mirror of https://github.com/ArduPilot/ardupilot
1177 lines
38 KiB
Plaintext
1177 lines
38 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if LOGGING_ENABLED == ENABLED
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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 bool print_log_menu(void);
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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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* return 0;
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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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};
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static int32_t get_int(float f)
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{
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float_int.float_value = f;
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return float_int.int_value;
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}
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static float get_float(int32_t i)
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{
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float_int.int_value = i;
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return float_int.float_value;
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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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int16_t log_start;
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int16_t log_end;
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int16_t temp;
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int16_t last_log_num = DataFlash.find_last_log();
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uint16_t num_logs = DataFlash.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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if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) Serial.printf_P(PSTR(" ATTITUDE_FAST"));
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if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) Serial.printf_P(PSTR(" ATTITUDE_MED"));
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if (g.log_bitmask & MASK_LOG_GPS) Serial.printf_P(PSTR(" GPS"));
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if (g.log_bitmask & MASK_LOG_PM) Serial.printf_P(PSTR(" PM"));
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if (g.log_bitmask & MASK_LOG_CTUN) Serial.printf_P(PSTR(" CTUN"));
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if (g.log_bitmask & MASK_LOG_NTUN) Serial.printf_P(PSTR(" NTUN"));
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if (g.log_bitmask & MASK_LOG_RAW) Serial.printf_P(PSTR(" RAW"));
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if (g.log_bitmask & MASK_LOG_CMD) Serial.printf_P(PSTR(" CMD"));
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if (g.log_bitmask & MASK_LOG_CUR) Serial.printf_P(PSTR(" CURRENT"));
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if (g.log_bitmask & MASK_LOG_MOTORS) Serial.printf_P(PSTR(" MOTORS"));
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if (g.log_bitmask & MASK_LOG_OPTFLOW) Serial.printf_P(PSTR(" OPTFLOW"));
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if (g.log_bitmask & MASK_LOG_PID) Serial.printf_P(PSTR(" PID"));
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if (g.log_bitmask & MASK_LOG_ITERM) Serial.printf_P(PSTR(" ITERM"));
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}
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Serial.println();
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if (num_logs == 0) {
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Serial.printf_P(PSTR("\nNo logs\n\n"));
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}else{
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Serial.printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs);
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for(int16_t i=num_logs; i>=1; i--) {
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int16_t last_log_start = log_start, last_log_end = log_end;
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temp = last_log_num-i+1;
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DataFlash.get_log_boundaries(temp, log_start, log_end);
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Serial.printf_P(PSTR("Log %d, start %d, end %d\n"), (int)temp, (int)log_start, (int)log_end);
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if (last_log_start == log_start && last_log_end == log_end) {
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// we are printing bogus logs
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break;
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}
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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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int16_t dump_log;
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int16_t dump_log_start;
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int16_t dump_log_end;
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int16_t 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 = DataFlash.find_last_log();
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if (dump_log == -2) {
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for(uint16_t count=1; count<=DataFlash.df_NumPages; count++) {
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DataFlash.StartRead(count);
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Serial.printf_P(PSTR("DF page, log file #, log page: %d,\t"), (int)count);
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Serial.printf_P(PSTR("%d,\t"), (int)DataFlash.GetFileNumber());
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Serial.printf_P(PSTR("%d\n"), (int)DataFlash.GetFilePage());
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}
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return(-1);
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} else if (dump_log <= 0) {
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Serial.printf_P(PSTR("dumping all\n"));
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Log_Read(1, DataFlash.df_NumPages);
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return(-1);
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} else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (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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DataFlash.get_log_boundaries(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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*/
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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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return (0);
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}
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static void do_erase_logs(void)
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{
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gcs_send_text_P(SEVERITY_LOW, PSTR("Erasing logs\n"));
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DataFlash.EraseAll(mavlink_delay);
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gcs_send_text_P(SEVERITY_LOW, PSTR("Log erase complete\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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in_mavlink_delay = true;
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do_erase_logs();
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in_mavlink_delay = false;
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return 0;
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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 = ~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(CUR);
