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Fresh import of the PX4 firmware sources.

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px4dev
2012-08-04 15:12:36 -07:00
commit 8a365179ea
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apps/sdlog/Makefile
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############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
#
# 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.
#
############################################################################
#
# sdlog Application
#
APPNAME = sdlog
PRIORITY = SCHED_PRIORITY_DEFAULT - 1
STACKSIZE = 3000
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
include $(APPDIR)/mk/app.mk
apps/sdlog/mfile.template
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%% Import logfiles
if (exist ('OCTAVE_VERSION', 'builtin'))
% Octave
graphics_toolkit ("fltk")
else
% Matlab
end
% define log file and GPSs
logfileFolder = 'logfiles';
fileName = 'all';
fileEnding = 'px4log';
numberOfLogTypes = length(logTypes);
path = [fileName,'.', fileEnding];
fid = fopen(path, 'r');
% get file length
fseek(fid, 0,'eof');
fileLength = ftell(fid);
fseek(fid, 0,'bof');
% get length of one block
blockLength = 4; % check: $$$$
for i=1:numberOfLogTypes
blockLength = blockLength + logTypes{i}.type_bytes*logTypes{i}.number_of_array;
end
% determine number of entries
entries = fileLength / blockLength;
% import data
offset = 0;
for i=1:numberOfLogTypes
data.(genvarname(logTypes{i}.data)).(genvarname(logTypes{i}.variable_name)) = transpose(fread(fid,[logTypes{i}.number_of_array,entries],[num2str(logTypes{i}.number_of_array),'*',logTypes{i}.type_name,'=>',logTypes{i}.type_name],blockLength-logTypes{i}.type_bytes*logTypes{i}.number_of_array));
offset = offset + logTypes{i}.type_bytes*logTypes{i}.number_of_array;
fseek(fid, offset,'bof');
progressPercentage = i/numberOfLogTypes*100;
fprintf('%3.0f%%',progressPercentage);
end
%% Plots
figure
plot(data.sensors_raw.timestamp,data.sensors_raw.gyro_raw)
figure
plot(data.sensors_raw.timestamp,data.sensors_raw.accelerometer_raw)
%% Check for lost data
% to detect lost frames (either when logging to sd card or if no new data is
% data is available for some time)
diff_counter = diff(data.sensors_raw.gyro_raw_counter);
figure
plot(diff_counter)
% to detect how accurate the timing was
diff_timestamp = diff(data.sensors_raw.timestamp);
figure
plot(diff_timestamp)
%% Export to file for google earth
if(isfield(data.gps,'lat') && isfield(data.gps,'lon') && isfield(data.gps,'alt'))
% extract coordinates and height where they are not zero
maskWhereNotZero = ((data.gps.lon ~= 0 & data.gps.lat ~= 0 ) & data.gps.alt ~= 0);
% plot
figure
plot3(data.gps.lon(maskWhereNotZero),data.gps.lat(maskWhereNotZero),data.gps.alt(maskWhereNotZero))
% create a kml file according to https://developers.google.com/kml/documentation/kml_tut
% also see https://support.google.com/earth/bin/answer.py?hl=en&answer=148072&topic=2376756&ctx=topic
% open file and overwrite content
fileId = fopen('gps_path.kml','w+');
% define strings that should be written to file
fileStartDocumentString = ['<?xml version="1.0" encoding="UTF-8"?><kml xmlns="http://www.opengis.net/kml/2.2"><Document><name>Paths</name><description>Path</description>'];
fileStyleString = '<Style id="blueLinebluePoly"><LineStyle><color>7fff0000</color><width>4</width></LineStyle><PolyStyle><color>7fff0000</color></PolyStyle></Style>';
filePlacemarkString = '<Placemark><name>Absolute Extruded</name><description>Transparent blue wall with blue outlines</description><styleUrl>#blueLinebluePoly</styleUrl><LineString><extrude>1</extrude><tessellate>1</tessellate><altitudeMode>absolute</altitudeMode><coordinates>';
fileEndPlacemarkString = '</coordinates></LineString></Placemark>';
fileEndDocumentString = '</Document></kml>';
% start writing to file
fprintf(fileId,fileStartDocumentString);
fprintf(fileId,fileStyleString);
fprintf(fileId,filePlacemarkString);
lonTemp = double(data.gps.lon(maskWhereNotZero))/1E7;
latTemp = double(data.gps.lat(maskWhereNotZero))/1E7;
altTemp = double(data.gps.alt(maskWhereNotZero))/1E3 + 100.0; % in order to see the lines above ground
% write coordinates to file
for k=1:length(data.gps.lat(maskWhereNotZero))
if(mod(k,10)==0)
fprintf(fileId,'%.10f,%.10f,%.10f\\n',lonTemp(k),latTemp(k),altTemp(k));
end
end
% write end placemark
fprintf(fileId,fileEndPlacemarkString);
% write end of file
fprintf(fileId,fileEndDocumentString);
% close file, it should now be readable in Google Earth using File -> Open
fclose(fileId);
end
if(isfield(data.position,'lat') && isfield(data.position,'lon') && isfield(data.position,'alt'))
% extract coordinates and height where they are not zero
maskWhereNotZero = ((data.position.lon ~= 0 & data.position.lat ~= 0 ) & data.position.alt ~= 0);
% plot
figure
plot3(data.position.lon(maskWhereNotZero),data.position.lat(maskWhereNotZero),data.position.alt(maskWhereNotZero))
end
apps/sdlog/sdlog.c
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/****************************************************************************
* examples/hello/main.c
*
* Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* 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 NuttX 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.
