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Merge pull request #1422 from jgoppert/encoder_logging 

Encoder logging support.
This commit is contained in:
Thomas Gubler 2014-11-02 22:03:51 +01:00
parent 5862f4ffe6 0e5b91d16f
commit da2b2500f7
2 changed files with 26 additions and 1 deletions
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16
src/modules/sdlog2/sdlog2.c
View File

@ -90,6 +90,7 @@
#include <uORB/topics/system_power.h>
#include <uORB/topics/servorail_status.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/encoders.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@ -954,6 +955,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct servorail_status_s servorail_status;
struct satellite_info_s sat_info;
struct wind_estimate_s wind_estimate;
struct encoders_s encoders;
} buf;
memset(&buf, 0, sizeof(buf));
@ -996,6 +998,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GS1B_s log_GS1B;
struct log_TECS_s log_TECS;
struct log_WIND_s log_WIND;
struct log_ENCD_s log_ENCD;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@ -1033,6 +1036,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int system_power_sub;
int servorail_status_sub;
int wind_sub;
int encoders_sub;
} subs;
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@ -1064,7 +1068,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
/* we need to rate-limit wind, as we do not need the full update rate */
orb_set_interval(subs.wind_sub, 90);
subs.encoders_sub = orb_subscribe(ORB_ID(encoders));
/* add new topics HERE */
@ -1667,6 +1671,16 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(WIND);
}
/* --- ENCODERS --- */
if (copy_if_updated(ORB_ID(encoders), subs.encoders_sub, &buf.encoders)) {
log_msg.msg_type = LOG_ENCD_MSG;
log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0];
log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0];
log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1];
log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1];
LOGBUFFER_WRITE_AND_COUNT(ENCD);
}
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
/* only request write if several packets can be written at once */

11
src/modules/sdlog2/sdlog2_messages.h
View File

@ -407,6 +407,16 @@ struct log_VISN_s {
float qw;
};
/* --- ENCODERS - ENCODER DATA --- */
#define LOG_ENCD_MSG 39
struct log_ENCD_s {
int64_t cnt0;
float vel0;
int64_t cnt1;
float vel1;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@ -471,6 +481,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */