mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
feb3f1a811
Trim is now called again on pitch and roll, now that trimming can be done with adc_offsets. Fixed setup::motors for x frame. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1505 f9c3cf11-9bcb-44bc-f272-b75c42450872
605 lines
16 KiB
Plaintext
605 lines
16 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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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 int8_t print_log_menu(uint8_t argc, const Menu::arg *argv);
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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> dump log <n>\n"
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" erase erase all logs\n"
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" enable <name>|all enable logging <name> or everything\n"
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" disable <name>|all disable logging <name> or everything\n"
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"\n"));
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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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{"help", help_log}
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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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int log_start;
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int log_end;
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byte last_log_num = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM);
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Serial.printf_P(PSTR("logs enabled: "));
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if (0 == log_bitmask) {
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Serial.printf_P(PSTR("none"));
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} else {
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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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// the bit being set and print the name of the log option to suit.
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#define PLOG(_s) if (log_bitmask & LOGBIT_ ## _s) Serial.printf_P(PSTR(" %S"), PSTR(#_s))
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PLOG(ATTITUDE_FAST);
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PLOG(ATTITUDE_MED);
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PLOG(GPS);
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PLOG(PM);
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PLOG(CTUN);
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PLOG(NTUN);
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PLOG(MODE);
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PLOG(RAW);
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PLOG(CMD);
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PLOG(CURRENT);
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#undef PLOG
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}
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Serial.println();
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if (last_log_num == 0) {
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Serial.printf_P(PSTR("\nNo logs available for download\n"));
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} else {
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Serial.printf_P(PSTR("\n%d logs available for download\n"), last_log_num);
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for(int i=1;i<last_log_num+1;i++) {
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log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i-1)*0x02));
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log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i)*0x02))-1;
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if (i == last_log_num) {
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log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE);
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}
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Serial.printf_P(PSTR("Log number %d, start page %d, end page %d\n"),
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i, log_start, log_end);
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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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byte dump_log;
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int dump_log_start;
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int dump_log_end;
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byte 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 = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM);
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if ((argc != 2) || (dump_log < 1) || (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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dump_log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log-1)*0x02));
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dump_log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log)*0x02))-1;
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if (dump_log == last_log_num) {
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dump_log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE);
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}
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Serial.printf_P(PSTR("Dumping Log number %d, start page %d, end page %d\n"),
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dump_log, dump_log_start, dump_log_end);
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Log_Read(dump_log_start, dump_log_end);
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Serial.printf_P(PSTR("Log read 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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for(int i = 10 ; i > 0; i--) {
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Serial.printf_P(PSTR("ATTENTION - Erasing log in %d seconds. Power off now to save log! \n"), i);
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delay(1000);
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}
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Serial.printf_P(PSTR("\nErasing log...\n"));
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for(int j = 1; j < 4001; j++)
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DataFlash.PageErase(j);
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eeprom_write_byte((uint8_t *)EE_LAST_LOG_NUM, 0);
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eeprom_write_byte((uint8_t *)EE_LAST_LOG_PAGE, 1);
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Serial.printf_P(PSTR("\nLog erased.\n"));
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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 = ~(bits = 0);
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} else {
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#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(#_s))) bits |= LOGBIT_ ## _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(CURRENT);
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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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log_bitmask |= bits;
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} else {
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log_bitmask &= ~bits;
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}
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save_EEPROM_configs(); // XXX this is a bit heavyweight...
