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Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 311 |
1 files changed, 311 insertions, 0 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h new file mode 100644 index 000000000..a784a1f30 --- /dev/null +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -0,0 +1,311 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Anton Babushkin <anton.babushkin@me.com> + * + * 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. + * + ****************************************************************************/ + +/** + * @file sdlog2_messages.h + * + * Log messages and structures definition. + * + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#ifndef SDLOG2_MESSAGES_H_ +#define SDLOG2_MESSAGES_H_ + +#include "sdlog2_format.h" + +/* define message formats */ + +#pragma pack(push, 1) +/* --- ATT - ATTITUDE --- */ +#define LOG_ATT_MSG 2 +struct log_ATT_s { + float roll; + float pitch; + float yaw; + float roll_rate; + float pitch_rate; + float yaw_rate; +}; + +/* --- ATSP - ATTITUDE SET POINT --- */ +#define LOG_ATSP_MSG 3 +struct log_ATSP_s { + float roll_sp; + float pitch_sp; + float yaw_sp; + float thrust_sp; +}; + +/* --- IMU - IMU SENSORS --- */ +#define LOG_IMU_MSG 4 +struct log_IMU_s { + float acc_x; + float acc_y; + float acc_z; + float gyro_x; + float gyro_y; + float gyro_z; + float mag_x; + float mag_y; + float mag_z; +}; + +/* --- SENS - OTHER SENSORS --- */ +#define LOG_SENS_MSG 5 +struct log_SENS_s { + float baro_pres; + float baro_alt; + float baro_temp; + float diff_pres; +}; + +/* --- LPOS - LOCAL POSITION --- */ +#define LOG_LPOS_MSG 6 +struct log_LPOS_s { + float x; + float y; + float z; + float vx; + float vy; + float vz; + int32_t ref_lat; + int32_t ref_lon; + float ref_alt; + uint8_t xy_flags; + uint8_t z_flags; + uint8_t landed; +}; + +/* --- LPSP - LOCAL POSITION SETPOINT --- */ +#define LOG_LPSP_MSG 7 +struct log_LPSP_s { + float x; + float y; + float z; + float yaw; +}; + +/* --- GPS - GPS POSITION --- */ +#define LOG_GPS_MSG 8 +struct log_GPS_s { + uint64_t gps_time; + uint8_t fix_type; + float eph; + float epv; + int32_t lat; + int32_t lon; + float alt; + float vel_n; + float vel_e; + float vel_d; + float cog; +}; + +/* --- ATTC - ATTITUDE CONTROLS (ACTUATOR_0 CONTROLS)--- */ +#define LOG_ATTC_MSG 9 +struct log_ATTC_s { + float roll; + float pitch; + float yaw; + float thrust; +}; + +/* --- STAT - VEHICLE STATE --- */ +#define LOG_STAT_MSG 10 +struct log_STAT_s { + uint8_t main_state; + uint8_t navigation_state; + uint8_t arming_state; + float battery_remaining; + uint8_t battery_warning; + uint8_t landed; +}; + +/* --- RC - RC INPUT CHANNELS --- */ +#define LOG_RC_MSG 11 +struct log_RC_s { + float channel[8]; + uint8_t channel_count; +}; + +/* --- OUT0 - ACTUATOR_0 OUTPUT --- */ +#define LOG_OUT0_MSG 12 +struct log_OUT0_s { + float output[8]; +}; + +/* --- AIRS - AIRSPEED --- */ +#define LOG_AIRS_MSG 13 +struct log_AIRS_s { + float indicated_airspeed; + float true_airspeed; +}; + +/* --- ARSP - ATTITUDE RATE SET POINT --- */ +#define LOG_ARSP_MSG 14 +struct log_ARSP_s { + float roll_rate_sp; + float pitch_rate_sp; + float yaw_rate_sp; +}; + +/* --- FLOW - OPTICAL FLOW --- */ +#define LOG_FLOW_MSG 15 +struct log_FLOW_s { + int16_t flow_raw_x; + int16_t flow_raw_y; + float flow_comp_x; + float flow_comp_y; + float distance; + uint8_t quality; + uint8_t sensor_id; +}; + +/* --- GPOS - GLOBAL POSITION ESTIMATE --- */ +#define LOG_GPOS_MSG 16 +struct log_GPOS_s { + int32_t lat; + int32_t lon; + float alt; + float vel_n; + float vel_e; + float vel_d; +}; + +/* --- GPSP - GLOBAL POSITION SETPOINT --- */ +#define LOG_GPSP_MSG 17 +struct log_GPSP_s { + uint8_t altitude_is_relative; + int32_t lat; + int32_t lon; + float altitude; + float yaw; + float loiter_radius; + int8_t loiter_direction; + uint8_t nav_cmd; + float param1; + float param2; + float param3; + float param4; +}; + +/* --- ESC - ESC STATE --- */ +#define LOG_ESC_MSG 18 +struct log_ESC_s { + uint16_t counter; + uint8_t esc_count; + uint8_t esc_connectiontype; + uint8_t esc_num; + uint16_t esc_address; + uint16_t esc_version; + uint16_t esc_voltage; + uint16_t esc_current; + uint16_t esc_rpm; + uint16_t esc_temperature; + float esc_setpoint; + uint16_t esc_setpoint_raw; +}; + +/* --- GVSP - GLOBAL VELOCITY SETPOINT --- */ +#define LOG_GVSP_MSG 19 +struct log_GVSP_s { + float vx; + float vy; + float vz; +}; + +/* --- BATT - BATTERY --- */ +#define LOG_BATT_MSG 20 +struct log_BATT_s { + float voltage; + float voltage_filtered; + float current; + float discharged; +}; + +/* --- TIME - TIME STAMP --- */ +#define LOG_TIME_MSG 129 +struct log_TIME_s { + uint64_t t; +}; + +/* --- VER - VERSION --- */ +#define LOG_VER_MSG 130 +struct log_VER_s { + char arch[16]; + char fw_git[64]; +}; + +/* --- PARM - PARAMETER --- */ +#define LOG_PARM_MSG 131 +struct log_PARM_s { + char name[16]; + float value; +}; + +#pragma pack(pop) + +/* construct list of all message formats */ +static const struct log_format_s log_formats[] = { + /* business-level messages, ID < 0x80 */ + LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"), + LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), + LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), + LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), + LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"), + LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), + LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), + LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), + LOG_FORMAT(STAT, "BBBfBB", "MainState,NavState,ArmState,BatRem,BatWarn,Landed"), + LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), + LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), + LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), + LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), + LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), + LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"), + LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"), + LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), + LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), + /* system-level messages, ID >= 0x80 */ + // FMT: don't write format of format message, it's useless + LOG_FORMAT(TIME, "Q", "StartTime"), + LOG_FORMAT(VER, "NZ", "Arch,FwGit"), + LOG_FORMAT(PARM, "Nf", "Name,Value"), +}; + +static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); + +#endif /* SDLOG2_MESSAGES_H_ */ |