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CLI - Added ability to dump logs to serial port and erase logs

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1110 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
rmackay9@yahoo.com 2010-12-12 11:53:38 +00:00
parent 9ddeb716c3
commit 121f3ee37f
2 changed files with 170 additions and 125 deletions
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34
ArducopterNG/CLI.pde
View File

@ -69,6 +69,9 @@ void RunCLI () {
case 'c': case 'c':
CALIB_CompassOffset(); CALIB_CompassOffset();
break; break;
case 'd':
Log_Read(1,4000);
break;
case 'i': case 'i':
CALIB_AccOffset(); CALIB_AccOffset();
break; break;
@ -84,6 +87,9 @@ void RunCLI () {
case 'm': case 'm':
RUN_Motors(); RUN_Motors();
break; break;
case 'z':
Log_Erase();
break;
} }
SerFlu(); SerFlu();
} }
@ -106,11 +112,13 @@ void Show_MainMenu() {
SerPrln("CLI Menu - Type your command on command prompt"); SerPrln("CLI Menu - Type your command on command prompt");
SerPrln("----------------------------------------------"); SerPrln("----------------------------------------------");
SerPrln(" c - Show/Save compass offsets"); SerPrln(" c - Show/Save compass offsets");
SerPrln(" d - dump logs to serial");
SerPrln(" e - ESC Throttle calibration (Works with official ArduCopter ESCs)"); SerPrln(" e - ESC Throttle calibration (Works with official ArduCopter ESCs)");
SerPrln(" i - Initialize and calibrate Accel offsets"); SerPrln(" i - Initialize and calibrate Accel offsets");
SerPrln(" m - Motor tester with AIL/ELE stick"); SerPrln(" m - Motor tester with AIL/ELE stick");
SerPrln(" t - Calibrate MIN Throttle value"); SerPrln(" t - Calibrate MIN Throttle value");
SerPrln(" s - Show settings"); SerPrln(" s - Show settings");
SerPrln(" z - clear all logs");
SerPrln(" "); SerPrln(" ");
SerFlu(); SerFlu();
} }
@ -196,12 +204,12 @@ void CALIB_CompassOffset() {
mag_offset_y = offset[1]; mag_offset_y = offset[1];
mag_offset_z = offset[2]; mag_offset_z = offset[2];
SerPriln("Saving Offsets to EEPROM"); SerPrln("Saving Offsets to EEPROM");
writeEEPROM(mag_offset_x, mag_offset_x_ADR); writeEEPROM(mag_offset_x, mag_offset_x_ADR);
writeEEPROM(mag_offset_y, mag_offset_y_ADR); writeEEPROM(mag_offset_y, mag_offset_y_ADR);
writeEEPROM(mag_offset_z, mag_offset_z_ADR); writeEEPROM(mag_offset_z, mag_offset_z_ADR);
delay(500); delay(500);
SerPriln("Saved..."); SerPrln("Saved...");
SerPrln(); SerPrln();
break; break;
} }
@ -318,7 +326,7 @@ void CALIB_Throttle() {
} }
} }
SerPriln(); SerPrln();
SerPri("Lowest throttle value: "); SerPri("Lowest throttle value: ");
SerPrln(tmpThrottle); SerPrln(tmpThrottle);
SerPrln(); SerPrln();
@ -393,24 +401,24 @@ void RUN_Motors() {
ch_pitch = APM_RC.InputCh(CH_PITCH); ch_pitch = APM_RC.InputCh(CH_PITCH);
if(ch_roll < 1400) { if(ch_roll < 1400) {
SerPriln("Left Motor"); SerPrln("Left Motor");
OutMotor(1); OutMotor(1);
delay(500); delay(500);
} }
if(ch_roll > 1600) { if(ch_roll > 1600) {
SerPriln("Right Motor"); SerPrln("Right Motor");
OutMotor(0); OutMotor(0);
delay(500); delay(500);
} }
if(ch_pitch < 1400) { if(ch_pitch < 1400) {
SerPriln("Front Motor"); SerPrln("Front Motor");
OutMotor(2); OutMotor(2);