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return(0);
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}
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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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}
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// Write an attitude packet. Total length : 10 bytes
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void Log_Write_Attitude(int log_roll, int log_pitch, uint16_t log_yaw)
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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_ATTITUDE_MSG);
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DataFlash.WriteInt(log_roll);
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DataFlash.WriteInt(log_pitch);
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DataFlash.WriteInt(log_yaw);
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DataFlash.WriteByte(END_BYTE);
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}
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// Write a performance monitoring packet. Total length : 19 bytes
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void Log_Write_Performance()
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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_PERFORMANCE_MSG);
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DataFlash.WriteLong(millis()- perf_mon_timer);
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DataFlash.WriteInt(mainLoop_count);
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DataFlash.WriteInt(G_Dt_max);
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DataFlash.WriteByte(dcm.gyro_sat_count);
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DataFlash.WriteByte(imu.adc_constraints);
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DataFlash.WriteByte(dcm.renorm_sqrt_count);
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DataFlash.WriteByte(dcm.renorm_blowup_count);
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DataFlash.WriteByte(gps_fix_count);
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DataFlash.WriteInt((int)(dcm.get_health() * 1000));
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DataFlash.WriteByte(END_BYTE);
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}
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// Write a command processing packet. Total length : 19 bytes
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//void Log_Write_Cmd(byte num, byte id, byte p1, long alt, long lat, long lng)
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void Log_Write_Cmd(byte num, struct Location *wp)
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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_CMD_MSG);
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DataFlash.WriteByte(num);
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DataFlash.WriteByte(wp->id);
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DataFlash.WriteByte(wp->p1);
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DataFlash.WriteLong(wp->alt);
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DataFlash.WriteLong(wp->lat);
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DataFlash.WriteLong(wp->lng);
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DataFlash.WriteByte(END_BYTE);
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}
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void Log_Write_Startup(byte type)
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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_STARTUP_MSG);
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DataFlash.WriteByte(type);
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DataFlash.WriteByte(wp_total);
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DataFlash.WriteByte(END_BYTE);
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// create a location struct to hold the temp Waypoints for printing
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struct Location cmd = get_wp_with_index(0);
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Log_Write_Cmd(0, &cmd);
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for (int i=1; i<wp_total; i++){
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cmd = get_wp_with_index(i);
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Log_Write_Cmd(i, &cmd);
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}
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}
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// Write a control tuning packet. Total length : 22 bytes
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void Log_Write_Control_Tuning()
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{
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// DCM is adjusted for centripital, IMU is not
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Vector3f accel = dcm.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_CONTROL_TUNING_MSG);
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DataFlash.WriteInt((int)(rc_1.servo_out));
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DataFlash.WriteInt((int)nav_roll);
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DataFlash.WriteInt((int)roll_sensor);
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DataFlash.WriteInt((int)(rc_2.servo_out));
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DataFlash.WriteInt((int)nav_pitch);
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DataFlash.WriteInt((int)pitch_sensor);
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DataFlash.WriteInt((int)(rc_3.servo_out));
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DataFlash.WriteInt((int)(rc_4.servo_out));
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DataFlash.WriteInt((int)(accel.y * 10000));
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DataFlash.WriteByte(END_BYTE);
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}
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// Write a navigation tuning packet. Total length : 18 bytes
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void Log_Write_Nav_Tuning()
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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_NAV_TUNING_MSG);
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DataFlash.WriteInt((uint16_t)yaw_sensor);
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DataFlash.WriteInt((int)wp_distance);
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DataFlash.WriteInt((uint16_t)target_bearing);
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DataFlash.WriteInt((uint16_t)nav_bearing);
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DataFlash.WriteInt(altitude_error);
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DataFlash.WriteInt((int)airspeed);
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//DataFlash.WriteInt((int)(nav_gain_scaler*1000));
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DataFlash.WriteByte(END_BYTE);
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}
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// Write a mode packet. Total length : 5 bytes
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void Log_Write_Mode(byte mode)
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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_MODE_MSG);
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DataFlash.WriteByte(mode);
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DataFlash.WriteByte(END_BYTE);
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}
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// Write an GPS packet. Total length : 30 bytes
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void Log_Write_GPS( long log_Time, long log_Lattitude, long log_Longitude, long log_mix_alt, long log_gps_alt,
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long log_Ground_Speed, long log_Ground_Course, byte log_Fix, byte log_NumSats)
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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(log_Time);
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DataFlash.WriteByte(log_Fix);
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DataFlash.WriteByte(log_NumSats);
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DataFlash.WriteLong(log_Lattitude);
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DataFlash.WriteLong(log_Longitude);
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DataFlash.WriteLong(log_mix_alt);
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DataFlash.WriteLong(log_gps_alt);
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DataFlash.WriteLong(log_Ground_Speed);
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DataFlash.WriteLong(log_Ground_Course);
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DataFlash.WriteByte(END_BYTE);
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DataFlash.WriteByte(END_BYTE);
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}
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// Write an raw accel/gyro data packet. Total length : 28 bytes
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void Log_Write_Raw()
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{
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Vector3f gyro = dcm.get_gyro();
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Vector3f accel = dcm.get_accel();
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gyro *= t7; // Scale up for storage as long integers
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accel *= t7;
