j);
eeprom_write_byte((uint8_t *)EE_LAST_LOG_NUM, 0);
eeprom_write_byte((uint8_t *)EE_LAST_LOG_PAGE, 1);
Serial.printf_P(PSTR("\nLog erased.\n"));
}
static int8_t
select_logs(uint8_t argc, const Menu::arg *argv)
{
uint16_t bits;
if (argc != 2) {
Serial.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 = ~(bits = 0);
} else {
#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(#_s))) bits |= LOGBIT_ ## _s
TARG(ATTITUDE_FAST);
TARG(ATTITUDE_MED);
TARG(GPS);
TARG(PM);
TARG(CTUN);
TARG(NTUN);
TARG(MODE);
TARG(RAW);
TARG(CMD);
TARG(CURRENT);
#undef TARG
}
if (!strcasecmp_P(argv[0].str, PSTR("enable"))) {
log_bitmask |= bits;
} else {
log_bitmask &= ~bits;
}
save_EEPROM_logs(); // XXX this is a bit heavyweight...
return(0);
}
int8_t
process_logs(uint8_t argc, const Menu::arg *argv)
{
log_menu.run();
}
// Write an attitude packet. Total length : 10 bytes
void Log_Write_Attitude(int log_roll, int log_pitch, uint16_t log_yaw)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt(log_roll);
DataFlash.WriteInt(log_pitch);
DataFlash.WriteInt(log_yaw);
DataFlash.WriteByte(END_BYTE);
}
// 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);
}
// Write a command processing packet. Total length : 19 bytes
//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(num);
DataFlash.WriteByte(wp->id);
DataFlash.WriteByte(wp->p1);
DataFlash.WriteLong(wp->alt);
DataFlash.WriteLong(wp->lat);
DataFlash.WriteLong(wp->lng);
DataFlash.WriteByte(END_BYTE);
}
void Log_Write_Startup(byte type)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_STARTUP_MSG);
DataFlash.WriteByte(type);
DataFlash.WriteByte(wp_total);
DataFlash.WriteByte(END_BYTE);
// create a location struct to hold the temp Waypoints for printing
struct Location cmd = get_wp_with_index(0);
Log_Write_Cmd(0, &cmd);
for (int i=1; i<wp_total; i++){
cmd = get_wp_with_index(i);
Log_Write_Cmd(i, &cmd);
}
}
// Write a control tuning packet. Total length : 22 bytes
void Log_Write_Control_Tuning()
{
// DCM is adjusted for centripital, IMU is not
Vector3f accel = dcm.get_accel();
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
DataFlash.WriteInt((int)(rc_1.servo_out));
DataFlash.WriteInt((int)nav_roll);
DataFlash.WriteInt((int)dcm.roll_sensor);
DataFlash.WriteInt((int)(rc_2.servo_out));
DataFlash.WriteInt((int)nav_pitch);
DataFlash.WriteInt((int)dcm.pitch_sensor);
DataFlash.WriteInt((int)(rc_3.servo_out));
DataFlash.WriteInt((int)(rc_4.servo_out));
DataFlash.WriteInt((int)(accel.y * 10000));
DataFlash.WriteByte(END_BYTE);
}
// Write a navigation tuning packet. Total length : 18 bytes
void Log_Write_Nav_Tuning()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_NAV_TUNING_MSG);
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor);
DataFlash.WriteInt((int)wp_distance);
DataFlash.WriteInt((uint16_t)target_bearing);
DataFlash.WriteInt((uint16_t)nav_bearing);
DataFlash.WriteInt(altitude_error);
DataFlash.WriteInt((int)airspeed);
//DataFlash.WriteInt((int)(nav_gain_scaler*1000));
DataFlash.WriteByte(END_BYTE);
}
// Write a mode packet. Total length : 5 bytes
void Log_Write_Mode(byte mode)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_MODE_MSG);
DataFlash.WriteByte(mode);
DataFlash.WriteByte(END_BYTE);
}
// Write an GPS packet. Total length : 30 bytes
void Log_Write_GPS( long log_Time, long log_Lattitude, long log_Longitude, long log_mix_alt, long log_gps_alt,
long log_Ground_Speed, long log_Ground_Course, byte log_Fix, byte log_NumSats)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_GPS_MSG);
DataFlash.WriteLong(log_Time);
DataFlash.WriteByte(log_Fix);
DataFlash.WriteByte(log_NumSats);
DataFlash.WriteLong(log_Lattitude);
DataFlash.WriteLong(log_Longitude);
DataFlash.WriteLong(log_mix_alt);
DataFlash.WriteLong(log_gps_alt);
DataFlash.WriteLong(log_Ground_Speed);
DataFlash.WriteLong(log_Ground_Course);
DataFlash.WriteByte(END_BYTE);
DataFlash.WriteByte(END_BYTE);
}
// Write an raw accel/gyro data packet. Total length : 28 bytes
void Log_Write_Raw()
{
Vector3f gyro = dcm.get_gyro();
Vector3f accel = dcm.get_accel();
gyro *= t7; // Scale up for storage as long integers
accel *= t7;
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_RAW_MSG);
DataFlash.WriteLong((long)gyro.x);
DataFlash.WriteLong((long)gyro.y);
DataFlash.WriteLong((long)gyro.z);
DataFlash.WriteLong((long)accel.x);
DataFlash.WriteLong((long)accel.y);
DataFlash.WriteLong((long)accel.z);
DataFlash.WriteByte(END_BYTE);
}
void Log_Write_Current()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CURRENT_MSG);
DataFlash.WriteInt((int)(current_voltage * 100.0));