*
****************************************************************************/
#include <time.h>
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <float.h>
#include <stdbool.h>
#include <sys/mount.h>
#include <sys/stat.h>
#include <time.h>
#include <pthread.h>
#include <fcntl.h>
#include <sys/prctl.h>
#include <errno.h>
#include "sdlog.h"
#include "sdlog_generated.h"
/****************************************************************************
* Definitions
****************************************************************************/
__EXPORT int sdlog_main(int argc, char *argv[]);
const char *src = "/dev/mmcsd0";
const char *trgt = "/fs/microsd";
const char *type = "vfat";
const char *logfile_end = ".px4log";
const char *mfile_end = ".m";
char folder_path[64];
#define SDLOG_LED_PRIORITY LED_REQUEST_PRIORITY_MAX
#define BUFFER_BYTES 1000 // length of buffer
#define SAVE_EVERY_BYTES 2000
#define MAX_MOUNT_TRIES 5
static void sdlog_sig_handler(int signo, siginfo_t *info, void *ucontext); // is executed when SIGUSR1 is received
bool sdlog_sigusr1_rcvd; // if this is set to true through SIGUSR1, sdlog will terminate
static pthread_t logbuffer_thread; // thread to copy log values to the buffer
static void *logbuffer_loop(void *arg);
uint8_t *buffer_start; // always points to the very beginning
uint8_t *buffer_end; // always points to the very end
uint8_t *buffer_cursor_start; // points to the start of the current buffer
uint8_t *buffer_cursor_end; // points to the end of the current buffer
size_t buffer_bytes_used; // amount stored in the buffer at the moment
uint32_t bytes_recv; // to count bytes received and written to the sdcard
uint32_t bytes_sent; // to count the bytes written to the buffer
/****************************************************************************
* user_start
****************************************************************************/
int file_exist(const char *filename)
{
struct stat buffer;
return (stat(filename, &buffer) == 0);
}
int sdlog_main(int argc, char *argv[])
{
// print text
printf("[sdlog] initialized\n");
usleep(10000);
sdlog_sigusr1_rcvd = false;
led_request_t amber_on_request = {.led = LED_AMBER, .priority = SDLOG_LED_PRIORITY, .request_type = LED_REQUEST_ON};
led_request_t amber_off_request = {.led = LED_AMBER, .priority = SDLOG_LED_PRIORITY, .request_type = LED_REQUEST_OFF};
amber_on_request.pid = getpid();
amber_off_request.pid = getpid();
/* signal handler to abort when low voltage occurs */
struct sigaction act;
struct sigaction oact;
act.sa_sigaction = sdlog_sig_handler;
(void)sigemptyset(&act.sa_mask);
(void)sigaddset(&act.sa_mask, SIGUSR1);
(void)sigaction(SIGUSR1, &act, &oact);
uint8_t mount_counter = 0;
commander_state_machine_t current_system_state;
global_data_send_led_request(&amber_on_request);
if (file_exist(trgt) == 1) {
printf("[sdlog] Mount already available at %s\n", trgt);
global_data_send_led_request(&amber_off_request);
} else {
printf("[sdlog] Mount not available yet, trying to mount...\n");
/* mostly the first mount fails, sometimes it helps to press the card onto the board! */
while (mount(src, trgt, type, 0, "") != 0) {
/* abort if kill signal is received */
if (sdlog_sigusr1_rcvd == true) {
return 0;
}
//make sure were not airborne
global_data_trylock(&global_data_sys_status->access_conf);
current_system_state = global_data_sys_status->state_machine;
global_data_unlock(&global_data_sys_status->access_conf);
if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT || current_system_state == SYSTEM_STATE_GROUND_ERROR) {
usleep(1000000);
printf("[sdlog] ERROR: Failed to mount SD card (attempt %d of %d), reason: %s\n", mount_counter + 1, MAX_MOUNT_TRIES, strerror((int)*get_errno_ptr()));
global_data_send_led_request(&amber_off_request);
mount_counter++;
} else {
printf("[sdlog] WARNING: Not mounting SD card in flight!\n");
printf("[sdlog] ending now...\n");
fflush(stdout);
return 0;
}
if (mount_counter >= MAX_MOUNT_TRIES) {
printf("[sdlog] ERROR: SD card could not be mounted!\n");
printf("[sdlog] ending now...\n");
fflush(stdout);
return 0;
}
}
printf("[sdlog] Mount created at %s...\n", trgt);
global_data_send_led_request(&amber_off_request);
