mirror of https://github.com/ArduPilot/ardupilot
514 lines
14 KiB
C++
514 lines
14 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/* ************************************************************ */
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/* Test for DataFlash Log library */
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/* ************************************************************ */
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#ifndef DataFlash_h
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#define DataFlash_h
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_GPS.h>
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#include <AP_InertialSensor.h>
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#include <AP_Baro.h>
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#include <AP_AHRS.h>
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#include <stdint.h>
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#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 && defined(APM_BUILD_DIRECTORY)
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#if (APM_BUILD_TYPE(APM_BUILD_ArduCopter) || defined(__AVR_ATmega1280__))
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#define DATAFLASH_NO_CLI
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#endif
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#endif
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class DataFlash_Class
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{
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public:
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// initialisation
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virtual void Init(const struct LogStructure *structure, uint8_t num_types);
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virtual bool CardInserted(void) = 0;
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// erase handling
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virtual bool NeedErase(void) = 0;
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virtual void EraseAll() = 0;
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/* Write a block of data at current offset */
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virtual void WriteBlock(const void *pBuffer, uint16_t size) = 0;
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// high level interface
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virtual uint16_t find_last_log(void) = 0;
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virtual void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page) = 0;
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virtual void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) = 0;
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virtual int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) = 0;
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virtual uint16_t get_num_logs(void) = 0;
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#ifndef DATAFLASH_NO_CLI
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virtual void LogReadProcess(uint16_t log_num,
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uint16_t start_page, uint16_t end_page,
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void (*printMode)(AP_HAL::BetterStream *port, uint8_t mode),
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AP_HAL::BetterStream *port) = 0;
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virtual void DumpPageInfo(AP_HAL::BetterStream *port) = 0;
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virtual void ShowDeviceInfo(AP_HAL::BetterStream *port) = 0;
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virtual void ListAvailableLogs(AP_HAL::BetterStream *port) = 0;
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#endif // DATAFLASH_NO_CLI
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/* logging methods common to all vehicles */
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uint16_t StartNewLog(void);
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void AddLogFormats(const struct LogStructure *structures, uint8_t num_types);
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void EnableWrites(bool enable) { _writes_enabled = enable; }
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void Log_Write_Format(const struct LogStructure *structure);
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void Log_Write_Parameter(const char *name, float value);
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void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, int32_t relative_alt);
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void Log_Write_IMU(const AP_InertialSensor &ins);
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void Log_Write_RCIN(void);
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void Log_Write_RCOUT(void);
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void Log_Write_Baro(AP_Baro &baro);
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void Log_Write_Power(void);
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void Log_Write_AHRS2(AP_AHRS &ahrs);
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#if AP_AHRS_NAVEKF_AVAILABLE
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void Log_Write_EKF(AP_AHRS_NavEKF &ahrs);
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#endif
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void Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
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void Log_Write_Radio(const mavlink_radio_t &packet);
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void Log_Write_Message(const char *message);
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void Log_Write_Message_P(const prog_char_t *message);
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void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location ¤t_loc);
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bool logging_started(void) const { return log_write_started; }
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/*
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every logged packet starts with 3 bytes
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*/
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struct log_Header {
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uint8_t head1, head2, msgid;
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};
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protected:
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/*
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read and print a log entry using the format strings from the given structure
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*/
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void _print_log_entry(uint8_t msg_type,
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void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
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AP_HAL::BetterStream *port);
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void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
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void Log_Write_Parameter(const AP_Param *ap, const AP_Param::ParamToken &token,
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enum ap_var_type type);
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void Log_Write_Parameters(void);
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virtual uint16_t start_new_log(void) = 0;
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const struct LogStructure *_structures;
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uint8_t _num_types;
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bool _writes_enabled;
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bool log_write_started;
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/*
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read a block
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*/
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virtual void ReadBlock(void *pkt, uint16_t size) = 0;
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};
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/*
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unfortunately these need to be macros because of a limitation of
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named member structure initialisation in g++
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*/
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#define LOG_PACKET_HEADER uint8_t head1, head2, msgid;
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#define LOG_PACKET_HEADER_INIT(id) head1 : HEAD_BYTE1, head2 : HEAD_BYTE2, msgid : id