DataFlash.WriteInt((int)(current_amps * 100.0));
DataFlash.WriteInt((int)(current_total * 10.0));
DataFlash.WriteByte(END_BYTE);
}
// Read a Current packet
void Log_Read_Current()
{
Serial.print("CURR:");
Serial.print((float)DataFlash.ReadInt() / 100.f);
Serial.print(comma);
Serial.print((float)DataFlash.ReadInt() / 100.f);
Serial.print(comma);
Serial.print((float)DataFlash.ReadInt() / 10.f);
Serial.println();
}
// Read an control tuning packet
void Log_Read_Control_Tuning()
{
float logvar;
Serial.print("CTUN:");
for (int y=1;y<10;y++) {
logvar = DataFlash.ReadInt();
if(y < 8) logvar = logvar/100.f;
if(y == 9) logvar = logvar/10000.f;
Serial.print(logvar);
Serial.print(comma);
}
Serial.println(" ");
}
// Read a nav tuning packet
void Log_Read_Nav_Tuning()
{
Serial.print("NTUN:");
Serial.print((float)((uint16_t)DataFlash.ReadInt())/100.0); // Yaw from IMU
Serial.print(comma);
Serial.print(DataFlash.ReadInt()); // wp_distance
Serial.print(comma);
Serial.print((float)((uint16_t)DataFlash.ReadInt())/100.0); // target_bearing - Bearing to Target
Serial.print(comma);
Serial.print((float)((uint16_t)DataFlash.ReadInt())/100.0); // nav_bearing - Bearing to steer
Serial.print(comma);
Serial.print((float)DataFlash.ReadInt()/100.0); // Altitude error
Serial.print(comma);
Serial.print((float)DataFlash.ReadInt()/100.0); // Airspeed
Serial.println(comma);
//Serial.print((float)DataFlash.ReadInt()/1000.0); // nav_gain_scaler
//Serial.println(comma);
}
// Read a performance packet
void Log_Read_Performance()
{
long pm_time;
int logvar;
Serial.print("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();
//if(y > 7) logvar = logvar/1000.f;
Serial.print(logvar);
Serial.print(comma);
}
Serial.println(" ");
}
// Read a command processing packet
void Log_Read_Cmd()
{
byte logvarb;
long logvarl;
Serial.print("CMD:");
for(int i=1;i<4;i++) {
logvarb = DataFlash.ReadByte();
Serial.print(logvarb,DEC);
Serial.print(comma);
}
for(int i=1;i<4;i++) {
logvarl = DataFlash.ReadLong();
Serial.print(logvarl,DEC);
Serial.print(comma);
}
Serial.println(" ");
}
void Log_Read_Startup()
{
byte logbyte = DataFlash.ReadByte();
if (logbyte == TYPE_AIRSTART_MSG)
Serial.print("AIR START - ");
else if (logbyte == TYPE_GROUNDSTART_MSG)
Serial.print("GROUND START - ");
else
Serial.print("UNKNOWN STARTUP TYPE -");
Serial.print(DataFlash.ReadByte(), DEC);
Serial.println(" commands in memory");
}
// Read an attitude packet
void Log_Read_Attitude()
{
int log_roll;
int log_pitch;
uint16_t log_yaw;
log_roll = DataFlash.ReadInt();
log_pitch = DataFlash.ReadInt();
log_yaw = (uint16_t)DataFlash.ReadInt();
Serial.print("ATT:");
Serial.print(log_roll);
Serial.print(comma);
Serial.print(log_pitch);
Serial.print(comma);
Serial.print(log_yaw);
Serial.println();
}
// Read a mode packet
void Log_Read_Mode()
{
byte mode;
mode = DataFlash.ReadByte();
Serial.print("MOD:");
Serial.println(flight_mode_strings[control_mode]);
}
// Read a GPS packet
void Log_Read_GPS()
{
Serial.print("GPS:");
Serial.print(DataFlash.ReadLong()); // Time
Serial.print(comma);
Serial.print((int)DataFlash.ReadByte()); // Fix
Serial.print(comma);
Serial.print((int)DataFlash.ReadByte()); // Num of Sats
Serial.print(comma);
Serial.print((float)DataFlash.ReadLong()/t7, 7); // Lattitude
Serial.print(comma);
Serial.print((float)DataFlash.ReadLong()/t7, 7); // Longitude
Serial.print(comma);
Serial.print((float)DataFlash.ReadLong()/100.0); // Baro/gps altitude mix
Serial.print(comma);
Serial.print((float)DataFlash.ReadLong()/100.0); // GPS altitude
Serial.print(comma);
Serial.print((float)DataFlash.ReadLong()/100.0); // Ground Speed
Serial.print(comma);
Serial.println((float)DataFlash.ReadLong()/100.0); // Ground Course
}
// Read a raw accel/gyro packet
void Log_Read_Raw()
{
float logvar;
Serial.print("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();
switch(log_step) //This is a state machine to read the packets
{
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_STARTUP_MSG){
Log_Read_Startup();
log_step++;
}else {
if(data==LOG_GPS_MSG){
Log_Read_GPS();
log_step++;
} else {
Serial.print("Error Reading Packet: ");
Serial.print(packet_count);
log_step=0; // Restart, we have a problem...
}
}
break;
case 3:
if(data==END_BYTE){
packet_count++;
}else{
Serial.print("Error Reading END_BYTE ");
Serial.println(data,DEC);
}
log_step=0; // Restart sequence: new packet...
break;
}
page = DataFlash.GetPage();
}
Serial.print("Number of packets read: ");
Serial.println(packet_count);
}
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