}
/* make folder on sdcard */
uint16_t foldernumber = 1; // start with folder 0001
int mkdir_ret;
/* look for the next folder that does not exist */
while (foldernumber < MAX_NO_LOGFOLDER) {
/* set up file path: e.g. /mnt/sdcard/logfile0001.txt */
sprintf(folder_path, "%s/session%04u", trgt, foldernumber);
mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
/* the result is -1 if the folder exists */
if (mkdir_ret == 0) {
/* folder does not exist */
break;
} else if (mkdir_ret == -1) {
/* folder exists already */
foldernumber++; // to try next time
continue;
} else {
printf("[sdlog] ERROR: Failed creating new folder: %s\n", strerror((int)*get_errno_ptr()));
return -1;
}
}
if (foldernumber >= MAX_NO_LOGFOLDER) {
/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
printf("[sdlog] ERROR: all %d possible folders exist already\n", MAX_NO_LOGFOLDER);
return -1;
}
/* write m-file for evaluation in Matlab */
FILE *mfile;
char mfile_path[64] = ""; // string to hold the path to the mfile
const char *mfilename = "sdlog_eval";
sprintf(mfile_path, "%s/%s%s", folder_path, mfilename, mfile_end);
if (NULL == (mfile = fopen(mfile_path, "w"))) {
printf("[sdlog] ERROR: opening %s failed: %s\n", mfile_path, strerror((int)*get_errno_ptr()));
}
/* write file contents generated using updatesdlog.sh and mfile.template in nuttx/configs/px4fmu/include */
fwrite(MFILE_STRING, sizeof(MFILE_STRING), 1, mfile);
fprintf(mfile, "\n");
fclose(mfile);
printf("[sdlog] m-file written to sdcard\n");
/* create the ringbuffer */
uint8_t buffer[BUFFER_BYTES];
buffer_start = buffer;
buffer_cursor_start = buffer;
buffer_cursor_end = buffer;
buffer_end = buffer + BUFFER_BYTES;
/* create loop to write log data in a ringbuffer */
pthread_attr_t logbuffer_attr;
pthread_attr_init(&logbuffer_attr);
pthread_attr_setstacksize(&logbuffer_attr, 2400);
pthread_create(&logbuffer_thread, &logbuffer_attr, logbuffer_loop, NULL);
/* create logfile */
FILE *logfile;
char logfile_path[64] = ""; // string to hold the path to the logfile
const char *logfilename = "all";
/* set up file path: e.g. /mnt/sdcard/session0001/gpslog.txt */
sprintf(logfile_path, "%s/%s%s", folder_path, logfilename, logfile_end);
if (NULL == (logfile = fopen(logfile_path, "wb"))) {
printf("[sdlog] opening %s failed: %s\n", logfile_path, strerror((int)*get_errno_ptr()));
}
// else
// {
// printf("[sdlog] opening %s was successful\n",logfile_path);
// }
int logfile_no = fileno(logfile);
bytes_recv = 0; /**< count all bytes that were received and written to the sdcard */
size_t ret_write; /**< last amount written to sdcard */
size_t target_write; /**< desired amount to write to sdcard */
int ret_fsync; /**< return value of fsync() system call */
int error_count = 0; /**< number of continous errors (one successful write resets it) */
/* Start logging */
while (1) {
/* write as soon as content is in the buffer */
while (buffer_bytes_used > 1) {
/* case where the data is not wrapped in the buffer */
if (buffer_cursor_start < buffer_cursor_end) {
/* write all available data */
target_write = (size_t)(buffer_cursor_end - buffer_cursor_start);
if (0 <= (ret_write = fwrite(buffer_cursor_start, 1, target_write, logfile))) {
/* decrease the amount stored in the buffer, normally to 0 */
buffer_bytes_used -= ret_write;
/* set new cursor position: wrap it in case it falls out of the buffer */
buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES;
bytes_recv += ret_write;
error_count = 0;
} else {
error_count++;
printf("[sdlog] ERROR: Write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr()));
}
}
/* case where the content is wrapped around the buffer */
else if (buffer_cursor_start > buffer_cursor_end) {
/* write data until the end of the buffer */
target_write = (size_t)(buffer_end - buffer_cursor_start);
if (0 <= (ret_write = fwrite(buffer_cursor_start, 1, target_write, logfile))) {
/* decrease the amount stored in the buffer */
buffer_bytes_used -= ret_write;
/* set new cursor position: wrap it in case it falls out of the buffer */
buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES;
bytes_recv += ret_write;
error_count = 0;
} else {
error_count++;
