aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: use 64-bit timestamps in dataflash logs

Browse Source
This commit is contained in:
Peter Barker 2015-04-30 15:57:00 +10:00 committed by Andrew Tridgell
parent d7ed06816a
commit d7299aa884
1 changed files with 53 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

88
ArduCopter/Log.pde
View File

@ -164,7 +164,7 @@ static void do_erase_logs(void)
#if AUTOTUNE_ENABLED == ENABLED
struct PACKED log_AutoTune {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
uint8_t axis; // roll or pitch
uint8_t tune_step; // tuning PI or D up or down
float rate_target; // target achieved rotation rate
@ -180,7 +180,7 @@ static void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_targe
{
struct log_AutoTune pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
time_ms : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
axis : axis,
tune_step : tune_step,
rate_target : rate_target,
@ -195,7 +195,7 @@ static void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_targe
struct PACKED log_AutoTuneDetails {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
float angle_cd; // lean angle in centi-degrees
float rate_cds; // current rotation rate in centi-degrees / second
};
@ -205,7 +205,7 @@ static void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
{
struct log_AutoTuneDetails pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNEDETAILS_MSG),
time_ms : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
angle_cd : angle_cd,
rate_cds : rate_cds
};
@ -224,7 +224,7 @@ static void Log_Write_Current()
struct PACKED log_Optflow {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
uint8_t surface_quality;
float flow_x;
float flow_y;
@ -244,7 +244,7 @@ static void Log_Write_Optflow()
const Vector2f &bodyRate = optflow.bodyRate();
struct log_Optflow pkt = {
LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
time_ms : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
surface_quality : optflow.quality(),
flow_x : flowRate.x,
flow_y : flowRate.y,
@ -257,7 +257,7 @@ static void Log_Write_Optflow()
struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
float desired_pos_x;
float desired_pos_y;
float pos_x;
@ -281,7 +281,7 @@ static void Log_Write_Nav_Tuning()
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
time_ms : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
desired_pos_x : pos_target.x,
desired_pos_y : pos_target.y,
pos_x : position.x,
@ -298,7 +298,7 @@ static void Log_Write_Nav_Tuning()
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
int16_t throttle_in;
int16_t angle_boost;
float throttle_out;
@ -316,7 +316,7 @@ static void Log_Write_Control_Tuning()
{
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
time_ms : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
throttle_in : channel_throttle->control_in,
angle_boost : attitude_control.angle_boost(),
throttle_out : motors.get_throttle(),
@ -333,6 +333,7 @@ static void Log_Write_Control_Tuning()
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t num_long_running;
uint16_t num_loops;
uint32_t max_time;
@ -346,6 +347,7 @@ static void Log_Write_Performance()
{
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : hal.scheduler->micros64(),
num_long_running : perf_info_get_num_long_running(),
num_loops : perf_info_get_num_loops(),
max_time : perf_info_get_max_time(),
@ -386,7 +388,7 @@ static void Log_Write_Attitude()
struct PACKED log_Rate {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
float control_roll;
float roll;
float roll_out;
@ -408,7 +410,7 @@ static void Log_Write_Rate()
const Vector3f &accel_target = pos_control.get_accel_target();
struct log_Rate pkt_rate = {
LOG_PACKET_HEADER_INIT(LOG_RATE_MSG),
time_ms : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
control_roll : (float)rate_targets.x,
roll : (float)(ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100),
roll_out : motors.get_roll(),
@ -427,7 +429,7 @@ static void Log_Write_Rate()
struct PACKED log_MotBatt {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
float lift_max;
float bat_volt;
float bat_res;
@ -439,7 +441,7 @@ static void Log_Write_MotBatt()
{
struct log_MotBatt pkt_mot = {
LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
time_ms : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
lift_max : (float)(motors.get_lift_max()),
bat_volt : (float)(motors.get_batt_voltage_filt()),
bat_res : (float)(motors.get_batt_resistance()),
@ -450,13 +452,15 @@ static void Log_Write_MotBatt()
struct PACKED log_Startup {
LOG_PACKET_HEADER;
uint64_t time_us;
};
// Write Startup packet
static void Log_Write_Startup()
{
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG)
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
time_us : hal.scheduler->micros64()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
@ -477,6 +481,7 @@ static void Log_Write_EntireMission()
struct PACKED log_Event {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
};
@ -486,7 +491,8 @@ static void Log_Write_Event(uint8_t id)
if (should_log(MASK_LOG_ANY)) {
struct log_Event pkt = {
LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
id : id
time_us : hal.scheduler->micros64(),
id : id
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -494,6 +500,7 @@ static void Log_Write_Event(uint8_t id)
