uncrustify ArduCopter/Log.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
b1cf3f7f91
commit
c1ce689e38
@ -5,9 +5,9 @@
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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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#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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@ -22,15 +22,15 @@ static int8_t select_logs(uint8_t argc, const Menu::arg *argv);
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// printf_P is a version of print_f that reads from flash memory
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//static int8_t help_log(uint8_t argc, const Menu::arg *argv)
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/*{
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Serial.printf_P(PSTR("\n"
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"Commands:\n"
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" dump <n>"
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" erase (all logs)\n"
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" enable <name> | all\n"
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" disable <name> | all\n"
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"\n"));
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return 0;
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}*/
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* Serial.printf_P(PSTR("\n"
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* "Commands:\n"
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* " dump <n>"
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* " erase (all logs)\n"
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* " enable <name> | all\n"
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* " disable <name> | all\n"
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* "\n"));
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* return 0;
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* }*/
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// Creates a constant array of structs representing menu options
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// and stores them in Flash memory, not RAM.
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@ -95,7 +95,7 @@ print_log_menu(void)
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}else{
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Serial.printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs);
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for(int16_t i=num_logs;i>=1;i--) {
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for(int16_t i=num_logs; i>=1; i--) {
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int16_t last_log_start = log_start, last_log_end = log_end;
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temp = last_log_num-i+1;
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DataFlash.get_log_boundaries(temp, log_start, log_end);
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@ -141,9 +141,9 @@ dump_log(uint8_t argc, const Menu::arg *argv)
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DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
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/*Serial.printf_P(PSTR("Dumping Log number %d, start %d, end %d\n"),
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dump_log,
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dump_log_start,
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dump_log_end);
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* dump_log,
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* dump_log_start,
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* dump_log_end);
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*/
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Log_Read(dump_log_start, dump_log_end);
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//Serial.printf_P(PSTR("Done\n"));
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@ -187,7 +187,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
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if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
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bits = ~0;
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} else {
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#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(#_s))) bits |= MASK_LOG_ ## _s
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#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(# _s))) bits |= MASK_LOG_ ## _s
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TARG(ATTITUDE_FAST);
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TARG(ATTITUDE_MED);
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TARG(GPS);
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@ -287,7 +287,7 @@ static void Log_Read_GPS()
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(long)temp8); // 8 ground course
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}
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#if INERTIAL_NAV == ENABLED
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#if INERTIAL_NAV == ENABLED
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static void Log_Write_Raw()
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{
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Vector3f accel = imu.get_accel();
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@ -314,14 +314,14 @@ static void Log_Write_Raw()
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static void Log_Read_Raw()
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{
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/*
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float logvar;
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Serial.printf_P(PSTR("RAW,"));
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for (int16_t y = 0; y < 9; y++) {
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logvar = get_float(DataFlash.ReadLong());
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Serial.print(logvar);
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Serial.print(", ");
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}
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Serial.println(" ");
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* float logvar;
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* Serial.printf_P(PSTR("RAW,"));
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* for (int16_t y = 0; y < 9; y++) {
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* logvar = get_float(DataFlash.ReadLong());
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* Serial.print(logvar);
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* Serial.print(", ");
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* }
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* Serial.println(" ");
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*/
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float vx = get_float(DataFlash.ReadLong());
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@ -340,7 +340,7 @@ static void Log_Read_Raw()
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(int)sz);
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}
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#else
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#else
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static void Log_Write_Raw()
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{
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Vector3f gyro = imu.get_gyro();
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@ -373,7 +373,7 @@ static void Log_Read_Raw()
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}
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Serial.println(" ");
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}
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#endif
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#endif
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// Write an Current data packet. Total length : 16 bytes
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@ -418,52 +418,52 @@ static void Log_Write_Motors()
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DataFlash.WriteByte(LOG_MOTORS_MSG);
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#if FRAME_CONFIG == TRI_FRAME
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//3
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DataFlash.WriteInt(g.rc_4.radio_out);//4
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //3
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DataFlash.WriteInt(g.rc_4.radio_out); //4
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#elif FRAME_CONFIG == HEXA_FRAME
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]);//5
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]);//6
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //4
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]); //5
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //6
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#elif FRAME_CONFIG == Y6_FRAME
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//left
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //2
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//right
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]);//3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//4
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]); //3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //4
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//back
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]);//5
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//6
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //5
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //6
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#elif FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]);//5
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //4
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]); //5
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //6
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_7]);//7
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_8]);//8
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_7]); //7
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_8]); //8
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#elif FRAME_CONFIG == HELI_FRAME
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
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DataFlash.WriteInt(motors.ext_gyro_gain);//5
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //4
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DataFlash.WriteInt(motors.ext_gyro_gain); //5
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#else // quads
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]); //1
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]); //2
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]); //3
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DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]); //4
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#endif
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DataFlash.WriteByte(END_BYTE);
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@ -549,8 +549,8 @@ static void Log_Write_Optflow()
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DataFlash.WriteInt((int)optflow.surface_quality);
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DataFlash.WriteInt((int)optflow.x_cm);
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DataFlash.WriteInt((int)optflow.y_cm);
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DataFlash.WriteLong(optflow.vlat);//optflow_offset.lat + optflow.lat);