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TARG(MOTORS);
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TARG(OPTFLOW);
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TARG(PID);
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TARG(ITERM);
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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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static 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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return 0;
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}
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// print_latlon - prints an latitude or longitude value held in an int32_t
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// probably this should be moved to AP_Common
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void print_latlon(BetterStream *s, int32_t lat_or_lon)
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{
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int32_t dec_portion, frac_portion;
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int32_t abs_lat_or_lon = labs(lat_or_lon);
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// extract decimal portion (special handling of negative numbers to ensure we round towards zero)
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dec_portion = abs_lat_or_lon / T7;
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// extract fractional portion
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frac_portion = abs_lat_or_lon - dec_portion*T7;
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// print output including the minus sign
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if( lat_or_lon < 0 ) {
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s->printf_P(PSTR("-"));
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}
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s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion);
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}
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// Write an GPS packet. Total length : 31 bytes
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static 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->num_sats); // 2
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DataFlash.WriteLong(current_loc.lat); // 3
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DataFlash.WriteLong(current_loc.lng); // 4
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DataFlash.WriteLong(current_loc.alt); // 5
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DataFlash.WriteLong(g_gps->altitude); // 6
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DataFlash.WriteInt(g_gps->ground_speed); // 7
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DataFlash.WriteLong(g_gps->ground_course); // 8
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DataFlash.WriteByte(END_BYTE);
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}
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// Read a GPS packet
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static void Log_Read_GPS()
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{
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int32_t temp1 = DataFlash.ReadLong(); // 1 time
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int8_t temp2 = DataFlash.ReadByte(); // 2 sats
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int32_t temp3 = DataFlash.ReadLong(); // 3 lat
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int32_t temp4 = DataFlash.ReadLong(); // 4 lon
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float temp5 = DataFlash.ReadLong() / 100.0; // 5 sensor alt
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float temp6 = DataFlash.ReadLong() / 100.0; // 6 gps alt
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int16_t temp7 = DataFlash.ReadInt(); // 7 ground speed
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int32_t temp8 = DataFlash.ReadLong(); // 8 ground course
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// 1 2 3 4 5 6 7 8
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Serial.printf_P(PSTR("GPS, %ld, %d, "),
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(long)temp1, // 1 time
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(int)temp2); // 2 sats
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print_latlon(&Serial, temp3);
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Serial.print_P(PSTR(", "));
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print_latlon(&Serial, temp4);
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Serial.printf_P(PSTR(", %4.4f, %4.4f, %d, %ld\n"),
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temp5, // 5 gps alt
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temp6, // 6 sensor alt
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(int)temp7, // 7 ground speed
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(long)temp8); // 8 ground course
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}
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#if INERTIAL_NAV == ENABLED
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static void Log_Write_Raw()
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{
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Vector3f gyro = ins.get_gyro();
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Vector3f accel = ins.get_accel();
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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(get_int(accels_velocity.x));
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DataFlash.WriteInt(x_actual_speed);
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DataFlash.WriteLong(get_int(accels_velocity.y));
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DataFlash.WriteInt(y_actual_speed);
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DataFlash.WriteLong(get_int(accels_velocity.z));
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DataFlash.WriteInt(climb_rate_actual);
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//DataFlash.WriteLong(get_int(accel.x));
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//DataFlash.WriteLong(get_int(accel.y));
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//DataFlash.WriteLong(get_int(accel.z));
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DataFlash.WriteByte(END_BYTE);
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}
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// Read a raw accel/gyro packet
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static void Log_Read_Raw()
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{
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/*
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* float logvar;
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* Serial.printf_P(PSTR("RAW,"));
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* for (int16_t y = 0; y < 9; y++) {
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* logvar = get_float(DataFlash.ReadLong());
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* Serial.print(logvar);
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* Serial.print(", ");
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* }
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* Serial.println(" ");
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*/
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float vx = get_float(DataFlash.ReadLong());
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int16_t sx = DataFlash.ReadInt();
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float vy = get_float(DataFlash.ReadLong());
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int16_t sy = DataFlash.ReadInt();
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float vz = get_float(DataFlash.ReadLong());