printf("[sdlog] ERROR: Write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr()));
}
/* write the rest of the data at the beginning of the buffer */
target_write = (size_t)(buffer_cursor_end - buffer_start);
if (0 <= (ret_write = fwrite(buffer_start, 1, target_write, logfile))) {
/* decrease the amount stored in the buffer, now normally to 0 */
buffer_bytes_used -= ret_write;
/* set new cursor position: wrap it in case it falls out of the buffer */
buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES;
bytes_recv += ret_write;
error_count = 0;
} else {
error_count++;
printf("[sdlog] ERROR: write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr()));
}
} else {
error_count++;
printf("[sdlog] ERROR: dropped data\n");
}
// if(bytes_recv>500000)
// {
// goto finished;
// }
}
/* save and exit if we received signal 1 or have a permanent error */
if (sdlog_sigusr1_rcvd == true || error_count > 100) {
fclose(logfile);
umount(trgt);
if (error_count > 100) {
return ERROR;
} else {
return OK;
}
}
/* save file from time to time */
else if ((bytes_recv > 0 && bytes_recv % SAVE_EVERY_BYTES == 0)) {
if ((ret_fsync = fsync(logfile_no)) != OK) {
printf("[sdlog] ERROR: sync fail: #%d, %s\n", ret_fsync, strerror((int)*get_errno_ptr()));
}
}
// else if(bytes_recv > 2*SAVE_EVERY_BYTES)
// {
// goto finished;
// }
/* sleep, not to block everybody else */
usleep(1000);
}
//finished:
//
// /* at the moment we should not end here */
// fclose(logfile);
// printf("[sdlog] logfile saved\n");
// umount(trgt);
// printf("[sdlog] ending...\n");
// fflush(stdout);
return 0;
}
/* is executed when SIGUSR1 is raised (to terminate the app) */
static void sdlog_sig_handler(int signo, siginfo_t *info, void *ucontext)
{
sdlog_sigusr1_rcvd = true;
}
static void *logbuffer_loop(void *arg)
{
/* set name for this pthread */
prctl(PR_SET_NAME, "sdlog logbuffer", getpid());
bytes_sent = 0; // count all bytes written to the buffer
//size_t block_length = sizeof(global_data_sensors_raw_t) - 4*sizeof(access_conf_t);
size_t first_block_length;
size_t second_block_length;
buffer_bytes_used = 0;
log_block_t log_block = {.check = {'$', '$', '$', '$'}};
size_t block_length = sizeof(log_block_t);
// printf("Block length is: %u",(uint16_t)block_length);
// uint16_t test_counter = 0;
/* start copying data to buffer */
while (1) {
copy_block(&log_block);
/* no more free space in buffer */
if (buffer_bytes_used + (uint16_t)block_length > BUFFER_BYTES) {
printf("[sdlog] buf full, skipping\n");
}
/* data needs to be wrapped around ringbuffer*/
else if (buffer_cursor_end + block_length >= buffer_end) {
/* first block length is from cursor until the end of the buffer */
first_block_length = (size_t)(buffer_end - buffer_cursor_end);
/* second block length is the rest */
second_block_length = block_length - first_block_length;
/* copy the data, not the pointer conversion */
memcpy(buffer_cursor_end, ((uint8_t *) & (log_block)), first_block_length);
memcpy(buffer_start, ((uint8_t *) & (log_block)) + first_block_length, second_block_length);
/* set the end position of the cursor */
buffer_cursor_end = buffer_start + second_block_length;
/* increase the amount stored in the buffer */
buffer_bytes_used += block_length;
bytes_sent += block_length;
}
/* data does not need to be wrapped around */
else {
/* copy the whole block in one step */
memcpy(buffer_cursor_end, ((uint8_t *) & (log_block)), block_length);
/* set the cursor to 0 of the buffer instead of the end */
buffer_cursor_end = buffer_start + (buffer_cursor_end - buffer_start + block_length) % BUFFER_BYTES;
/* increase the amount stored in the buffer */
buffer_bytes_used += block_length;
bytes_sent += block_length;
}
/* also end the pthread when we receive a SIGUSR1 */
if (sdlog_sigusr1_rcvd == true) {
break;
}
}
return NULL;
}
apps/sdlog/sdlog.h
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/*
* sdlog.h
*
* Created on: Mar 8, 2012
* Author: romanpatscheider
*/
#ifndef SENSORS_H_
#define SENSORS_H_
/****************************************************************************
* Included Files
****************************************************************************/
#define MAX_NO_LOGFOLDER 3000 // tested up to here...