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DataFlash.WriteLong(optflow.vlon);//optflow_offset.lng + optflow.lng);
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DataFlash.WriteLong(optflow.vlat); //optflow_offset.lat + optflow.lat);
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DataFlash.WriteLong(optflow.vlon); //optflow_offset.lng + optflow.lng);
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DataFlash.WriteLong(of_roll);
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DataFlash.WriteLong(of_pitch);
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DataFlash.WriteByte(END_BYTE);
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@ -614,7 +614,7 @@ static void Log_Read_Nav_Tuning()
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Serial.printf_P(PSTR("NTUN, "));
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for(int8_t i = 1; i < 10; i++ ){
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for(int8_t i = 1; i < 10; i++ ) {
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temp = DataFlash.ReadInt();
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Serial.printf("%d, ", (int)temp);
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}
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@ -640,7 +640,7 @@ static void Log_Write_Control_Tuning()
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DataFlash.WriteInt(climb_rate_actual); // 7
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DataFlash.WriteInt(g.rc_3.servo_out); // 8
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DataFlash.WriteInt(g.pi_alt_hold.get_integrator()); // 9
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DataFlash.WriteInt(g.pid_throttle.get_integrator());// 10
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DataFlash.WriteInt(g.pid_throttle.get_integrator()); // 10
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DataFlash.WriteByte(END_BYTE);
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}
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@ -652,7 +652,7 @@ static void Log_Read_Control_Tuning()
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Serial.printf_P(PSTR("CTUN, "));
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for(uint8_t i = 1; i < 10; i++ ){
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for(uint8_t i = 1; i < 10; i++ ) {
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temp = DataFlash.ReadInt();
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Serial.printf("%d, ", (int)temp);
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}
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@ -842,7 +842,7 @@ static void Log_Read_Data()
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int8_t temp1 = DataFlash.ReadByte();
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int8_t temp2 = DataFlash.ReadByte();
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if(temp2 == 1){
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if(temp2 == 1) {
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float temp3 = get_float(DataFlash.ReadLong());
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Serial.printf_P(PSTR("DATA: %d, %1.6f\n"), (int)temp1, temp3);
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}else{
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@ -902,17 +902,17 @@ static void Log_Read(int16_t start_page, int16_t end_page)
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Serial.printf_P(PSTR("\n" THISFIRMWARE
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"\nFree RAM: %u\n"),
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(unsigned)memcheck_available_memory());
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(unsigned) memcheck_available_memory());
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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Serial.printf_P(PSTR("APM 2\n"));
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#elif CONFIG_APM_HARDWARE == APM2_BETA_HARDWARE
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#elif CONFIG_APM_HARDWARE == APM2_BETA_HARDWARE
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Serial.printf_P(PSTR("APM 2Beta\n"));
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#else
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#else
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Serial.printf_P(PSTR("APM 1\n"));
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#endif
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#endif
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if(start_page > end_page){
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if(start_page > end_page) {
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packet_count = Log_Read_Process(start_page, DataFlash.df_NumPages);
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packet_count += Log_Read_Process(1, end_page);
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} else {
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@ -932,12 +932,12 @@ static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
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DataFlash.StartRead(start_page);
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while (page < end_page && page != -1){
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while (page < end_page && page != -1) {
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data = DataFlash.ReadByte();
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// This is a state machine to read the packets
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switch(log_step){
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switch(log_step) {
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case 0:
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if(data == HEAD_BYTE1) // Head byte 1
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log_step++;
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@ -954,7 +954,7 @@ static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
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case 2:
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log_step = 0;
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switch(data){
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switch(data) {
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case LOG_ATTITUDE_MSG:
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Log_Read_Attitude();
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break;
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@ -1013,7 +1013,7 @@ static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
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}
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break;
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case 3:
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if(data == END_BYTE){
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if(data == END_BYTE) {
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packet_count++;
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}else{
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Serial.printf_P(PSTR("Error Reading END_BYTE: %d\n"),data);
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@ -1029,23 +1029,42 @@ static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
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#else // LOGGING_ENABLED
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static void Log_Write_Startup() {}
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static void Log_Read_Startup() {}
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static void Log_Read(int16_t start_page, int16_t end_page) {}
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static void Log_Write_Cmd(byte num, struct Location *wp) {}
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static void Log_Write_Mode(byte mode) {}
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static void Log_Write_Raw() {}
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static void Log_Write_GPS() {}
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static void Log_Write_Current() {}
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static void Log_Write_Attitude() {}
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static void Log_Write_Data(int8_t _type, float _data){}
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static void Log_Write_Data(int8_t _type, int32_t _data){}
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static void Log_Write_Optflow() {}
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static void Log_Write_Nav_Tuning() {}
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static void Log_Write_Control_Tuning() {}
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static void Log_Write_Motors() {}
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static void Log_Write_Performance() {}
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static void Log_Write_PID() {}
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static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
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static void Log_Write_Startup() {
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}
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static void Log_Read_Startup() {
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}
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static void Log_Read(int16_t start_page, int16_t end_page) {
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}
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static void Log_Write_Cmd(byte num, struct Location *wp) {
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}
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static void Log_Write_Mode(byte mode) {
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}
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static void Log_Write_Raw() {
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}
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static void Log_Write_GPS() {
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}
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static void Log_Write_Current() {
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}
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static void Log_Write_Attitude() {
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}
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static void Log_Write_Data(int8_t _type, float _data){
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}
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static void Log_Write_Data(int8_t _type, int32_t _data){
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}
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static void Log_Write_Optflow() {
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}
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static void Log_Write_Nav_Tuning() {
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}
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static void Log_Write_Control_Tuning() {
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}
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static void Log_Write_Motors() {
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}
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static void Log_Write_Performance() {
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}
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static void Log_Write_PID() {
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}
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static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {
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return 0;
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}
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#endif // LOGGING_DISABLED
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