delay(500); delay(500);
} }
if(ch_pitch > 1600) { if(ch_pitch > 1600) {
SerPriln("Rear Motor"); SerPrln("Rear Motor");
OutMotor(3); OutMotor(3);
delay(500); delay(500);
@ -428,7 +436,7 @@ void RUN_Motors() {
// delay(20); // delay(20);
if(SerAva() > 0){ if(SerAva() > 0){
SerFlu(); SerFlu();
SerPriln("Exiting motor/esc tester..."); SerPrln("Exiting motor/esc tester...");
break; break;
} }
} }
@ -473,20 +481,20 @@ void Show_Settings() {
SerPrln(); SerPrln();
SerPri("Min Throttle: "); SerPri("Min Throttle: ");
SerPriln(MIN_THROTTLE); SerPrln(MIN_THROTTLE);
SerPri("Magnetometer 1-ena/0-dis: "); SerPri("Magnetometer 1-ena/0-dis: ");
SerPriln(MAGNETOMETER, DEC); SerPrln(MAGNETOMETER, DEC);
SerPri("Camera mode: "); SerPri("Camera mode: ");
SerPriln(cam_mode, DEC); SerPrln(cam_mode, DEC);
SerPri("Flight orientation: "); SerPri("Flight orientation: ");
if(SW_DIP1) { if(SW_DIP1) {
SerPriln("x mode"); SerPrln("x mode");
} }
else { else {
SerPriln("+ mode"); SerPrln("+ mode");
} }
SerPrln(); SerPrln();

257
ArducopterNG/Log.pde
View File

@ -52,6 +52,16 @@ TODO:
#define LOG_SENSOR_MSG 0x09 #define LOG_SENSOR_MSG 0x09
#define LOG_PID_MSG 0x0A #define LOG_PID_MSG 0x0A
#define LOG_MAX_ERRORS 50 // when reading logs, give up after 50 sequential failures to find HEADBYTE1
void Log_Erase(void)
{
SerPri("Erasing logs...");
for(int i=0; i<4000; i++ )
DataFlash.PageErase(i);
SerPrln("Done!");
}
// Function to display available logs and solicit action from the user. // Function to display available logs and solicit action from the user.
// -------------------------------------------------------------------- // --------------------------------------------------------------------
@ -62,29 +72,29 @@ void Print_Log_Menu(void)
eeprom_busy_wait(); eeprom_busy_wait();
byte last_log_num = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM); eeprom_busy_wait(); byte last_log_num = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM); eeprom_busy_wait();
if (last_log_num == 0) { if (last_log_num == 0) {
Serial.println("No logs available for download"); SerPriln("No logs available for download");
} else { } else {
Serial.print(last_log_num,DEC); SerPri(last_log_num,DEC);
Serial.println(" logs available for download"); SerPriln(" logs available for download");
for(int i=1;i<last_log_num+1;i++) { for(int i=1;i<last_log_num+1;i++) {
log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i-1)*0x02)); eeprom_busy_wait(); log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i-1)*0x02)); eeprom_busy_wait();
log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i)*0x02))-1; eeprom_busy_wait(); log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i)*0x02))-1; eeprom_busy_wait();
if (i == last_log_num) { if (i == last_log_num) {
log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE); eeprom_busy_wait(); log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE); eeprom_busy_wait();
} }
Serial.print("Log number "); SerPri("Log number ");
Serial.print(i); SerPri(i);
Serial.print(", start page "); SerPri(", start page ");
Serial.print(log_start); SerPri(log_start);
Serial.print(", end page "); SerPri(", end page ");