#endif /* SENSORS_H_ */
apps/sdlog/sdlog_generated.h
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/* This file is autogenerated in nuttx/configs/px4fmu/include/updatesdlog.py */
#ifndef SDLOG_GENERATED_H_
#define SDLOG_GENERATED_H_
typedef struct {
uint64_t sensors_raw_timestamp;
int16_t sensors_raw_gyro_raw[3];
uint16_t sensors_raw_gyro_raw_counter;
int16_t sensors_raw_accelerometer_raw[3];
uint16_t sensors_raw_accelerometer_raw_counter;
float attitude_roll;
float attitude_pitch;
float attitude_yaw;
float position_lat;
float position_lon;
float position_alt;
float position_relative_alt;
float position_vx;
float position_vy;
float position_vz;
int32_t gps_lat;
int32_t gps_lon;
int32_t gps_alt;
uint16_t gps_eph;
float ardrone_control_setpoint_thrust_cast;
float ardrone_control_setpoint_attitude[3];
float ardrone_control_position_control_output[3];
float ardrone_control_attitude_setpoint_navigationframe_from_positioncontroller[3];
char check[4];
} __attribute__((__packed__)) log_block_t;
void copy_block(log_block_t *log_block)
{
if (global_data_wait(&global_data_sensors_raw->access_conf_rate_low) == 0) {
memcpy(&log_block->sensors_raw_timestamp, &global_data_sensors_raw->timestamp, sizeof(uint64_t) * 1);
memcpy(&log_block->sensors_raw_gyro_raw, &global_data_sensors_raw->gyro_raw, sizeof(int16_t) * 3);
memcpy(&log_block->sensors_raw_gyro_raw_counter, &global_data_sensors_raw->gyro_raw_counter, sizeof(uint16_t) * 1);
memcpy(&log_block->sensors_raw_accelerometer_raw, &global_data_sensors_raw->accelerometer_raw, sizeof(int16_t) * 3);
memcpy(&log_block->sensors_raw_accelerometer_raw_counter, &global_data_sensors_raw->accelerometer_raw_counter, sizeof(uint16_t) * 1);
if (global_data_trylock(&global_data_attitude->access_conf) == 0) {
memcpy(&log_block->attitude_roll, &global_data_attitude->roll, sizeof(float) * 1);
memcpy(&log_block->attitude_pitch, &global_data_attitude->pitch, sizeof(float) * 1);
memcpy(&log_block->attitude_yaw, &global_data_attitude->yaw, sizeof(float) * 1);
global_data_unlock(&global_data_attitude->access_conf);
}
if (global_data_trylock(&global_data_position->access_conf) == 0) {
memcpy(&log_block->position_lat, &global_data_position->lat, sizeof(float) * 1);
memcpy(&log_block->position_lon, &global_data_position->lon, sizeof(float) * 1);
memcpy(&log_block->position_alt, &global_data_position->alt, sizeof(float) * 1);
memcpy(&log_block->position_relative_alt, &global_data_position->relative_alt, sizeof(float) * 1);
memcpy(&log_block->position_vx, &global_data_position->vx, sizeof(float) * 1);
memcpy(&log_block->position_vy, &global_data_position->vy, sizeof(float) * 1);
memcpy(&log_block->position_vz, &global_data_position->vz, sizeof(float) * 1);
global_data_unlock(&global_data_position->access_conf);
}
if (global_data_trylock(&global_data_gps->access_conf) == 0) {
memcpy(&log_block->gps_lat, &global_data_gps->lat, sizeof(int32_t) * 1);
memcpy(&log_block->gps_lon, &global_data_gps->lon, sizeof(int32_t) * 1);
memcpy(&log_block->gps_alt, &global_data_gps->alt, sizeof(int32_t) * 1);
memcpy(&log_block->gps_eph, &global_data_gps->eph, sizeof(uint16_t) * 1);
global_data_unlock(&global_data_gps->access_conf);
}
if (global_data_trylock(&global_data_ardrone_control->access_conf) == 0) {
memcpy(&log_block->ardrone_control_setpoint_thrust_cast, &global_data_ardrone_control->setpoint_thrust_cast, sizeof(float) * 1);
memcpy(&log_block->ardrone_control_setpoint_attitude, &global_data_ardrone_control->setpoint_attitude, sizeof(float) * 3);
memcpy(&log_block->ardrone_control_position_control_output, &global_data_ardrone_control->position_control_output, sizeof(float) * 3);
memcpy(&log_block->ardrone_control_attitude_setpoint_navigationframe_from_positioncontroller, &global_data_ardrone_control->attitude_setpoint_navigationframe_from_positioncontroller, sizeof(float) * 3);
global_data_unlock(&global_data_ardrone_control->access_conf);
}
global_data_unlock(&global_data_sensors_raw->access_conf_rate_low);
}
}
#define MFILE_STRING "% This file is autogenerated in updatesdlog.py and mfile.template in apps/sdlog\n\
%% Define logged values \n\
\n\
logTypes = {};\n\
logTypes{end+1} = struct('data','sensors_raw','variable_name','timestamp','type_name','uint64','type_bytes',8,'number_of_array',1);\n\
logTypes{end+1} = struct('data','sensors_raw','variable_name','gyro_raw','type_name','int16','type_bytes',2,'number_of_array',3);\n\
