Added logging with worker thread for microSD writes, untested, but feature-complete

2026-10-18 01:33:34 +08:00 · 2013-01-08 14:57:12 +01:00
parent e24dd0f684
commit 435bae6542
4 changed files with 292 additions and 53 deletions
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog_ringbuffer.h
+ * microSD logging
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef SDLOG_RINGBUFFER_H_
+#define SDLOG_RINGBUFFER_H_
+
+#pragma pack(push, 1)
+struct sdlog_sysvector {
+	uint64_t timestamp;		/**<  time [us] */
+	float gyro[3];			/**< [rad/s] */
+	float accel[3];			/**< [m/s^2] */
+	float mag[3];			/**< [gauss] */
+	float baro;			/**< pressure [millibar] */
+	float baro_alt;			/**< altitude above MSL [meter] */
+	float baro_temp;		/**< [degree celcius] */
+	float control[4];		/**< roll, pitch, yaw [-1..1], thrust [0..1] */
+	float actuators[8];		/**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */
+	float vbat;			/**< battery voltage in [volt] */
+	float adc[3];			/**< remaining auxiliary ADC ports [volt] */
+	float local_position[3];	/**< tangent plane mapping into x,y,z [m] */
+	int32_t gps_raw_position[3];	/**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
+	float attitude[3];		/**< roll, pitch, yaw [rad] */
+	float rotMatrix[9];		/**< unitvectors */
+	float vicon[6];			/**< Vicon ground truth x, y, z and roll, pitch, yaw */
+	float control_effective[4]; 	/**< roll, pitch, yaw [-1..1], thrust [0..1] */
+	float flow[6];			/**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */
+};
+#pragma pack(pop)
+
+struct sdlog_logbuffer {
+	unsigned int start;
+	// unsigned int end;
+	unsigned int size;
+	int count;
+	struct sdlog_sysvector *elems;
+};
+
+void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size);
+
+int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb);
+
+int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb);
+
+void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem);
+
+int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem);
+
+#endif