forked from Archive/PX4-Autopilot
92 lines
3.7 KiB
C
92 lines
3.7 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file sdlog_ringbuffer.h
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* microSD logging
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#ifndef SDLOG_RINGBUFFER_H_
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#define SDLOG_RINGBUFFER_H_
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#pragma pack(push, 1)
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struct sdlog_sysvector {
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uint64_t timestamp; /**< time [us] */
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float gyro[3]; /**< [rad/s] */
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float accel[3]; /**< [m/s^2] */
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float mag[3]; /**< [gauss] */
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float baro; /**< pressure [millibar] */
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float baro_alt; /**< altitude above MSL [meter] */
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float baro_temp; /**< [degree celcius] */
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float control[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */
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float actuators[8]; /**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */
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float vbat; /**< battery voltage in [volt] */
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float bat_current; /**< battery discharge current */
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float bat_discharged; /**< discharged energy in mAh */
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float adc[4]; /**< ADC ports [volt] */
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float local_position[3]; /**< tangent plane mapping into x,y,z [m] */
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int32_t gps_raw_position[3]; /**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
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float attitude[3]; /**< roll, pitch, yaw [rad] */
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float rotMatrix[9]; /**< unitvectors */
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float vicon[6]; /**< Vicon ground truth x, y, z and roll, pitch, yaw */
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float control_effective[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */
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float flow[6]; /**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */
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float diff_pressure; /**< differential pressure */
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float ind_airspeed; /**< indicated airspeed */
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float true_airspeed; /**< true airspeed */
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};
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#pragma pack(pop)
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struct sdlog_logbuffer {
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unsigned int start;
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// unsigned int end;
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unsigned int size;
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int count;
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struct sdlog_sysvector *elems;
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};
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void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size);
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int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb);
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int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb);
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void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem);
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int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem);
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#endif
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