Serial.println(log_end); SerPriln(log_end);
} }
} }
Serial.println(" "); SerPriln(" ");
Serial.println("Input 1 <enter> to dump a log"); SerPriln("Input 1 <enter> to dump a log");
Serial.println("Input 2 <enter> to erase all logs"); SerPriln("Input 2 <enter> to erase all logs");
Serial.println("Input 3 <enter> to leave log mode"); SerPriln("Input 3 <enter> to leave log mode");
Serial.println(" "); SerPriln(" ");
} }
@ -299,14 +309,14 @@ void Log_Read_Control_Tuning()
{ {
float logvar; float logvar;
Serial.print("CTUN:"); SerPri("CTUN:");
for (int y=1;y<10;y++) { for (int y=1;y<10;y++) {
logvar = DataFlash.ReadInt(); logvar = DataFlash.ReadInt();
if(y < 9) logvar = logvar/100.f; if(y < 9) logvar = logvar/100.f;
Serial.print(logvar); SerPri(logvar);
Serial.print(","); SerPri(",");
} }
Serial.println(" "); SerPriln(" ");
} }
// Read a nav tuning packet // Read a nav tuning packet
@ -314,14 +324,14 @@ void Log_Read_Nav_Tuning()
{ {
float logvar; float logvar;
Serial.print("NTUN:"); SerPri("NTUN:");
for (int y=1;y<8;y++) { for (int y=1;y<8;y++) {
logvar = DataFlash.ReadInt(); logvar = DataFlash.ReadInt();
if(y > 6) logvar = logvar/1000.f; if(y > 6) logvar = logvar/1000.f;
Serial.print(logvar); SerPri(logvar);
Serial.print(","); SerPri(",");
} }
Serial.println(" "); SerPriln(" ");
} }
// Read a performance packet // Read a performance packet
@ -330,18 +340,18 @@ void Log_Read_Performance()
long pm_time; long pm_time;
int logvar; int logvar;
Serial.print("PM:"); SerPri("PM:");
pm_time = DataFlash.ReadLong(); pm_time = DataFlash.ReadLong();
Serial.print(pm_time); SerPri(pm_time);
Serial.print(","); SerPri(",");
for (int y=1;y<9;y++) { for (int y=1;y<9;y++) {
if(y<3 || y>7) logvar = DataFlash.ReadInt(); if(y<3 || y>7) logvar = DataFlash.ReadInt();
else logvar = DataFlash.ReadByte(); else logvar = DataFlash.ReadByte();
if(y > 7) logvar = logvar/1000.f; if(y > 7) logvar = logvar/1000.f;
Serial.print(logvar); SerPri(logvar);
Serial.print(","); SerPri(",");
} }
Serial.println(" "); SerPriln(" ");
} }
// Read an attitude packet // Read an attitude packet
@ -354,47 +364,62 @@ void Log_Read_Attitude()
log_roll = DataFlash.ReadInt(); log_roll = DataFlash.ReadInt();
log_pitch = DataFlash.ReadInt(); log_pitch = DataFlash.ReadInt();
log_yaw = DataFlash.ReadInt(); log_yaw = DataFlash.ReadInt();
Serial.print("ATT:"); SerPri("ATT:");
Serial.print(log_roll); SerPri(log_roll);
Serial.print(","); SerPri(",");
Serial.print(log_pitch); SerPri(log_pitch);
Serial.print(","); SerPri(",");
Serial.print(log_yaw); SerPri(log_yaw);
Serial.println(); SerPriln();
}
// Read a Sensor packet
void Log_Read_Sensor()
{
int i, sensorValue;
SerPri("SENSOR:");
for(int i=0; i<7; i++ )
{
if( i!=0 )
SerPri(",");
sensorValue = DataFlash.ReadInt();
SerPri(sensorValue);
}
} }
// Read a Sensor raw data packet // Read a Sensor raw data packet
void Log_Read_PID() void Log_Read_PID()
{ {
Serial.print("PID:"); SerPri("PID:");
Serial.print((int)DataFlash.ReadByte()); // NUM_PID SerPri((int)DataFlash.ReadByte()); // NUM_PID
Serial.print(","); SerPri(",");
Serial.print(DataFlash.ReadInt()); // P SerPri(DataFlash.ReadInt()); // P
Serial.print(","); SerPri(",");