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// once the logging code is all converted we will remove these from
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// this header
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#define HEAD_BYTE1 0xA3 // Decimal 163
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#define HEAD_BYTE2 0x95 // Decimal 149
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/*
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Format characters in the format string for binary log messages
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b : int8_t
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B : uint8_t
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h : int16_t
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H : uint16_t
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i : int32_t
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I : uint32_t
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f : float
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n : char[4]
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N : char[16]
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Z : char[64]
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c : int16_t * 100
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C : uint16_t * 100
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e : int32_t * 100
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E : uint32_t * 100
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L : int32_t latitude/longitude
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M : uint8_t flight mode
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*/
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// structure used to define logging format
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struct LogStructure {
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uint8_t msg_type;
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uint8_t msg_len;
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const char name[5];
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const char format[16];
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const char labels[64];
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};
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/*
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log structures common to all vehicle types
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*/
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struct PACKED log_Format {
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LOG_PACKET_HEADER;
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uint8_t type;
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uint8_t length;
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char name[4];
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char format[16];
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char labels[64];
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};
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struct PACKED log_Parameter {
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LOG_PACKET_HEADER;
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char name[16];
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float value;
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};
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struct PACKED log_GPS {
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LOG_PACKET_HEADER;
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uint8_t status;
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uint32_t gps_week_ms;
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uint16_t gps_week;
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uint8_t num_sats;
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uint16_t hdop;
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int32_t latitude;
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int32_t longitude;
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int32_t rel_altitude;
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int32_t altitude;
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uint32_t ground_speed;
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int32_t ground_course;
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float vel_z;
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uint32_t apm_time;
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};
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struct PACKED log_GPS2 {
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LOG_PACKET_HEADER;
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uint8_t status;
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uint32_t gps_week_ms;
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uint16_t gps_week;
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uint8_t num_sats;
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uint16_t hdop;
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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uint32_t ground_speed;
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int32_t ground_course;
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float vel_z;
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uint32_t apm_time;
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uint8_t dgps_numch;
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uint32_t dgps_age;
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};
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struct PACKED log_Message {
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LOG_PACKET_HEADER;
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char msg[64];
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};
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struct PACKED log_IMU {
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LOG_PACKET_HEADER;
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uint32_t timestamp;
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float gyro_x, gyro_y, gyro_z;
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float accel_x, accel_y, accel_z;
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};
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struct PACKED log_RCIN {
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LOG_PACKET_HEADER;
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uint32_t timestamp;
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uint16_t chan1;
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uint16_t chan2;
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uint16_t chan3;
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uint16_t chan4;
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uint16_t chan5;
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uint16_t chan6;
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uint16_t chan7;
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uint16_t chan8;
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uint16_t chan9;
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uint16_t chan10;
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uint16_t chan11;
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uint16_t chan12;
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uint16_t chan13;
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uint16_t chan14;
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};
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struct PACKED log_RCOUT {
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LOG_PACKET_HEADER;
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uint32_t timestamp;
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uint16_t chan1;
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uint16_t chan2;
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uint16_t chan3;
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uint16_t chan4;
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uint16_t chan5;
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uint16_t chan6;
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uint16_t chan7;
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uint16_t chan8;
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};
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struct PACKED log_BARO {
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LOG_PACKET_HEADER;
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uint32_t timestamp;
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float altitude;
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float pressure;
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int16_t temperature;
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float climbrate;
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};
