mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 14:03:33 +08:00
Merge branch 'master' of github.com:PX4/Firmware into control_state
This commit is contained in:
Youssef Demitri
@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2013 PX4 Development Team. All rights reserved.
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -30,22 +30,22 @@
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# sdlog2 Application
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#
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MODULE_COMMAND = sdlog2
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# The main thread only buffers to RAM, needs a high priority
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MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
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SRCS = sdlog2.c \
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logbuffer.c
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MODULE_STACKSIZE = 1200
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MAXOPTIMIZATION = -Os
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ifeq ($(PX4_TARGET_OS),nuttx)
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EXTRACFLAGS = -Wframe-larger-than=1600
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endif
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if (${OS} STREQUAL "nuttx")
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list(APPEND MODULE_CFLAGS -Wframe-larger-than=1500)
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endif()
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px4_add_module(
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MODULE modules__sdlog2
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MAIN sdlog2
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PRIORITY "SCHED_PRIORITY_MAX-30"
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STACK 1200
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COMPILE_FLAGS
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${MODULE_CFLAGS}
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-Os
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SRCS
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sdlog2.c
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logbuffer.c
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params.c
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,77 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <systemlib/param/param.h>
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/**
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* Logging rate.
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*
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* A value of -1 indicates the commandline argument
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* should be obeyed. A value of 0 sets the minimum rate,
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* any other value is interpreted as rate in Hertz. This
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* parameter is only read out before logging starts (which
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* commonly is before arming).
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*
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* @min -1
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* @max 1
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_RATE, -1);
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/**
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* Enable extended logging mode.
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*
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* A value of -1 indicates the commandline argument
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* should be obeyed. A value of 0 disables extended
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* logging mode, a value of 1 enables it. This
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* parameter is only read out before logging starts
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* (which commonly is before arming).
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*
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* @min -1
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* @max 1
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_EXT, -1);
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/**
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* Use timestamps only if GPS 3D fix is available
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*
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* A value of 1 constrains the log folder creation
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* to only use the time stamp if a 3D GPS lock is
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* present.
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*
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* @min 0
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* @max 1
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);
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+13
-102
@@ -45,10 +45,17 @@
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_tasks.h>
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#include <px4_time.h>
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#include <px4_posix.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <sys/prctl.h>
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#ifdef __PX4_DARWIN
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#include <sys/param.h>
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#include <sys/mount.h>
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#else
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#include <sys/statfs.h>
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#endif
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#include <fcntl.h>
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#include <errno.h>
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#include <unistd.h>
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@@ -118,56 +125,13 @@
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#define PX4_EPOCH_SECS 1234567890L
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/**
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* Logging rate.
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*
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* A value of -1 indicates the commandline argument
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* should be obeyed. A value of 0 sets the minimum rate,
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* any other value is interpreted as rate in Hertz. This
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* parameter is only read out before logging starts (which
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* commonly is before arming).
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*
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* @min -1
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* @max 1
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_RATE, -1);
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/**
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* Enable extended logging mode.
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*
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* A value of -1 indicates the commandline argument
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* should be obeyed. A value of 0 disables extended
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* logging mode, a value of 1 enables it. This
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* parameter is only read out before logging starts
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* (which commonly is before arming).
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*
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* @min -1
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* @max 1
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_EXT, -1);
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/**
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* Use timestamps only if GPS 3D fix is available
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*
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* A value of 1 constrains the log folder creation
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* to only use the time stamp if a 3D GPS lock is
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* present.
