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Encoder logging support.

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This commit is contained in:
James Goppert
2014-11-02 12:49:43 -05:00
parent acb739655d
commit baba157785
2 changed files with 26 additions and 1 deletions
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src/modules/sdlog2/sdlog2_messages.h
+11
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@@ -407,6 +407,16 @@ struct log_VISN_s {
float qw;
};
/* --- ENCODERS - ENCODER DATA --- */
#define LOG_ENCODERS_MSG 39
struct log_ENCODERS_s {
int64_t counts_0;
float velocity_0;
int64_t counts_1;
float velocity_1;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -471,6 +481,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
LOG_FORMAT(ENCODERS, "qfqf", "counts_0, velocity_0, counts_1, velocity_1"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */