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192 lines
6.7 KiB
192 lines
6.7 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* ************************************************************ */ |
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/* Test for DataFlash Log library */ |
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/* ************************************************************ */ |
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#ifndef DataFlash_h |
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#define DataFlash_h |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_GPS/AP_GPS.h> |
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#include <AP_InertialSensor/AP_InertialSensor.h> |
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#include <AP_RSSI/AP_RSSI.h> |
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#include <AP_Baro/AP_Baro.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_Vehicle/AP_Vehicle.h> |
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#include <AP_Mission/AP_Mission.h> |
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#include <AP_Airspeed/AP_Airspeed.h> |
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#include <AP_BattMonitor/AP_BattMonitor.h> |
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#include <AP_RPM/AP_RPM.h> |
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#include <AP_RangeFinder/AP_RangeFinder.h> |
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#include <DataFlash/LogStructure.h> |
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#include <stdint.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include <uORB/topics/esc_status.h> |
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#endif |
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#include "DFMessageWriter.h" |
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class DataFlash_Backend; |
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enum DataFlash_Backend_Type { |
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DATAFLASH_BACKEND_NONE = 0, |
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DATAFLASH_BACKEND_FILE = 1, |
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DATAFLASH_BACKEND_MAVLINK = 2, |
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DATAFLASH_BACKEND_BOTH = 3, |
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}; |
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class DataFlash_Class |
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{ |
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friend class DataFlash_Backend; // for _num_types |
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public: |
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FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t); |
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FUNCTOR_TYPEDEF(vehicle_startup_message_Log_Writer, void); |
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DataFlash_Class(const char *firmware_string) : |
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_firmware_string(firmware_string) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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void set_mission(const AP_Mission *mission); |
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// initialisation |
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void Init(const struct LogStructure *structure, uint8_t num_types); |
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bool CardInserted(void); |
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// erase handling |
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bool NeedErase(void); |
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void EraseAll(); |
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// possibly expensive calls to start log system: |
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bool NeedPrep(); |
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void Prep(); |
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/* Write a block of data at current offset */ |
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void WriteBlock(const void *pBuffer, uint16_t size); |
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/* Write an *important* block of data at current offset */ |
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void WriteCriticalBlock(const void *pBuffer, uint16_t size); |
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// high level interface |
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uint16_t find_last_log() const; |
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void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page); |
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void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc); |
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int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data); |
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uint16_t get_num_logs(void); |
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void LogReadProcess(uint16_t log_num, |
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uint16_t start_page, uint16_t end_page, |
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print_mode_fn printMode, |
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AP_HAL::BetterStream *port); |
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void DumpPageInfo(AP_HAL::BetterStream *port); |
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void ShowDeviceInfo(AP_HAL::BetterStream *port); |
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void ListAvailableLogs(AP_HAL::BetterStream *port); |
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void setVehicle_Startup_Log_Writer(vehicle_startup_message_Log_Writer writer); |
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void StartNewLog(void); |
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void EnableWrites(bool enable); |
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void Log_Write_SysInfo(const char *firmware_string); |
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void Log_Write_Format(const struct LogStructure *structure); |
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void Log_Write_Parameter(const char *name, float value); |
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void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, int32_t relative_alt); |
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void Log_Write_RFND(const RangeFinder &rangefinder); |
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void Log_Write_IMU(const AP_InertialSensor &ins); |
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void Log_Write_IMUDT(const AP_InertialSensor &ins); |
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void Log_Write_Vibration(const AP_InertialSensor &ins); |
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void Log_Write_RCIN(void); |
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void Log_Write_RCOUT(void); |
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void Log_Write_RSSI(AP_RSSI &rssi); |
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void Log_Write_Baro(AP_Baro &baro); |
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void Log_Write_Power(void); |
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void Log_Write_AHRS2(AP_AHRS &ahrs); |
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void Log_Write_POS(AP_AHRS &ahrs); |
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#if AP_AHRS_NAVEKF_AVAILABLE |
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void Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled); |
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void Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled); |
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#endif |
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bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd); |
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void Log_Write_Radio(const mavlink_radio_t &packet); |
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void Log_Write_Message(const char *message); |
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void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location ¤t_loc); |
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void Log_Write_ESC(void); |
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void Log_Write_Airspeed(AP_Airspeed &airspeed); |
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void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets); |
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void Log_Write_Current(const AP_BattMonitor &battery, int16_t throttle); |
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void Log_Write_Compass(const Compass &compass); |
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void Log_Write_Mode(uint8_t mode); |
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void Log_Write_Parameters(void); |
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void Log_Write_EntireMission(const AP_Mission &mission); |
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void Log_Write_Mission_Cmd(const AP_Mission &mission, |
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const AP_Mission::Mission_Command &cmd); |
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void Log_Write_Origin(uint8_t origin_type, const Location &loc); |
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void Log_Write_RPM(const AP_RPM &rpm_sensor); |
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// This structure provides information on the internal member data of a PID for logging purposes |
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struct PID_Info { |
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float desired; |
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float P; |
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float I; |
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float D; |
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float FF; |
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float AFF; |
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}; |
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void Log_Write_PID(uint8_t msg_type, const PID_Info &info); |
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bool logging_started(void); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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// currently only DataFlash_File support this: |
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void flush(void); |
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#endif |
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// for DataFlash_MAVLink: |
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void remote_log_block_status_msg(mavlink_channel_t chan, |
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mavlink_message_t* msg); |
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// end for DataFlash_MAVLink: |
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void periodic_tasks(); // may want to split this into GCS/non-GCS duties |
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// this is out here for the trickle-startup-messages logging. |
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// Think before calling. |
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bool Log_Write_Parameter(const AP_Param *ap, const AP_Param::ParamToken &token, |
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enum ap_var_type type); |
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vehicle_startup_message_Log_Writer _vehicle_messages; |
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// parameter support |
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static const struct AP_Param::GroupInfo var_info[]; |
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struct { |
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AP_Int8 backend_types; |
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AP_Int8 file_bufsize; // in kilobytes |
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} _params; |
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const struct LogStructure *structure(uint16_t num) const; |
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protected: |
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void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt); |
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void WroteStartupFormat(); |
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void WroteStartupParam(); |
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const struct LogStructure *_structures; |
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uint8_t _num_types; |
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/* Write a block with specified importance */ |
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/* might be useful if you have a boolean indicating a message is |
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* important... */ |
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void WritePrioritisedBlock(const void *pBuffer, uint16_t size, |
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bool is_critical); |
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private: |
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#define DATAFLASH_MAX_BACKENDS 2 |
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uint8_t _next_backend; |
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DataFlash_Backend *backends[DATAFLASH_MAX_BACKENDS]; |
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const char *_firmware_string; |
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}; |
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#endif
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