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struct PACKED log_AHRS {
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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int16_t roll;
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int16_t pitch;
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uint16_t yaw;
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float alt;
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int32_t lat;
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int32_t lng;
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};
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struct PACKED log_POWR {
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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uint16_t Vcc;
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uint16_t Vservo;
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uint16_t flags;
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};
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struct PACKED log_EKF1 {
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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int16_t roll;
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int16_t pitch;
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uint16_t yaw;
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float velN;
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float velE;
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float velD;
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float posN;
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float posE;
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float posD;
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int16_t gyrX;
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int16_t gyrY;
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int16_t gyrZ;
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};
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struct PACKED log_EKF2 {
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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int8_t accX;
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int8_t accY;
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int8_t accZ;
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int16_t windN;
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int16_t windE;
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int16_t magN;
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int16_t magE;
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int16_t magD;
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int16_t magX;
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int16_t magY;
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int16_t magZ;
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};
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struct PACKED log_EKF3 {
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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int16_t innovVN;
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int16_t innovVE;
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int16_t innovVD;
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int16_t innovPN;
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int16_t innovPE;
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int16_t innovPD;
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int16_t innovMX;
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int16_t innovMY;
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int16_t innovMZ;
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int16_t innovVT;
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};
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struct PACKED log_EKF4 {
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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int16_t sqrtvarV;
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int16_t sqrtvarP;
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int16_t sqrtvarH;
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int16_t sqrtvarMX;
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int16_t sqrtvarMY;
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int16_t sqrtvarMZ;
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int16_t sqrtvarVT;
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int8_t offsetNorth;
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int8_t offsetEast;
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uint8_t faults;
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uint8_t divergeRate;
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};
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struct PACKED log_Cmd {
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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uint16_t command_total;
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uint16_t sequence;
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uint16_t command;
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float param1;
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float param2;
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float param3;
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float param4;
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float latitude;
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float longitude;
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float altitude;
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};
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struct PACKED log_Radio {
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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uint8_t rssi;
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uint8_t remrssi;
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uint8_t txbuf;
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uint8_t noise;
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uint8_t remnoise;
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uint16_t rxerrors;
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uint16_t fixed;
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};
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struct PACKED log_Camera {
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LOG_PACKET_HEADER;
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uint32_t gps_time;
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uint16_t gps_week;
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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int32_t altitude_rel;
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int16_t roll;
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int16_t pitch;
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uint16_t yaw;
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};
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/*
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terrain log structure
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*/
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struct PACKED log_TERRAIN {
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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uint8_t status;
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int32_t lat;
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int32_t lng;
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uint16_t spacing;
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float terrain_height;
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float current_height;
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uint16_t pending;
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uint16_t loaded;
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};
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/*
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UBlox logging
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*/
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struct PACKED log_Ubx1 {
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LOG_PACKET_HEADER;
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uint32_t timestamp;
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uint8_t instance;
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uint16_t noisePerMS;
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uint8_t jamInd;
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uint8_t aPower;
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};
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struct PACKED log_Ubx2 {
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LOG_PACKET_HEADER;