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int16_t sz = DataFlash.ReadInt();
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Serial.printf_P(PSTR("RAW, %1.4f, %d, %1.4f, %d, %1.4f, %d\n"),
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vx,
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(int)sx,
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vy,
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(int)sy,
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vz,
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(int)sz);
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}
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#else
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static void Log_Write_Raw()
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{
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Vector3f gyro = ins.get_gyro();
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Vector3f accel = ins.get_accel();
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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(get_int(gyro.x));
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DataFlash.WriteLong(get_int(gyro.y));
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DataFlash.WriteLong(get_int(gyro.z));
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DataFlash.WriteLong(get_int(accel.x));
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DataFlash.WriteLong(get_int(accel.y));
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DataFlash.WriteLong(get_int(accel.z));
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DataFlash.WriteByte(END_BYTE);
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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_RAW_MSG);
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DataFlash.WriteLong(get_int(ahrs._omega_I.x));
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DataFlash.WriteLong(get_int(ahrs._omega_I.y));
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DataFlash.WriteByte(END_BYTE);
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*/
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}
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// Read a raw accel/gyro packet
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static void Log_Read_Raw()
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{
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float logvar;
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Serial.printf_P(PSTR("RAW,"));
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for (int16_t y = 0; y < 6; y++) {
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logvar = get_float(DataFlash.ReadLong());
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Serial.print(logvar);
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Serial.print_P(PSTR(", "));
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}
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Serial.println_P(PSTR(" "));
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/*
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float temp1 = get_float(DataFlash.ReadLong());
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float temp2 = get_float(DataFlash.ReadLong());
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Serial.printf_P(PSTR("RAW, %4.4f, %4.4f\n"),
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temp1,
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temp2);
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*/
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}
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#endif
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// Write an Current data packet. Total length : 16 bytes
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static 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); // 1
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DataFlash.WriteLong(throttle_integrator); // 2
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DataFlash.WriteInt(battery_voltage1 * 100.0); // 3
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DataFlash.WriteInt(current_amps1 * 100.0); // 4
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DataFlash.WriteInt(current_total1); // 5
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DataFlash.WriteByte(END_BYTE);
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}
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// Read a Current packet
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static void Log_Read_Current()
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{
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int16_t temp1 = DataFlash.ReadInt(); // 1
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int32_t temp2 = DataFlash.ReadLong(); // 2
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float temp3 = DataFlash.ReadInt() / 100.f; // 3
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float temp4 = DataFlash.ReadInt() / 100.f; // 4
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int16_t temp5 = DataFlash.ReadInt(); // 5
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// 1 2 3 4 5
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Serial.printf_P(PSTR("CURR, %d, %ld, %4.4f, %4.4f, %d\n"),
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(int)temp1,
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(long)temp2,
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temp3,
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temp4,
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(int)temp5);
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}
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// Write an Motors packet. Total length : 12 ~ 20 bytes
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static void Log_Write_Motors()
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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_MOTORS_MSG);
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#if FRAME_CONFIG == TRI_FRAME
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //3
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DataFlash.WriteInt(g.rc_4.radio_out); //4
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#elif FRAME_CONFIG == HEXA_FRAME
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //4
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]); //5
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //6
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#elif FRAME_CONFIG == Y6_FRAME
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//left
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //2
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//right
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]); //3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //4
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//back
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //5
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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
|
|
Serial.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
|
|
Serial.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
|
|
Serial.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
|
|
Serial.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()
|
|
{
|
|
#ifdef 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
|
|
}
|
|
|
|
// Read an optical flow packet.
|
|
static void Log_Read_Optflow()
|
|
{
|
|
#ifdef OPTFLOW_ENABLED
|
|
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
|
|
|
|
Serial.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);
|
|
#endif
|
|
}
|
|
|
|
// 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(x_actual_speed); // 7
|
|
DataFlash.WriteInt(y_actual_speed); // 8
|
|
|
|
DataFlash.WriteByte(END_BYTE);
|
|
}
|
|
|
|
// Read a Nav Tuning packet.
