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sdlog2: Add system power to logging

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This commit is contained in:
Lorenz Meier
2014-04-05 12:42:32 +02:00
parent 6ea22c8c07
commit da10565052
2 changed files with 39 additions and 0 deletions
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src/modules/sdlog2/sdlog2.c
+25
View File
@@ -796,6 +796,8 @@ int sdlog2_thread_main(int argc, char *argv[])
struct telemetry_status_s telemetry; struct telemetry_status_s telemetry;
struct range_finder_report range_finder; struct range_finder_report range_finder;
struct estimator_status_report estimator_status; struct estimator_status_report estimator_status;
struct system_power_s system_power;
struct servorail_status_s servorail_status;
} buf; } buf;
memset(&buf, 0, sizeof(buf)); memset(&buf, 0, sizeof(buf));
@@ -828,6 +830,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_DIST_s log_DIST; struct log_DIST_s log_DIST;
struct log_TELE_s log_TELE; struct log_TELE_s log_TELE;
struct log_ESTM_s log_ESTM; struct log_ESTM_s log_ESTM;
struct log_PWR_s log_PWR;
} body; } body;
} log_msg = { } log_msg = {
LOG_PACKET_HEADER_INIT(0) LOG_PACKET_HEADER_INIT(0)
@@ -859,6 +862,8 @@ int sdlog2_thread_main(int argc, char *argv[])
int telemetry_sub; int telemetry_sub;
int range_finder_sub; int range_finder_sub;
int estimator_status_sub; int estimator_status_sub;
int system_power_sub;
int servorail_status_sub;
} subs; } subs;
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -884,6 +889,8 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status)); subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status)); subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
thread_running = true; thread_running = true;
@@ -1226,6 +1233,24 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(BATT); LOGBUFFER_WRITE_AND_COUNT(BATT);
} }
/* --- SYSTEM POWER RAILS --- */
if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) {
log_msg.msg_type = LOG_PWR_MSG;
log_msg.body.log_PWR.5v_peripherals = buf.system_power.voltage_5V_v;
log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected;
log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid;
log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid;
log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC;
log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC;
/* copy servo rail status topic here too */
orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status);
log_msg.body.log_PWR.5v_servo_rail = buf.servorail_status.voltage_v;
log_msg.body.log_PWR.5v_servo_rssi = buf.servorail_status.rssi_v;
LOGBUFFER_WRITE_AND_COUNT(PWR);
}
/* --- TELEMETRY --- */ /* --- TELEMETRY --- */
if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) { if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
log_msg.msg_type = LOG_TELE_MSG; log_msg.msg_type = LOG_TELE_MSG;
src/modules/sdlog2/sdlog2_messages.h
+14
View File
@@ -316,6 +316,19 @@ struct log_ESTM_s {
// uint8_t kalman_gain_nan; // uint8_t kalman_gain_nan;
// }; // };
/* --- PWR - ONBOARD POWER SYSTEM --- */
#define LOG_PWR_MSG 133
struct log_PWR_s {
float 5v_peripherals;
float 5v_servo_rail;
float 5v_servo_rssi;
uint8_t usb_ok;
uint8_t brick_ok;
uint8_t servo_ok;
uint8_t low_power_rail_overcurrent;
uint8_t high_power_rail_overcurrent;
};
#pragma pack(pop) #pragma pack(pop)
/* construct list of all message formats */ /* construct list of all message formats */
@@ -349,6 +362,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(VER, "NZ", "Arch,FwGit"), LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
LOG_FORMAT(PARM, "Nf", "Name,Value"), LOG_FORMAT(PARM, "Nf", "Name,Value"),
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"), LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"),
LOG_FORMAT(PWR, "fffBBBBB", "5V_PERIPH, 5V_SRV,USB_OK,BRICK_OK,SRV_OK,PERIPH_OC,HIPWR_OC");
//LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"), //LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"),
}; };