logTypes{end+1} = struct('data','sensors_raw','variable_name','gyro_raw_counter','type_name','uint16','type_bytes',2,'number_of_array',1);\n\
logTypes{end+1} = struct('data','sensors_raw','variable_name','accelerometer_raw','type_name','int16','type_bytes',2,'number_of_array',3);\n\
logTypes{end+1} = struct('data','sensors_raw','variable_name','accelerometer_raw_counter','type_name','uint16','type_bytes',2,'number_of_array',1);\n\
logTypes{end+1} = struct('data','attitude','variable_name','roll','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','attitude','variable_name','pitch','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','attitude','variable_name','yaw','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','position','variable_name','lat','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','position','variable_name','lon','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','position','variable_name','alt','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','position','variable_name','relative_alt','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','position','variable_name','vx','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','position','variable_name','vy','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','position','variable_name','vz','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','gps','variable_name','lat','type_name','int32','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','gps','variable_name','lon','type_name','int32','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','gps','variable_name','alt','type_name','int32','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','gps','variable_name','eph','type_name','uint16','type_bytes',2,'number_of_array',1);\n\
logTypes{end+1} = struct('data','ardrone_control','variable_name','setpoint_thrust_cast','type_name','float','type_bytes',4,'number_of_array',1);\n\
logTypes{end+1} = struct('data','ardrone_control','variable_name','setpoint_attitude','type_name','float','type_bytes',4,'number_of_array',3);\n\
logTypes{end+1} = struct('data','ardrone_control','variable_name','position_control_output','type_name','float','type_bytes',4,'number_of_array',3);\n\
logTypes{end+1} = struct('data','ardrone_control','variable_name','attitude_setpoint_navigationframe_from_positioncontroller','type_name','float','type_bytes',4,'number_of_array',3);\n\
\
%% Import logfiles\n\
\n\
% define log file and GPSs\n\
logfileFolder = 'logfiles';\n\
fileName = 'all';\n\
fileEnding = 'px4log';\n\
\n\
numberOfLogTypes = length(logTypes);\n\
\n\
path = [fileName,'.', fileEnding];\n\
fid = fopen(path, 'r');\n\
\n\
% get file length\n\
fseek(fid, 0,'eof');\n\
fileLength = ftell(fid);\n\
fseek(fid, 0,'bof');\n\
\n\
% get length of one block\n\
blockLength = 4; % check: $$$$\n\
for i=1:numberOfLogTypes\n\
blockLength = blockLength + logTypes{i}.type_bytes*logTypes{i}.number_of_array;\n\
end\n\
\n\
% determine number of entries\n\
entries = fileLength / blockLength;\n\
\n\
\n\
% import data\n\
offset = 0;\n\
for i=1:numberOfLogTypes\n\
\n\
data.(genvarname(logTypes{i}.data)).(genvarname(logTypes{i}.variable_name)) = transpose(fread(fid,[logTypes{i}.number_of_array,entries],[num2str(logTypes{i}.number_of_array),'*',logTypes{i}.type_name,'=>',logTypes{i}.type_name],blockLength-logTypes{i}.type_bytes*logTypes{i}.number_of_array));\n\
offset = offset + logTypes{i}.type_bytes*logTypes{i}.number_of_array;\n\
fseek(fid, offset,'bof');\n\
\n\
progressPercentage = i/numberOfLogTypes*100;\n\
fprintf('%3.0f%%',progressPercentage);\n\
end\n\
\n\
\n\
%% Plots\n\
\n\
figure\n\
plot(data.sensors_raw.timestamp,data.sensors_raw.gyro_raw)\n\
\n\
figure\n\
plot(data.sensors_raw.timestamp,data.sensors_raw.accelerometer_raw)\n\
\n\
%% Check for lost data\n\
\n\
% to detect lost frames (either when logging to sd card or if no new data is\n\
% data is available for some time)\n\
diff_counter = diff(data.sensors_raw.gyro_raw_counter);\n\
figure\n\
plot(diff_counter)\n\
\n\
% to detect how accurate the timing was\n\
diff_timestamp = diff(data.sensors_raw.timestamp);\n\
\n\
figure\n\
plot(diff_timestamp)\n\
\n\
%% Export to file for google earth\n\
\n\
\n\
if(isfield(data.gps,'lat') && isfield(data.gps,'lon') && isfield(data.gps,'alt'))\n\
\n\
% extract coordinates and height where they are not zero\n\