|
|
static void Log_Read_Nav_Tuning()
|
|
{
|
|
int16_t temp;
|
|
|
|
Serial.printf_P(PSTR("NTUN, "));
|
|
|
|
for(int8_t i = 1; i < 8; i++ ) {
|
|
temp = DataFlash.ReadInt();
|
|
Serial.printf_P(PSTR("%d, "), (int)temp);
|
|
}
|
|
// read 8
|
|
temp = DataFlash.ReadInt();
|
|
Serial.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.WriteByte(END_BYTE);
|
|
}
|
|
|
|
// Read an control tuning packet
|
|
static void Log_Read_Control_Tuning()
|
|
{
|
|
int16_t temp;
|
|
|
|
Serial.printf_P(PSTR("CTUN, "));
|
|
|
|
for(uint8_t i = 1; i < 8; i++ ) {
|
|
temp = DataFlash.ReadInt();
|
|
Serial.printf_P(PSTR("%d, "), (int)temp);
|
|
}
|
|
// read 8
|
|
temp = DataFlash.ReadInt();
|
|
Serial.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;
|
|
|
|
Serial.printf_P(PSTR("ITERM, "));
|
|
|
|
for(uint8_t i = 1; i < 12; i++ ) {
|
|
temp = DataFlash.ReadInt();
|
|
Serial.printf_P(PSTR("%d, "), (int)temp);
|
|
}
|
|
// read 12
|
|
temp = DataFlash.ReadInt();
|
|
Serial.println((int)temp);
|
|
}
|
|
|
|
|
|
// Write a performance monitoring packet. Total length : 9 bytes
|
|
static void Log_Write_Performance()
|
|
{
|
|
DataFlash.WriteByte(HEAD_BYTE1);
|
|
DataFlash.WriteByte(HEAD_BYTE2);
|
|
DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
|
|
DataFlash.WriteByte( 0); //1 - was adc_constraints
|
|
DataFlash.WriteByte( ahrs.renorm_range_count); //2
|
|
DataFlash.WriteByte( ahrs.renorm_blowup_count); //3
|
|
DataFlash.WriteByte( gps_fix_count); //4
|
|
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();
|
|
int8_t temp4 = DataFlash.ReadByte();
|
|
|
|
//1 2 3 4
|
|
Serial.printf_P(PSTR("PM, %d, %d, %d, %d\n"),
|
|
(int)temp1,
|
|
(int)temp2,
|
|
(int)temp3,
|
|
(int)temp4);
|
|
}
|
|
|
|
// 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
|
|
Serial.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
|
|
Serial.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 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()
|
|
{
|
|
Serial.printf_P(PSTR("MOD:"));
|
|
print_flight_mode(DataFlash.ReadByte());
|
|
Serial.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()
|
|
{
|
|
Serial.printf_P(PSTR("START UP\n"));
|
|
}
|
|
|
|
static void Log_Write_Data(int8_t _type, float _data)
|
|
{
|
|
DataFlash.WriteByte(HEAD_BYTE1);
|
|
DataFlash.WriteByte(HEAD_BYTE2);
|
|
DataFlash.WriteByte(LOG_DATA_MSG);
|
|
DataFlash.WriteByte(_type);
|
|
DataFlash.WriteByte(1);
|
|
DataFlash.WriteLong(get_int(_data));
|
|
DataFlash.WriteByte(END_BYTE);
|
|
}
|
|
|
|
static void Log_Write_Data(int8_t _type, int32_t _data)
|
|
{
|
|
DataFlash.WriteByte(HEAD_BYTE1);
|
|
DataFlash.WriteByte(HEAD_BYTE2);
|
|
DataFlash.WriteByte(LOG_DATA_MSG);
|
|
DataFlash.WriteByte(_type);
|
|
DataFlash.WriteByte(0);
|
|
DataFlash.WriteLong(_data);
|
|
DataFlash.WriteByte(END_BYTE);
|
|
}
|
|
|
|
// Read a mode packet
|
|
static void Log_Read_Data()
|
|
{
|
|
int8_t temp1 = DataFlash.ReadByte();
|
|
int8_t temp2 = DataFlash.ReadByte();
|
|
|
|
if(temp2 == 1) {
|
|
float temp3 = get_float(DataFlash.ReadLong());
|
|
Serial.printf_P(PSTR("DATA: %d, %1.6f\n"), (int)temp1, temp3);
|
|
}else{
|
|
int32_t temp3 = DataFlash.ReadLong();
|
|
Serial.printf_P(PSTR("DATA: %d, %ld\n"), (int)temp1, (long)temp3);
|
|
}
|
|
}
|
|
|
|
// 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
|
|
Serial.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
|
|
Serial.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
|
|
Serial.printf_P(PSTR((AIRFRAME_NAME)
|
|
#endif
|
|
|
|
Serial.printf_P(PSTR("\n" THISFIRMWARE
|
|
"\nFree RAM: %u\n"),
|
|
(unsigned) memcheck_available_memory());
|
|
|
|
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
|
|
Serial.printf_P(PSTR("APM 2\n"));
|
|
#elif CONFIG_APM_HARDWARE == APM2_BETA_HARDWARE
|
|
Serial.printf_P(PSTR("APM 2Beta\n"));
|
|
#else
|
|
Serial.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);
|
|
}
|
|
|
|
//Serial.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;
|
|
Serial.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;
|
|
}
|
|
break;
|
|
case 3:
|
|
if(data == END_BYTE){
|
|
packet_count++;
|
|
}else{
|
|
Serial.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(int8_t _type, float _data){
|
|
}
|
|
static void Log_Write_Data(int8_t _type, int32_t _data){
|
|
}
|
|
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
|