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*
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* @min 0
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* @max 1
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);
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#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
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log_msgs_written++; \
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} else { \
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log_msgs_skipped++; \
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}
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#define MIN(X,Y) ((X) < (Y) ? (X) : (Y))
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#define SDLOG_MIN(X,Y) ((X) < (Y) ? (X) : (Y))
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static bool main_thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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@@ -276,8 +240,6 @@ static int write_parameters(int fd);
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static bool file_exist(const char *filename);
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static int file_copy(const char *file_old, const char *file_new);
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/**
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* Check if there is still free space available
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*/
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@@ -411,7 +373,7 @@ int sdlog2_main(int argc, char *argv[])
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bool get_log_time_utc_tt(struct tm *tt, bool boot_time) {
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struct timespec ts;
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clock_gettime(CLOCK_REALTIME, &ts);
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px4_clock_gettime(CLOCK_REALTIME, &ts);
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/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */
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time_t utc_time_sec;
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@@ -1077,17 +1039,6 @@ int sdlog2_thread_main(int argc, char *argv[])
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return 1;
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}
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/* copy conversion scripts */
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const char *converter_in = "/etc/logging/conv.zip";
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char *converter_out = malloc(64);
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snprintf(converter_out, 64, "%s/conv.zip", log_root);
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if (file_copy(converter_in, converter_out) != OK) {
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warn("unable to copy conversion scripts");
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}
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free(converter_out);
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/* initialize log buffer with specified size */
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warnx("log buffer size: %i bytes", log_buffer_size);
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@@ -1400,7 +1351,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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if (copy_if_updated(ORB_ID(satellite_info), &subs.sat_info_sub, &buf.sat_info)) {
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/* log the SNR of each satellite for a detailed view of signal quality */
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unsigned sat_info_count = MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0]));
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unsigned sat_info_count = SDLOG_MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0]));
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unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]);
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log_msg.msg_type = LOG_GS0A_MSG;
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@@ -1878,11 +1829,11 @@ int sdlog2_thread_main(int argc, char *argv[])
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log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
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log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
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log_msg.body.log_TECS.totalEnergyError = buf.tecs_status.totalEnergyError;
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log_msg.body.log_TECS.energyDistributionError = buf.tecs_status.energyDistributionError;
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log_msg.body.log_TECS.totalEnergyRateError = buf.tecs_status.totalEnergyRateError;
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log_msg.body.log_TECS.energyDistributionError = buf.tecs_status.energyDistributionError;
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log_msg.body.log_TECS.energyDistributionRateError = buf.tecs_status.energyDistributionRateError;
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log_msg.body.log_TECS.throttle_integ = buf.tecs_status.throttle_integ;
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log_msg.body.log_TECS.pitch_integ = buf.tecs_status.pitch_integ;
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log_msg.body.log_TECS.throttle_integ = buf.tecs_status.throttle_integ;
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log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
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LOGBUFFER_WRITE_AND_COUNT(TECS);
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}
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@@ -1973,46 +1924,6 @@ bool file_exist(const char *filename)
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return stat(filename, &buffer) == 0;
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}
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int file_copy(const char *file_old, const char *file_new)
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{
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FILE *source, *target;
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source = fopen(file_old, "r");
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int ret = 0;
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if (source == NULL) {
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warnx("ERR: open in");
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return PX4_ERROR;
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}
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target = fopen(file_new, "w");
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if (target == NULL) {
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fclose(source);
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warnx("ERR: open out");
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return PX4_ERROR;
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}
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char buf[128];
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int nread;
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while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
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ret = fwrite(buf, 1, nread, target);
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if (ret <= 0) {
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warnx("error writing file");
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ret = PX4_ERROR;
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break;
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}
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}
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fsync(fileno(target));
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fclose(source);
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fclose(target);
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return PX4_OK;
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}
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int check_free_space()
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{
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/* use statfs to determine the number of blocks left */
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@@ -558,7 +558,7 @@ static const struct log_format_s log_formats[] = {
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LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
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LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
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LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
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LOG_FORMAT(TECS, "ffffffffffffffB", "ASP,AF,FSP,F,AsSP,AsF,AsDSP,AsD,EE,EDE,ERE,EDRE,PtchI,ThrI,M"),
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LOG_FORMAT(TECS, "ffffffffffffffB", "ASP,AF,FSP,F,AsSP,AsF,AsDSP,AsD,EE,ERE,EDE,EDRE,PtchI,ThrI,M"),
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LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
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LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"),
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LOG_FORMAT(TSYN, "Q", "TimeOffset"),
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