From 0b5dad33f26b96ffaed212d75674c30dfa07f422 Mon Sep 17 00:00:00 2001
From: ebethon <etienne@swiftnav.com>
Date: Mon, 26 Jun 2017 16:41:24 +0100
Subject: [PATCH] DataFlash: Rename SBR1/SBR2 to SBRH/SBRM and change format

Add (sender_id, msg_len) in SBRM message
Add index/pages in SBRH/SBRM messages
Change format to integers to avoid GCS string parsing
Decrease data size in SBRH
---
 libraries/DataFlash/LogStructure.h | 30 +++++++++++++++++++-----------
 1 file changed, 19 insertions(+), 11 deletions(-)

diff --git a/libraries/DataFlash/LogStructure.h b/libraries/DataFlash/LogStructure.h
index 838f14671e..6dfb0e0864 100644
--- a/libraries/DataFlash/LogStructure.h
+++ b/libraries/DataFlash/LogStructure.h
@@ -790,20 +790,28 @@ struct PACKED log_SbpHealth {
     uint32_t last_iar_num_hypotheses;
 };
 
-struct PACKED log_SbpRAW1 {
+struct PACKED log_SbpRAWH {
     LOG_PACKET_HEADER;
     uint64_t time_us;
     uint16_t msg_type;
     uint16_t sender_id;
+    uint8_t index;
+    uint8_t pages;
     uint8_t msg_len;
-    uint8_t data1[64];
+    uint8_t res;
+    uint8_t data[48];
 };
 
-struct PACKED log_SbpRAW2 {
+struct PACKED log_SbpRAWM {
     LOG_PACKET_HEADER;
     uint64_t time_us;
     uint16_t msg_type;
-    uint8_t data2[192];
+    uint16_t sender_id;
+    uint8_t index;
+    uint8_t pages;
+    uint8_t msg_len;
+    uint8_t res;
+    uint8_t data[104];
 };
 
 struct PACKED log_Rally {
@@ -1122,11 +1130,11 @@ Format characters in the format string for binary log messages
 // #if SBP_HW_LOGGING
 #define LOG_SBP_STRUCTURES \
     { LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \
-      "SBPH", "QIII",   "TimeUS,CrcError,LastInject,IARhyp" }, \
-    { LOG_MSG_SBPRAW1, sizeof(log_SbpRAW1), \
-      "SBR1", "QHHBZ",      "TimeUS,msg_type,sender_id,msg_len,d1" }, \
-    { LOG_MSG_SBPRAW2, sizeof(log_SbpRAW2), \
-      "SBR2", "QHZZZ",      "TimeUS,msg_type,d2,d3,d4" }
+      "SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp" }, \
+    { LOG_MSG_SBPRAWH, sizeof(log_SbpRAWH), \
+      "SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6" }, \
+    { LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \
+      "SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13" }
 // #endif
 
 #define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES, LOG_SBP_STRUCTURES
@@ -1241,8 +1249,8 @@ enum LogMessages {
     LOG_MSG_SBPBASELINE,
     LOG_MSG_SBPTRACKING1,
     LOG_MSG_SBPTRACKING2,
-    LOG_MSG_SBPRAW1,
-    LOG_MSG_SBPRAW2,
+    LOG_MSG_SBPRAWH,
+    LOG_MSG_SBPRAWM,
     LOG_MSG_SBPRAWx,
     LOG_TRIGGER_MSG,