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AP_Logger: use single message number for all ESCs by using instance #

zr-v5.1
Peter Barker 5 years ago committed by Peter Barker
parent
c8fdf9305b
commit
cc60faa58e
2 changed files with 8 additions and 36 deletions
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  1. 9
      libraries/AP_Logger/LogFile.cpp
  2. 35
      libraries/AP_Logger/LogStructure.h

9
libraries/AP_Logger/LogFile.cpp
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@ -766,15 +766,12 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason) @@ -766,15 +766,12 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
// current is in centi-amps
// temperature is in centi-degrees Celsius
// current_tot is in centi-amp hours
void AP_Logger::Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp)
void AP_Logger::Write_ESC(uint8_t instance, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp)
{
// sanity check id
if (id >= 8) {
return;
}
const struct log_Esc pkt{
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC1_MSG+id)),
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
time_us : time_us,
instance : instance,
rpm : rpm,
voltage : voltage,
current : current,

35
libraries/AP_Logger/LogStructure.h
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@ -907,7 +907,8 @@ struct PACKED log_GPS_RAWS { @@ -907,7 +907,8 @@ struct PACKED log_GPS_RAWS {
struct PACKED log_Esc {
LOG_PACKET_HEADER;
uint64_t time_us;
uint64_t time_us;
uint8_t instance;
int32_t rpm;
uint16_t voltage;
uint16_t current;
@ -1218,11 +1219,6 @@ struct PACKED log_Arm_Disarm { @@ -1218,11 +1219,6 @@ struct PACKED log_Arm_Disarm {
#define BARO_UNITS "smPOnsmO-"
#define BARO_MULTS "F00B0C?0-"
#define ESC_LABELS "TimeUS,RPM,Volt,Curr,Temp,CTot,MotTemp"
#define ESC_FMT "QeCCcHc"
#define ESC_UNITS "sqvAO-O"
#define ESC_MULTS "FBBBB-B"
#define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta"
#define GPA_FMT "QCCCCfBIH"
#define GPA_UNITS "smmmnd-ss"
@ -2409,22 +2405,8 @@ struct PACKED log_Arm_Disarm { @@ -2409,22 +2405,8 @@ struct PACKED log_Arm_Disarm {
"GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" }, \
{ LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
"GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" }, \
{ LOG_ESC1_MSG, sizeof(log_Esc), \
"ESC1", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC2_MSG, sizeof(log_Esc), \
"ESC2", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC3_MSG, sizeof(log_Esc), \
"ESC3", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC4_MSG, sizeof(log_Esc), \
"ESC4", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC5_MSG, sizeof(log_Esc), \
"ESC5", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC6_MSG, sizeof(log_Esc), \
"ESC6", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC7_MSG, sizeof(log_Esc), \
"ESC7", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC8_MSG, sizeof(log_Esc), \
"ESC8", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC_MSG, sizeof(log_Esc), \
"ESC", "QBeCCcHc", "TimeUS,Instance,RPM,Volt,Curr,Temp,CTot,MotTemp", "s#qvAO-O", "F-BBBB-B" }, \
{ LOG_CSRV_MSG, sizeof(log_CSRV), \
"CSRV","QBfffB","TimeUS,Id,Pos,Force,Speed,Pow", "s#---%", "F-0000" }, \
{ LOG_CESC_MSG, sizeof(log_CESC), \
@ -2559,14 +2541,7 @@ enum LogMessages : uint8_t { @@ -2559,14 +2541,7 @@ enum LogMessages : uint8_t {
LOG_TERRAIN_MSG,
LOG_GPS_UBX1_MSG,
LOG_GPS_UBX2_MSG,
LOG_ESC1_MSG,
LOG_ESC2_MSG,
LOG_ESC3_MSG,
LOG_ESC4_MSG,
LOG_ESC5_MSG,
LOG_ESC6_MSG,
LOG_ESC7_MSG,
LOG_ESC8_MSG,
LOG_ESC_MSG,
LOG_CSRV_MSG,
LOG_CESC_MSG,
LOG_BAR2_MSG,

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