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uint32_t timestamp;
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uint8_t instance;
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int8_t ofsI;
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uint8_t magI;
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int8_t ofsQ;
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uint8_t magQ;
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};
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// messages for all boards
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#define LOG_BASE_STRUCTURES \
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{ LOG_FORMAT_MSG, sizeof(log_Format), \
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"FMT", "BBnNZ", "Type,Length,Name,Format,Columns" }, \
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{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
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"PARM", "Nf", "Name,Value" }, \
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{ LOG_GPS_MSG, sizeof(log_GPS), \
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"GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \
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{ LOG_IMU_MSG, sizeof(log_IMU), \
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"IMU", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
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{ LOG_MESSAGE_MSG, sizeof(log_Message), \
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"MSG", "Z", "Message"}, \
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{ LOG_RCIN_MSG, sizeof(log_RCIN), \
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"RCIN", "Ihhhhhhhhhhhhhh", "TimeMS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14" }, \
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{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
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"RCOU", "Ihhhhhhhh", "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }, \
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{ LOG_BARO_MSG, sizeof(log_BARO), \
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"BARO", "Iffcf", "TimeMS,Alt,Press,Temp,CRt" }, \
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{ LOG_POWR_MSG, sizeof(log_POWR), \
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"POWR","ICCH","TimeMS,Vcc,VServo,Flags" }, \
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{ LOG_CMD_MSG, sizeof(log_Cmd), \
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"CMD", "IHHHfffffff","TimeMS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \
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{ LOG_RADIO_MSG, sizeof(log_Radio), \
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"RAD", "IBBBBBHH", "TimeMS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \
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{ LOG_CAMERA_MSG, sizeof(log_Camera), \
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"CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }
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// messages for more advanced boards
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#define LOG_EXTRA_STRUCTURES \
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{ LOG_GPS2_MSG, sizeof(log_GPS2), \
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"GPS2", "BIHBcLLeEefIBI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,T,DSc,DAg" }, \
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{ LOG_IMU2_MSG, sizeof(log_IMU), \
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"IMU2", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
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{ LOG_IMU3_MSG, sizeof(log_IMU), \
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"IMU3", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
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{ LOG_AHR2_MSG, sizeof(log_AHRS), \
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"AHR2","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \
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{ LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
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"SIM","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \
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{ LOG_EKF1_MSG, sizeof(log_EKF1), \
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"EKF1","IccCffffffccc","TimeMS,Roll,Pitch,Yaw,VN,VE,VD,PN,PE,PD,GX,GY,GZ" }, \
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{ LOG_EKF2_MSG, sizeof(log_EKF2), \
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"EKF2","Ibbbcchhhhhh","TimeMS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ" }, \
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{ LOG_EKF3_MSG, sizeof(log_EKF3), \
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"EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
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{ LOG_EKF4_MSG, sizeof(log_EKF4), \
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"EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,DS" }, \
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{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
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"TERR","IBLLHffHH","TimeMS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
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{ LOG_UBX1_MSG, sizeof(log_Ubx1), \
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"UBX1", "IBHBB", "TimeMS,Instance,noisePerMS,jamInd,aPower" }, \
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{ LOG_UBX2_MSG, sizeof(log_Ubx2), \
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"UBX2", "IBbBbB", "TimeMS,Instance,ofsI,magI,ofsQ,magQ" }
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
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#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
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#else
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#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES
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#endif
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// message types 0 to 100 reversed for vehicle specific use
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// message types for common messages
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#define LOG_FORMAT_MSG 128
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#define LOG_PARAMETER_MSG 129
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#define LOG_GPS_MSG 130
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#define LOG_IMU_MSG 131
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#define LOG_MESSAGE_MSG 132
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#define LOG_RCIN_MSG 133
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#define LOG_RCOUT_MSG 134
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#define LOG_IMU2_MSG 135
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#define LOG_BARO_MSG 136
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#define LOG_POWR_MSG 137
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#define LOG_AHR2_MSG 138
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#define LOG_SIMSTATE_MSG 139
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#define LOG_EKF1_MSG 140
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#define LOG_EKF2_MSG 141
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#define LOG_EKF3_MSG 142
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#define LOG_EKF4_MSG 143
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#define LOG_GPS2_MSG 144
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#define LOG_CMD_MSG 145
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#define LOG_RADIO_MSG 146
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#define LOG_ATRP_MSG 147
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#define LOG_CAMERA_MSG 148
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#define LOG_IMU3_MSG 149
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#define LOG_TERRAIN_MSG 150
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#define LOG_UBX1_MSG 151
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#define LOG_UBX2_MSG 152
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// message types 200 to 210 reversed for GPS driver use
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// message types 211 to 220 reversed for autotune use
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#include "DataFlash_Block.h"
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#include "DataFlash_File.h"
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#endif
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