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91 lines
3.8 KiB
91 lines
3.8 KiB
/**************************************************************************** |
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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[3]; /**< remaining auxiliary 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 |