struct PACKED log_Data_Int16t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
int16_t data_value;
};
@ -505,6 +512,7 @@ static void Log_Write_Data(uint8_t id, int16_t value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
time_us : hal.scheduler->micros64(),
id : id,
data_value : value
};
@ -514,6 +522,7 @@ static void Log_Write_Data(uint8_t id, int16_t value)
struct PACKED log_Data_UInt16t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint16_t data_value;
};
@ -525,6 +534,7 @@ static void Log_Write_Data(uint8_t id, uint16_t value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
time_us : hal.scheduler->micros64(),
id : id,
data_value : value
};
@ -534,6 +544,7 @@ static void Log_Write_Data(uint8_t id, uint16_t value)
struct PACKED log_Data_Int32t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
int32_t data_value;
};
@ -544,6 +555,7 @@ static void Log_Write_Data(uint8_t id, int32_t value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
time_us : hal.scheduler->micros64(),
id : id,
data_value : value
};
@ -553,6 +565,7 @@ static void Log_Write_Data(uint8_t id, int32_t value)
struct PACKED log_Data_UInt32t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint32_t data_value;
};
@ -563,6 +576,7 @@ static void Log_Write_Data(uint8_t id, uint32_t value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
time_us : hal.scheduler->micros64(),
id : id,
data_value : value
};
@ -572,6 +586,7 @@ static void Log_Write_Data(uint8_t id, uint32_t value)
struct PACKED log_Data_Float {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
float data_value;
};
@ -583,6 +598,7 @@ static void Log_Write_Data(uint8_t id, float value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Float pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
time_us : hal.scheduler->micros64(),
id : id,
data_value : value
};
@ -592,6 +608,7 @@ static void Log_Write_Data(uint8_t id, float value)
struct PACKED log_Error {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t sub_system;
uint8_t error_code;
};
@ -601,6 +618,7 @@ static void Log_Write_Error(uint8_t sub_system, uint8_t error_code)
{
struct log_Error pkt = {
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
time_us : hal.scheduler->micros64(),
sub_system : sub_system,
error_code : error_code,
};
@ -614,7 +632,7 @@ static void Log_Write_Baro(void)
struct PACKED log_ParameterTuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
float tuning_value; // normalized value used inside tuning() function
int16_t control_in; // raw tune input value
@ -626,7 +644,7 @@ static void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t
{
struct log_ParameterTuning pkt_tune = {
LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
time_ms : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
parameter : param,
tuning_value : tuning_val,
control_in : control_in,
@ -641,40 +659,40 @@ static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
#if AUTOTUNE_ENABLED == ENABLED
{ LOG_AUTOTUNE_MSG, sizeof(log_AutoTune),
"ATUN", "IBBffffff", "TimeMS,Axis,TuneStep,RateTarg,RateMin,RateMax,RP,RD,SP" },
"ATUN", "QBBffffff", "TimeUS,Axis,TuneStep,RateTarg,RateMin,RateMax,RP,RD,SP" },
{ LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
"ATDE", "Iff", "TimeMS,Angle,Rate" },
"ATDE", "Qff", "TimeUS,Angle,Rate" },
#endif
{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
"PTUN", "IBfHHH", "TimeMS,Param,TunVal,CtrlIn,TunLo,TunHi" },
"PTUN", "QBfHHH", "TimeUS,Param,TunVal,CtrlIn,TunLo,TunHi" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "IBffff", "TimeMS,Qual,flowX,flowY,bodyX,bodyY" },
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Iffffffffff", "TimeMS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" },
"NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Ihhfffecchh", "TimeMS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" },
"CTUN", "Qhhfffecchh", "TimeUS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "HHIhBH", "NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
"PM", "QHHIhBH", "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
{ LOG_RATE_MSG, sizeof(log_Rate),
"RATE", "Iffffffffffff", "TimeMS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut" },
"RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Iffff", "TimeMS,LiftMax,BatVolt,BatRes,ThLimit" },
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "", "" },
"STRT", "Q", "TimeUS" },
{ LOG_EVENT_MSG, sizeof(log_Event),
"EV", "B", "Id" },
"EV", "QB", "TimeUS,Id" },
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
"D16", "Bh", "Id,Value" },
"D16", "QBh", "TimeUS,Id,Value" },
{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
"DU16", "BH", "Id,Value" },
"DU16", "QBH", "TimeUS,Id,Value" },
{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
"D32", "Bi", "Id,Value" },
"D32", "QBi", "TimeUS,Id,Value" },
{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
"DU32", "BI", "Id,Value" },
"DU32", "QBI", "TimeUS,Id,Value" },
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "Bf", "Id,Value" },
"DFLT", "QBf", "TimeUS,Id,Value" },
{ LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "BB", "Subsys,ECode" },
"ERR", "QBB", "TimeUS,Subsys,ECode" },
};
#if CLI_ENABLED == ENABLED