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Fixed up SNR logging to include maximum 32 satellites (which is plenty even for future, not yet deployed global positioning systems)

This commit is contained in:
Lorenz Meier 2014-05-21 10:20:18 +02:00
parent fb801b6fae
commit 9024d76e7c
2 changed files with 51 additions and 18 deletions
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39
src/modules/sdlog2/sdlog2.c
View File

@ -834,8 +834,10 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_ESTM_s log_ESTM;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_GSN0_s log_GSN0;
struct log_GSN1_s log_GSN1;
struct log_GS0A_s log_GS0A;
struct log_GS0B_s log_GS0B;
struct log_GS1A_s log_GS1A;
struct log_GS1B_s log_GS1B;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@ -969,7 +971,7 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
/* --- GPS POSITION --- */
/* --- GPS POSITION - UNIT #1 --- */
if (gps_pos_updated) {
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
@ -986,16 +988,33 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(GPS);
/* log the SNR of each satellite for a detailed view of signal quality */
log_msg.msg_type = LOG_GSN0_MSG;
/* pick the smaller number so we do not overflow any of the arrays */
unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]);
unsigned log_max_snr = sizeof(log_msg.body.log_GSN0.satellite_snr) / sizeof(log_msg.body.log_GSN0.satellite_snr[0]);
unsigned sat_max_snr = (gps_msg_max_snr < log_max_snr) ? gps_msg_max_snr : log_max_snr;
unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]);
for (unsigned i = 0; i < sat_max_snr; i++) {
log_msg.body.log_GSN0.satellite_snr[i] = buf_gps_pos.satellite_snr[i];
log_msg.msg_type = LOG_GS0A_MSG;
memset(log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A));
/* fill set A */
unsigned max_sats_a = (log_max_snr > gps_msg_max_snr) ? gps_msg_max_snr : log_max_snr;
for (unsigned i = 0; i < max_sats_a; i++) {
log_msg.body.log_GS0A.satellite_snr[i] = buf_gps_pos.satellite_snr[i];
}
LOGBUFFER_WRITE_AND_COUNT(GS0A);
/* do we need a 2nd set? */
if (gps_msg_max_snr > log_max_snr) {
log_msg.msg_type = LOG_GS0B_MSG;
memset(log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B));
/* fill set B - deduct the count we already have taken care of */
gps_msg_max_snr -= log_max_snr;
unsigned max_sats_b = (log_max_snr > gps_msg_max_snr) ? gps_msg_max_snr : log_max_snr;
for (unsigned i = 0; i < max_sats_b; i++) {
/* count from zero, but obey offset of log_max_snr consumed units */
log_msg.body.log_GS0B.satellite_snr[i] = buf_gps_pos.satellite_snr[log_max_snr + i];
}
LOGBUFFER_WRITE_AND_COUNT(GS0B);
}
LOGBUFFER_WRITE_AND_COUNT(GSN0);
}
/* --- SENSOR COMBINED --- */

30
src/modules/sdlog2/sdlog2_messages.h
View File

@ -318,15 +318,27 @@ struct log_VICN_s {
float yaw;
};
/* --- GSN0 - GPS SNR #0 --- */
#define LOG_GSN0_MSG 26
struct log_GSN0_s {
/* --- GS0A - GPS SNR #0, SAT GROUP A --- */
#define LOG_GS0A_MSG 26
struct log_GS0A_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
/* --- GSN1 - GPS SNR #1 --- */
#define LOG_GSN1_MSG 27
struct log_GSN1_s {
/* --- GS0B - GPS SNR #0, SAT GROUP B --- */
#define LOG_GS0B_MSG 27
struct log_GS0B_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
/* --- GS1A - GPS SNR #1, SAT GROUP A --- */
#define LOG_GS1A_MSG 28
struct log_GS1A_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
/* --- GS1B - GPS SNR #1, SAT GROUP B --- */
#define LOG_GS1B_MSG 29
struct log_GS1B_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
@ -381,8 +393,10 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(GSN0, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GSN1, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */