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Merge branch 'master' of github.com:PX4/Firmware into control_state

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This commit is contained in:
Youssef Demitri
2015-10-14 11:02:23 +02:00
parent 1ec96d87d7 c599cf1256
commit c22c678b7d
498 changed files with 15244 additions and 11123 deletions
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src/modules/sdlog2/sdlog2.c
+13 -102
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@@ -45,10 +45,17 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <px4_posix.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/prctl.h>
#ifdef __PX4_DARWIN
#include <sys/param.h>
#include <sys/mount.h>
#else
#include <sys/statfs.h>
#endif
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
@@ -118,56 +125,13 @@
#define PX4_EPOCH_SECS 1234567890L
/**
* Logging rate.
*
* A value of -1 indicates the commandline argument
* should be obeyed. A value of 0 sets the minimum rate,
* any other value is interpreted as rate in Hertz. This
* parameter is only read out before logging starts (which
* commonly is before arming).
*
* @min -1
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_RATE, -1);
/**
* Enable extended logging mode.
*
* A value of -1 indicates the commandline argument
* should be obeyed. A value of 0 disables extended
* logging mode, a value of 1 enables it. This
* parameter is only read out before logging starts
* (which commonly is before arming).
*
* @min -1
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_EXT, -1);
/**
* Use timestamps only if GPS 3D fix is available
*
* A value of 1 constrains the log folder creation
* to only use the time stamp if a 3D GPS lock is
* present.
*
* @min 0
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
} else { \
log_msgs_skipped++; \
}
#define MIN(X,Y) ((X) < (Y) ? (X) : (Y))
#define SDLOG_MIN(X,Y) ((X) < (Y) ? (X) : (Y))
static bool main_thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
@@ -276,8 +240,6 @@ static int write_parameters(int fd);
static bool file_exist(const char *filename);
static int file_copy(const char *file_old, const char *file_new);
/**
* Check if there is still free space available
*/
@@ -411,7 +373,7 @@ int sdlog2_main(int argc, char *argv[])
bool get_log_time_utc_tt(struct tm *tt, bool boot_time) {
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
px4_clock_gettime(CLOCK_REALTIME, &ts);
/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */
time_t utc_time_sec;
@@ -1077,17 +1039,6 @@ int sdlog2_thread_main(int argc, char *argv[])
return 1;
}
/* copy conversion scripts */
const char *converter_in = "/etc/logging/conv.zip";
char *converter_out = malloc(64);
snprintf(converter_out, 64, "%s/conv.zip", log_root);
if (file_copy(converter_in, converter_out) != OK) {
warn("unable to copy conversion scripts");
}
free(converter_out);
/* initialize log buffer with specified size */
warnx("log buffer size: %i bytes", log_buffer_size);
@@ -1400,7 +1351,7 @@ int sdlog2_thread_main(int argc, char *argv[])
if (copy_if_updated(ORB_ID(satellite_info), &subs.sat_info_sub, &buf.sat_info)) {
/* log the SNR of each satellite for a detailed view of signal quality */
unsigned sat_info_count = MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0]));
unsigned sat_info_count = SDLOG_MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0]));
unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]);
log_msg.msg_type = LOG_GS0A_MSG;
@@ -1878,11 +1829,11 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
log_msg.body.log_TECS.totalEnergyError = buf.tecs_status.totalEnergyError;
log_msg.body.log_TECS.energyDistributionError = buf.tecs_status.energyDistributionError;
log_msg.body.log_TECS.totalEnergyRateError = buf.tecs_status.totalEnergyRateError;
log_msg.body.log_TECS.energyDistributionError = buf.tecs_status.energyDistributionError;
log_msg.body.log_TECS.energyDistributionRateError = buf.tecs_status.energyDistributionRateError;
log_msg.body.log_TECS.throttle_integ = buf.tecs_status.throttle_integ;
log_msg.body.log_TECS.pitch_integ = buf.tecs_status.pitch_integ;
log_msg.body.log_TECS.throttle_integ = buf.tecs_status.throttle_integ;
log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
LOGBUFFER_WRITE_AND_COUNT(TECS);
}
@@ -1973,46 +1924,6 @@ bool file_exist(const char *filename)
return stat(filename, &buffer) == 0;
}
int file_copy(const char *file_old, const char *file_new)
{
FILE *source, *target;
source = fopen(file_old, "r");
int ret = 0;
if (source == NULL) {
warnx("ERR: open in");
return PX4_ERROR;
}
target = fopen(file_new, "w");
if (target == NULL) {
fclose(source);
warnx("ERR: open out");
return PX4_ERROR;
}
char buf[128];
int nread;
while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
ret = fwrite(buf, 1, nread, target);
if (ret <= 0) {
warnx("error writing file");
ret = PX4_ERROR;
break;
}
}
fsync(fileno(target));
fclose(source);
fclose(target);
return PX4_OK;
}
int check_free_space()
{
/* use statfs to determine the number of blocks left */