maskWhereNotZero = ((data.gps.lon ~= 0 & data.gps.lat ~= 0 ) & data.gps.alt ~= 0);\n\
\n\
% plot\n\
figure\n\
plot3(data.gps.lon(maskWhereNotZero),data.gps.lat(maskWhereNotZero),data.gps.alt(maskWhereNotZero))\n\
\n\
\n\
% create a kml file according to https://developers.google.com/kml/documentation/kml_tut\n\
% also see https://support.google.com/earth/bin/answer.py?hl=en&answer=148072&topic=2376756&ctx=topic\n\
\n\
% open file and overwrite content\n\
fileId = fopen('gps_path.kml','w+');\n\
\n\
% define strings that should be written to file\n\
fileStartDocumentString = ['<?xml version=\"1.0\" encoding=\"UTF-8\"?><kml xmlns=\"http://www.opengis.net/kml/2.2\"><Document><name>Paths</name><description>Path</description>'];\n\
\n\
fileStyleString = '<Style id=\"blueLinebluePoly\"><LineStyle><color>7fff0000</color><width>4</width></LineStyle><PolyStyle><color>7fff0000</color></PolyStyle></Style>';\n\
\n\
filePlacemarkString = '<Placemark><name>Absolute Extruded</name><description>Transparent blue wall with blue outlines</description><styleUrl>#blueLinebluePoly</styleUrl><LineString><extrude>1</extrude><tessellate>1</tessellate><altitudeMode>absolute</altitudeMode><coordinates>';\n\
\n\
fileEndPlacemarkString = '</coordinates></LineString></Placemark>';\n\
fileEndDocumentString = '</Document></kml>';\n\
\n\
% start writing to file\n\
fprintf(fileId,fileStartDocumentString);\n\
\n\
fprintf(fileId,fileStyleString);\n\
fprintf(fileId,filePlacemarkString);\n\
\n\
\n\
lonTemp = double(data.gps.lon(maskWhereNotZero))/1E7;\n\
latTemp = double(data.gps.lat(maskWhereNotZero))/1E7;\n\
altTemp = double(data.gps.alt(maskWhereNotZero))/1E3 + 100.0; % in order to see the lines above ground\n\
\n\
% write coordinates to file\n\
for k=1:length(data.gps.lat(maskWhereNotZero))\n\
if(mod(k,10)==0)\n\
fprintf(fileId,'%.10f,%.10f,%.10f\\n',lonTemp(k),latTemp(k),altTemp(k));\n\
end\n\
end\n\
\n\
% write end placemark\n\
fprintf(fileId,fileEndPlacemarkString);\n\
\n\
% write end of file\n\
fprintf(fileId,fileEndDocumentString);\n\
\n\
% close file, it should now be readable in Google Earth using File -> Open\n\
fclose(fileId);\n\
\n\
end\n\
\n\
if(isfield(data.position,'lat') && isfield(data.position,'lon') && isfield(data.position,'alt'))\n\
\n\
% extract coordinates and height where they are not zero\n\
maskWhereNotZero = ((data.position.lon ~= 0 & data.position.lat ~= 0 ) & data.position.alt ~= 0);\n\
\n\
% plot\n\
figure\n\
plot3(data.position.lon(maskWhereNotZero),data.position.lat(maskWhereNotZero),data.position.alt(maskWhereNotZero))\n\
end\n\
"
#endif
apps/sdlog/updatesdlog.py
+199
View File
@@ -0,0 +1,199 @@
import os
import glob
# path to global data files
base_path = '../orb/'
cfile = './sdlog_generated.h'
mfile_template = './mfile.template'
# there should be one LOGBROADCAST which gives the timing for the logging
logbroadcast_found = 0
# these types can nicely be imported into Matlab
allowed_types = ['uint8_t','int8_t','uint16_t','int16_t','uint32_t','int32_t','uint64_t','int64_t','float','double']
log_entries = []
# loop through global_data_files ending in _t.h and look for LOGME (per variable) and LOGBROADCAST (overall)
for path in glob.glob( os.path.join(base_path, '*_t.h') ):
# filename is supposed to be global_data_bapedibup_t.h
if 'global_data' not in path:
print 'path: ' + path
raise 'wrong filename found'
f = open(path, 'r')
access_conf_found = False;
# strip away ../../../../apps/orb/ and _t.h
data_name = path.lstrip(base_path)[0:-4]
# strip away ../../../../apps/orb/ and global_data_ and _t.h
name = path.lstrip(base_path)[12:-4]
log_entry = {'data_name': data_name,'name':name,'vars': []}
logbroadcast = False;
# loop throug lines
for line in f:
line_parts = line.split()
# access_conf is needed to lock the data
if 'access_conf_t' in line:
# always use the access_conf which has the LOGBROADCAST flag
if 'LOGBROADCAST' in line:
access_conf_found = True
log_entry['access_conf_name'] = line_parts[1].rstrip(';')
logbroadcast = True
print 'LOGBROADCAST found in ' + data_name
logbroadcast_found += 1
# but use an access_conf anyway
elif access_conf_found == False:
access_conf_found = True
log_entry['access_conf_name'] = line_parts[1].rstrip(';')
# variables flagged with LOGME should be logged
elif 'LOGME' in line:
var_entry = {'type': line_parts[0]}
# check that it is an allowed type
if var_entry['type'] not in allowed_types:
