From 709a277c7ff03e88b1f11ea4eeebd56c9e506aa4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 23 Apr 2013 19:46:22 +1000
Subject: [PATCH] DataFlash: chamged FMT message to include labels

this makes it easier for MP to parse and display
---
 libraries/DataFlash/DataFlash.h        | 13 ++++------
 libraries/DataFlash/DataFlash_File.cpp |  2 --
 libraries/DataFlash/LogFile.cpp        | 33 ++++++++++----------------
 3 files changed, 17 insertions(+), 31 deletions(-)

diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index 70d71893d5..3aa285370c 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -64,13 +64,6 @@ public:
     };
 
 protected:
-    /*
-    print column headers
-    */
-    void _print_format_headers(uint8_t num_types, 
-                               const struct LogStructure *structure,
-                               AP_HAL::BetterStream *port);
-    
     /*
     read and print a log entry using the format strings from the given structure
     */
@@ -115,6 +108,7 @@ Format characters in the format string for binary log messages
   f   : float
   n   : char[4]
   N   : char[16]
+  Z   : char[64]
   c   : int16_t * 100
   C   : uint16_t * 100
   e   : int32_t * 100
@@ -141,6 +135,7 @@ struct PACKED log_Format {
     uint8_t length;
     char name[4];
     char format[16];
+    char labels[64];
 };
 
 struct PACKED log_Parameter {
@@ -170,8 +165,8 @@ struct PACKED log_IMU {
 };
 
 #define LOG_COMMON_STRUCTURES \
-    { LOG_FORMAT_MSG, sizeof(log_Parameter), \
-      "FMT", "BBnN",        "Type,Length,Name,Format" },    \
+    { LOG_FORMAT_MSG, sizeof(log_Format), \
+      "FMT", "BBnNZ",      "Type,Length,Name,Format" },    \
     { LOG_PARAMETER_MSG, sizeof(log_Parameter), \
       "PARM", "Nf",        "Name,Value" },    \
     { LOG_GPS_MSG, sizeof(log_GPS), \
diff --git a/libraries/DataFlash/DataFlash_File.cpp b/libraries/DataFlash/DataFlash_File.cpp
index 9b24a28e0c..9826816a9f 100644
--- a/libraries/DataFlash/DataFlash_File.cpp
+++ b/libraries/DataFlash/DataFlash_File.cpp
@@ -319,8 +319,6 @@ void DataFlash_File::LogReadProcess(uint16_t log_num,
         ::lseek(_read_fd, start_page * DATAFLASH_PAGE_SIZE, SEEK_SET);
     }
 
-    _print_format_headers(num_types, structure, port);
-
     while (true) {
         uint8_t data;
         if (::read(_read_fd, &data, 1) != 1) {
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 34f4aac9ca..e35a6c204e 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -247,23 +247,6 @@ uint16_t DataFlash_Block::find_last_page_of_log(uint16_t log_number)
 
 #define PGM_UINT8(addr) pgm_read_byte((const prog_char *)addr)
 
-/*
-  print the log column names
- */
-void DataFlash_Class::_print_format_headers(uint8_t num_types, 
-                                            const struct LogStructure *structure,
-                                            AP_HAL::BetterStream *port)
-{
-    uint8_t i;
-    for (i=0; i<num_types; i++) {
-        port->printf_P(PSTR("LABL, %S, %u, %S, %S\n"),
-                       structure[i].name,
-                       (unsigned)PGM_UINT8(&structure[i].msg_type),
-                       structure[i].format,
-                       structure[i].labels);
-    }
-}
-
 /*
   read and print a log entry using the format strings from the given structure
  */
@@ -386,6 +369,14 @@ void DataFlash_Class::_print_log_entry(uint8_t msg_type,
             ofs += sizeof(v)-1;
             break;
         }
+        case 'Z': {
+            char v[65];
+            memcpy(&v, &pkt[ofs], sizeof(v));
+            v[sizeof(v)-1] = 0;
+            port->printf_P(PSTR("%s"), v);
+            ofs += sizeof(v)-1;
+            break;
+        }
         case 'M': {
             print_mode(port, pkt[ofs]);
             ofs += 1;
@@ -419,8 +410,6 @@ void DataFlash_Block::LogReadProcess(uint16_t log_num,
         FinishWrite();
     }
 
-    _print_format_headers(num_types, structure, port);
-
     StartRead(start_page);
 
 	while (true) {
@@ -531,6 +520,8 @@ uint16_t DataFlash_Class::StartNewLog(uint8_t num_types, const struct LogStructu
     // write log formats so the log is self-describing
     for (uint8_t i=0; i<num_types; i++) {
         Log_Write_Format(&structures[i]);
+        // avoid corrupting the APM1/APM2 dataflash by writing too fast
+        hal.scheduler->delay(10);
     }
 
     // and all current parameters
@@ -548,10 +539,12 @@ void DataFlash_Class::Log_Write_Format(const struct LogStructure *s)
         type   : PGM_UINT8(&s->msg_type),
         length : PGM_UINT8(&s->msg_len),
         name   : {},
-        format : {}
+        format : {},
+        labels : {}
     };
     strncpy_P(pkt.name, s->name, sizeof(pkt.name));
     strncpy_P(pkt.format, s->format, sizeof(pkt.format));
+    strncpy_P(pkt.labels, s->labels, sizeof(pkt.labels));
     WriteBlock(&pkt, sizeof(pkt));
 }