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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((long)gyro.x);
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DataFlash.WriteLong((long)gyro.y);
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DataFlash.WriteLong((long)gyro.z);
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DataFlash.WriteLong((long)accel.x);
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DataFlash.WriteLong((long)accel.y);
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DataFlash.WriteLong((long)accel.z);
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DataFlash.WriteByte(END_BYTE);
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}
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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.WriteLong((long)(current_voltage * 1000.0));
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DataFlash.WriteLong((long)(current_amps * 1000.0));
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DataFlash.WriteByte(END_BYTE);
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}
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// Read a Current packet
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void Log_Read_Current()
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{
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float logvoltage, logcurrent;
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Serial.print("CURR:");
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Serial.print((float)DataFlash.ReadLong() / 1000.f);
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Serial.print(comma);
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Serial.print((float)DataFlash.ReadLong() / 1000.f);
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Serial.println();
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}
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// Read an control tuning packet
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void Log_Read_Control_Tuning()
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{
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float logvar;
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Serial.print("CTUN:");
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for (int y=1;y<10;y++) {
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logvar = DataFlash.ReadInt();
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if(y < 8) logvar = logvar/100.f;
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if(y == 9) logvar = logvar/10000.f;
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Serial.print(logvar);
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Serial.print(comma);
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}
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Serial.println(" ");
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}
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// Read a nav tuning packet
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void Log_Read_Nav_Tuning()
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{
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Serial.print("NTUN:");
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Serial.print((float)((uint16_t)DataFlash.ReadInt())/100.0); // Yaw from IMU
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Serial.print(comma);
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Serial.print(DataFlash.ReadInt()); // wp_distance
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Serial.print(comma);
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Serial.print((float)((uint16_t)DataFlash.ReadInt())/100.0); // target_bearing - Bearing to Target
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Serial.print(comma);
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Serial.print((float)((uint16_t)DataFlash.ReadInt())/100.0); // nav_bearing - Bearing to steer
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Serial.print(comma);
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Serial.print((float)DataFlash.ReadInt()/100.0); // Altitude error
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Serial.print(comma);
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Serial.print((float)DataFlash.ReadInt()/100.0); // Airspeed
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Serial.println(comma);
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//Serial.print((float)DataFlash.ReadInt()/1000.0); // nav_gain_scaler
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//Serial.println(comma);
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}
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// Read a performance packet
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void Log_Read_Performance()
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{
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long pm_time;
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int logvar;
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Serial.print("PM:");
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pm_time = DataFlash.ReadLong();
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Serial.print(pm_time);
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Serial.print(comma);
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for (int y=1;y<9;y++) {
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if(y<3 || y>7) logvar = DataFlash.ReadInt();
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else logvar = DataFlash.ReadByte();
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//if(y > 7) logvar = logvar/1000.f;
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Serial.print(logvar);
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Serial.print(comma);
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}
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Serial.println(" ");
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}
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// Read a command processing packet
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void Log_Read_Cmd()
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{
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byte logvarb;
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long logvarl;
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Serial.print("CMD:");
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for(int i=1;i<4;i++) {
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logvarb = DataFlash.ReadByte();
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Serial.print(logvarb,DEC);
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Serial.print(comma);
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}
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for(int i=1;i<4;i++) {
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logvarl = DataFlash.ReadLong();
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Serial.print(logvarl,DEC);
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Serial.print(comma);
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}
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Serial.println(" ");
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}
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void Log_Read_Startup()
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{
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byte logbyte = DataFlash.ReadByte();
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if (logbyte == TYPE_AIRSTART_MSG)
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Serial.print("AIR START - ");
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else if (logbyte == TYPE_GROUNDSTART_MSG)
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Serial.print("GROUND START - ");
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else
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Serial.print("UNKNOWN STARTUP TYPE -");
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Serial.print(DataFlash.ReadByte(), DEC);
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Serial.println(" commands in memory");
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}
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// Read an attitude packet
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void Log_Read_Attitude()
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{
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int log_roll;
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int log_pitch;
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uint16_t log_yaw;
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log_roll = DataFlash.ReadInt();
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log_pitch = DataFlash.ReadInt();
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log_yaw = (uint16_t)DataFlash.ReadInt();
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Serial.print("ATT:");
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Serial.print(log_roll);
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Serial.print(comma);
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Serial.print(log_pitch);
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Serial.print(comma);
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Serial.print(log_yaw);
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Serial.println();
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}
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|
|
|
// 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);
|
|
}
|
|
|
|
|