@ -3,157 +3,6 @@
@@ -3,157 +3,6 @@
# if LOGGING_ENABLED == ENABLED
# if CLI_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash.log memory
// Code to interact with the user to dump or erase logs
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
// See class Menu in AP_Coommon for implementation details
static const struct Menu : : command log_menu_commands [ ] = {
{ " dump " , MENU_FUNC ( dump_log ) } ,
{ " erase " , MENU_FUNC ( erase_logs ) } ,
{ " enable " , MENU_FUNC ( select_logs ) } ,
{ " disable " , MENU_FUNC ( select_logs ) }
} ;
// A Macro to create the Menu
MENU2 ( log_menu , " Log " , log_menu_commands , FUNCTOR_BIND ( & plane , & Plane : : print_log_menu , bool ) ) ;
bool Plane : : print_log_menu ( void )
{
cliSerial - > printf ( " logs enabled: \n " ) ;
if ( 0 = = g . log_bitmask ) {
cliSerial - > printf ( " none \n " ) ;
} else {
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// the bit being set and print the name of the log option to suit.
# define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf(" %s", # _s)
PLOG ( ATTITUDE_FAST ) ;
PLOG ( ATTITUDE_MED ) ;
PLOG ( GPS ) ;
PLOG ( PM ) ;
PLOG ( CTUN ) ;
PLOG ( NTUN ) ;
PLOG ( MODE ) ;
PLOG ( IMU ) ;
PLOG ( CMD ) ;
PLOG ( CURRENT ) ;
PLOG ( COMPASS ) ;
PLOG ( TECS ) ;
PLOG ( CAMERA ) ;
PLOG ( RC ) ;
PLOG ( SONAR ) ;
# undef PLOG
}
cliSerial - > printf ( " \n " ) ;
DataFlash . ListAvailableLogs ( cliSerial ) ;
return ( true ) ;
}
int8_t Plane : : dump_log ( uint8_t argc , const Menu : : arg * argv )
{
int16_t dump_log_num ;
uint16_t dump_log_start ;
uint16_t dump_log_end ;
// check that the requested log number can be read
dump_log_num = argv [ 1 ] . i ;
if ( dump_log_num = = - 2 ) {
DataFlash . DumpPageInfo ( cliSerial ) ;
return ( - 1 ) ;
} else if ( dump_log_num < = 0 ) {
cliSerial - > printf ( " dumping all \n " ) ;
Log_Read ( 0 , 1 , 0 ) ;
return ( - 1 ) ;
} else if ( ( argc ! = 2 ) | | ( ( uint16_t ) dump_log_num > DataFlash . get_num_logs ( ) ) ) {
cliSerial - > printf ( " bad log number \n " ) ;
return ( - 1 ) ;
}
DataFlash . get_log_boundaries ( dump_log_num , dump_log_start , dump_log_end ) ;
Log_Read ( ( uint16_t ) dump_log_num , dump_log_start , dump_log_end ) ;
return 0 ;
}
int8_t Plane : : erase_logs ( uint8_t argc , const Menu : : arg * argv )
{
DataFlash . EnableWrites ( false ) ;
do_erase_logs ( ) ;
DataFlash . EnableWrites ( true ) ;
return 0 ;
}
int8_t Plane : : select_logs ( uint8_t argc , const Menu : : arg * argv )
{
uint32_t bits ;
if ( argc ! = 2 ) {
cliSerial - > printf ( " missing log type \n " ) ;
return ( - 1 ) ;
}
bits = 0 ;
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// that name as the argument to the command, and set the bit in
// bits accordingly.