Serial.print(DataFlash.ReadInt()); // I SerPri(DataFlash.ReadInt()); // I
Serial.print(","); SerPri(",");
Serial.print(DataFlash.ReadInt()); // D SerPri(DataFlash.ReadInt()); // D
Serial.print(","); SerPri(",");
Serial.print(DataFlash.ReadInt()); // output SerPri(DataFlash.ReadInt()); // output
Serial.println(); SerPriln();
} }
// Read an Radio packet // Read an Radio packet
void Log_Read_Radio() void Log_Read_Radio()
{ {
Serial.print("RADIO:"); SerPri("RADIO:");
Serial.print(DataFlash.ReadInt()); SerPri(DataFlash.ReadInt());
Serial.print(","); SerPri(",");
Serial.print(DataFlash.ReadInt()); SerPri(DataFlash.ReadInt());
Serial.print(","); SerPri(",");
Serial.print(DataFlash.ReadInt()); SerPri(DataFlash.ReadInt());
Serial.print(","); SerPri(",");
Serial.print(DataFlash.ReadInt()); SerPri(DataFlash.ReadInt());
Serial.print(","); SerPri(",");
Serial.print(DataFlash.ReadInt()); SerPri(DataFlash.ReadInt());
Serial.print(","); SerPri(",");
Serial.print(DataFlash.ReadInt()); SerPri(DataFlash.ReadInt());
Serial.println(); SerPriln();
} }
// Read a mode packet // Read a mode packet
@ -403,34 +428,34 @@ void Log_Read_Mode()
byte mode; byte mode;
mode = DataFlash.ReadByte(); mode = DataFlash.ReadByte();
Serial.print("MOD:"); SerPri("MOD:");
switch (mode) { switch (mode) {
case 0: case 0:
Serial.println("Manual mode"); SerPriln("Manual mode");
break; break;
case 1: case 1:
Serial.println("Stabilize mode"); SerPriln("Stabilize mode");
break; break;
case 5: case 5:
Serial.println("Fly By Wire A mode"); SerPriln("Fly By Wire A mode");
break; break;
case 6: case 6:
Serial.println("Fly By Wire B mode"); SerPriln("Fly By Wire B mode");
break; break;
case 10: case 10:
Serial.println("AUTO mode"); SerPriln("AUTO mode");
break; break;
case 11: case 11:
Serial.println("RTL mode"); SerPriln("RTL mode");
break; break;
case 12: case 12:
Serial.println("Loiter mode"); SerPriln("Loiter mode");
break; break;
case 98: case 98:
Serial.println("Air Start Complete"); SerPriln("Air Start Complete");
break; break;
case 99: case 99:
Serial.println("Ground Start Complete"); SerPriln("Ground Start Complete");
break; break;
} }
} }
@ -458,25 +483,25 @@ void Log_Read_GPS()
log_Ground_Speed = DataFlash.ReadLong(); log_Ground_Speed = DataFlash.ReadLong();
log_Ground_Course = DataFlash.ReadLong(); log_Ground_Course = DataFlash.ReadLong();
Serial.print("GPS:"); SerPri("GPS:");
Serial.print(log_Time); SerPri(log_Time);
Serial.print(","); SerPri(",");
Serial.print((int)log_Fix); SerPri((int)log_Fix);
Serial.print(","); SerPri(",");
Serial.print((int)log_NumSats); SerPri((int)log_NumSats);
Serial.print(","); SerPri(",");
Serial.print(log_Lattitude); SerPri(log_Lattitude);
Serial.print(","); SerPri(",");
Serial.print(log_Longitude); SerPri(log_Longitude);
Serial.print(","); SerPri(",");
Serial.print(log_mix_alt/100.0); SerPri(log_mix_alt/100.0);
Serial.print(","); SerPri(",");
Serial.print(log_gps_alt/100.0); SerPri(log_gps_alt/100.0);
Serial.print(","); SerPri(",");
Serial.print(log_Ground_Speed/100.0f); SerPri(log_Ground_Speed/100.0f);
Serial.print(","); SerPri(",");
Serial.print(log_Ground_Course/100.0); // This is incorrect!!!!! SerPri(log_Ground_Course/100.0); // This is incorrect!!!!!