print 'file: '+ path + ', type: ' + var_entry['type']
raise 'unsupported type'
# save variable name and number for array
if '[' in line_parts[1]:
var_entry['name'] = line_parts[1].split('[')[0]
var_entry['number'] = line_parts[1].split('[')[1].rstrip('];')
else:
var_entry['name'] = line_parts[1].rstrip(';')
var_entry['number'] = 1
# add the variable
log_entry['vars'].append(var_entry)
# only use the global data file if any variables have a LOGME
if logbroadcast == True and len(log_entry['vars']) > 0:
logbroadcast_entry = log_entry
elif len(log_entry['vars']) > 0:
print 'added ' + log_entry['data_name']
log_entries.append(log_entry)
f.close()
# check that we have one and only one LOGBROADCAST
if logbroadcast_found > 1:
raise 'too many LOGBROADCAST found\n'
elif logbroadcast_found == 0:
raise 'no LOGBROADCAST found\n'
# write function to c file
header = '/* This file is autogenerated in nuttx/configs/px4fmu/include/updatesdlog.py */\n\
\n\
#ifndef SDLOG_GENERATED_H_\n\
#define SDLOG_GENERATED_H_\n\
\n\
\n\
'
cstruct = 'typedef struct\n{\n'
for j in logbroadcast_entry['vars']:
cstruct += '\t' + j['type'] + ' ' + logbroadcast_entry['name'] + '_' + j['name']
if j['number'] == 1:
cstruct += ';\n'
else:
cstruct += '[' + j['number'] + '];\n'
for i in log_entries:
for j in i['vars']:
cstruct += '\t' + j['type'] + ' ' + i['name'] + '_' + j['name']
if j['number'] == 1:
cstruct += ';\n'
else:
cstruct += '[' + j['number'] + '];\n'
cstruct += '\tchar check[4];\n} __attribute__((__packed__)) log_block_t;\n\n'
copy_function = 'void copy_block(log_block_t* log_block)\n{\n'
copy_function += '\tif(global_data_wait(&' + logbroadcast_entry['data_name'] + '->' + logbroadcast_entry['access_conf_name'] + ') == 0)\n\t{\n'
for j in logbroadcast_entry['vars']:
copy_function += '\t\tmemcpy(&log_block->' + logbroadcast_entry['name'] + '_' + j['name'] + ',&' + logbroadcast_entry['data_name'] + '->' + j['name'] + ',sizeof(' + j['type'] + ')*' + str(j['number']) + ');\n'
#copy_function += '\t\t}\n'
# generate logging MACRO
for i in log_entries:
copy_function += '\t\tif(global_data_trylock(&' + i['data_name'] + '->' + i['access_conf_name'] + ') == 0)\n\t\t{\n'
for j in i['vars']:
copy_function += '\t\t\tmemcpy(&log_block->' + i['name'] + '_' + j['name'] + ',&' + i['data_name'] + '->' + j['name'] + ',sizeof(' + j['type'] + ')*' + str(j['number']) + ');\n'
copy_function += '\t\t\tglobal_data_unlock(&' + i['data_name'] + '->' + i['access_conf_name'] + ');\n'
copy_function += '\t\t}\n'
copy_function += '\t\tglobal_data_unlock(&' + logbroadcast_entry['data_name'] + '->' + logbroadcast_entry['access_conf_name'] + ');\n'
copy_function += '\t}\n'
copy_function += '}\n'
footer = '\n#endif'
# generate mfile
type_bytes = {
'uint8_t' : 1,
'int8_t' : 1,
'uint16_t' : 2,
'int16_t' : 2,
'uint32_t' : 4,
'int32_t' : 4,
'uint64_t' : 8,
'int64_t' : 8,
'float' : 4,
'double' : 8,
}
type_names_matlab = {
'uint8_t' : 'uint8',
'int8_t' : 'int8',
'uint16_t' : 'uint16',
'int16_t' : 'int16',
'uint32_t' : 'uint32',
'int32_t' : 'int32',
'uint64_t' : 'uint64',
'int64_t' : 'int64',
'float' : 'float',
'double' : 'double',
}
# read template mfile
mf = open(mfile_template, 'r')
mfile_template_string = mf.read()
mfile_define = '#define MFILE_STRING "% This file is autogenerated in updatesdlog.py and mfile.template in apps/sdlog\\n\\\n'
mfile_define += '%% Define logged values \\n\\\n\\n\\\nlogTypes = {};\\n\\\n'
for j in logbroadcast_entry['vars']:
mfile_define += 'logTypes{end+1} = struct(\'data\',\'' + logbroadcast_entry['name'] + '\',\'variable_name\',\'' + j['name'] + '\',\'type_name\',\'' + type_names_matlab.get(j['type']) + '\',\'type_bytes\',' + str(type_bytes.get(j['type'])) + ',\'number_of_array\',' + str(j['number']) + ');\\n\\\n'
for i in log_entries:
for j in i['vars']:
mfile_define += 'logTypes{end+1} = struct(\'data\',\'' + i['name'] + '\',\'variable_name\',\'' + j['name'] + '\',\'type_name\',\'' + type_names_matlab.get(j['type']) + '\',\'type_bytes\',' + str(type_bytes.get(j['type'])) + ',\'number_of_array\',' + str(j['number']) + ');\\n\\\n'
mfile_define += '\\\n' + mfile_template_string.replace('\n', '\\n\\\n').replace('\"','\\\"') + '"'
# write to c File
cf = open(cfile, 'w')
cf.write(header)
cf.write(cstruct);
cf.write(copy_function)
cf.write(mfile_define)
cf.write(footer)
cf.close()
print 'finished, cleanbuild needed!'