//
if ( ! strcasecmp ( argv [ 1 ] . str , " all " ) ) {
bits = 0xFFFFFFFFUL ;
} else {
# define TARG(_s) if (!strcasecmp(argv[1].str, # _s)) bits |= MASK_LOG_ ## _s
TARG ( ATTITUDE_FAST ) ;
TARG ( ATTITUDE_MED ) ;
TARG ( GPS ) ;
TARG ( PM ) ;
TARG ( CTUN ) ;
TARG ( NTUN ) ;
TARG ( MODE ) ;
TARG ( IMU ) ;
TARG ( CMD ) ;
TARG ( CURRENT ) ;
TARG ( COMPASS ) ;
TARG ( TECS ) ;
TARG ( CAMERA ) ;
TARG ( RC ) ;
TARG ( SONAR ) ;
# undef TARG
}
if ( ! strcasecmp ( argv [ 0 ] . str , " enable " ) ) {
g . log_bitmask . set_and_save ( g . log_bitmask | bits ) ;
} else {
g . log_bitmask . set_and_save ( g . log_bitmask & ~ bits ) ;
}
return ( 0 ) ;
}
int8_t Plane : : process_logs ( uint8_t argc , const Menu : : arg * argv )
{
log_menu . run ( ) ;
return 0 ;
}
# endif // CLI_ENABLED == ENABLED
void Plane : : do_erase_logs ( void )
{
gcs ( ) . send_text ( MAV_SEVERITY_INFO , " Erasing logs " ) ;
DataFlash . EraseAll ( ) ;
gcs ( ) . send_text ( MAV_SEVERITY_INFO , " Log erase complete " ) ;
}
// Write an attitude packet
void Plane : : Log_Write_Attitude ( void )
{
@ -561,22 +410,6 @@ const struct LogStructure Plane::log_structure[] = {
@@ -561,22 +410,6 @@ const struct LogStructure Plane::log_structure[] = {
" AETR " , " Qhhhhh " , " TimeUS,Ail,Elev,Thr,Rudd,Flap " } , \
} ;
# if CLI_ENABLED == ENABLED
// Read the DataFlash.log memory : Packet Parser
void Plane : : Log_Read ( uint16_t list_entry , int16_t start_page , int16_t end_page )
{
cliSerial - > printf ( " \n " FIRMWARE_STRING
" \n Free RAM: %u \n " ,
( unsigned ) hal . util - > available_memory ( ) ) ;
cliSerial - > printf ( " %s \n " , HAL_BOARD_NAME ) ;
DataFlash . LogReadProcess ( list_entry , start_page , end_page ,
FUNCTOR_BIND_MEMBER ( & Plane : : print_flight_mode , void , AP_HAL : : BetterStream * , uint8_t ) ,
cliSerial ) ;
}
# endif // CLI_ENABLED
void Plane : : Log_Write_Vehicle_Startup_Messages ( )
{
// only 200(?) bytes are guaranteed by DataFlash
@ -593,21 +426,10 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
@@ -593,21 +426,10 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
void Plane : : log_init ( void )
{
DataFlash . Init ( log_structure , ARRAY_SIZE ( log_structure ) ) ;
gcs ( ) . reset_cli_timeout ( ) ;
}
# else // LOGGING_ENABLED
# if CLI_ENABLED == ENABLED
bool Plane : : print_log_menu ( void ) { return true ; }
int8_t Plane : : dump_log ( uint8_t argc , const Menu : : arg * argv ) { return 0 ; }
int8_t Plane : : erase_logs ( uint8_t argc , const Menu : : arg * argv ) { return 0 ; }
int8_t Plane : : select_logs ( uint8_t argc , const Menu : : arg * argv ) { return 0 ; }
int8_t Plane : : process_logs ( uint8_t argc , const Menu : : arg * argv ) { return 0 ; }
# endif // CLI_ENABLED == ENABLED
void Plane : : do_erase_logs ( void ) { }
void Plane : : Log_Write_Attitude ( void ) { }
void Plane : : Log_Write_Fast ( void ) { }
void Plane : : Log_Write_Performance ( ) { }
@ -630,10 +452,6 @@ void Plane::Log_Write_Baro(void) {}
@@ -630,10 +452,6 @@ void Plane::Log_Write_Baro(void) {}
void Plane : : Log_Write_Airspeed ( void ) { }
void Plane : : Log_Write_Home_And_Origin ( ) { }
# if CLI_ENABLED == ENABLED
void Plane : : Log_Read ( uint16_t log_num , int16_t start_page , int16_t end_page ) { }
# endif // CLI_ENABLED
void Plane : : log_init ( void ) { }
# endif // LOGGING_ENABLED
Peter Barker
8 years ago
committed by
Randy Mackay