Serial.println(); SerPriln();
} }
@ -485,13 +510,13 @@ void Log_Read_Raw()
{ {
float logvar; float logvar;
Serial.print("RAW:"); SerPri("RAW:");
for (int y=0;y<6;y++) { for (int y=0;y<6;y++) {
logvar = DataFlash.ReadLong()/1000.f; logvar = DataFlash.ReadLong()/1000.f;
Serial.print(logvar); SerPri(logvar);
Serial.print(","); SerPri(",");
} }
Serial.println(" "); SerPriln(" ");
} }
// Read the DataFlash log memory : Packet Parser // Read the DataFlash log memory : Packet Parser
@ -501,16 +526,20 @@ void Log_Read(int start_page, int end_page)
byte log_step=0; byte log_step=0;
int packet_count=0; int packet_count=0;
int flash_led = 1; int flash_led = 1;
int numErrors = 0;
DataFlash.StartRead(start_page); DataFlash.StartRead(start_page);
while (DataFlash.GetPage() < end_page) while (DataFlash.GetPage() < end_page && numErrors < LOG_MAX_ERRORS)
{ {
data = DataFlash.ReadByte(); data = DataFlash.ReadByte();
switch(log_step) //This is a state machine to read the packets switch(log_step) //This is a state machine to read the packets
{ {
case 0: case 0:
if(data==HEAD_BYTE1) // Head byte 1 if(data==HEAD_BYTE1) { // Head byte 1
log_step++; log_step++;
numErrors = 0;
}else
numErrors++;
break; break;
case 1: case 1:
if(data==HEAD_BYTE2) // Head byte 2 if(data==HEAD_BYTE2) // Head byte 2
@ -521,6 +550,10 @@ void Log_Read(int start_page, int end_page)
Log_Read_Attitude(); Log_Read_Attitude();
log_step++; log_step++;
}else if(data==LOG_GPS_MSG){
Log_Read_GPS();
log_step++;
}else if(data==LOG_MODE_MSG){ }else if(data==LOG_MODE_MSG){
Log_Read_Mode(); Log_Read_Mode();
log_step++; log_step++;
@ -540,26 +573,30 @@ void Log_Read(int start_page, int end_page)
}else if(data==LOG_RAW_MSG){ }else if(data==LOG_RAW_MSG){
Log_Read_Raw(); Log_Read_Raw();
log_step++; log_step++;
}else if(data==LOG_RADIO_MSG){
Log_Read_Radio();
log_step++;
}else if(data==LOG_SENSOR_MSG){
Log_Read_Sensor();
log_step++;
}else if(data==LOG_PID_MSG){ }else if(data==LOG_PID_MSG){
Log_Read_PID(); Log_Read_PID();
log_step++; log_step++;
}else { }else{
if(data==LOG_GPS_MSG){ SerPri("Error Reading Packet: ");
Log_Read_GPS(); SerPri(packet_count);
log_step++; log_step=0; // Restart, we have a problem...
} else {
Serial.print("Error Reading Packet: ");
Serial.print(packet_count);
log_step=0; // Restart, we have a problem...
}
} }
break; break;
case 3: case 3:
if(data==END_BYTE){ if(data==END_BYTE){
packet_count++; packet_count++;
}else{ }else{
Serial.print("Error Reading END_BYTE "); SerPri("Error Reading END_BYTE ");
Serial.println(data,DEC); SerPriln(data,DEC);
} }
log_step=0; // Restart sequence: new packet... log_step=0; // Restart sequence: new packet...
if(flash_led > 0) { if(flash_led > 0) {
@ -572,10 +609,10 @@ void Log_Read(int start_page, int end_page)
if(flash_led<-100) flash_led=1; if(flash_led<-100) flash_led=1;
} }
break; break;
}
} }
Serial.print("Number of packets read: "); }
Serial.println(packet_count); SerPri("Number of packets read: ");
SerPriln(packet_count);
digitalWrite(A_LED_PIN,HIGH); digitalWrite(A_LED_PIN,HIGH);
} }