Fresh import of the PX4 firmware sources.

1 files changed, 442 insertions, 0 deletions

diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c
new file mode 100644
index 000000000..1b87aab77
--- /dev/null
+++ b/apps/sdlog/sdlog.c
@@ -0,0 +1,442 @@
+/****************************************************************************
+ * examples/hello/main.c
+ *
+ *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+
+#include <time.h>
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <float.h>
+#include <stdbool.h>
+#include <sys/mount.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <pthread.h>
+#include <fcntl.h>
+#include <sys/prctl.h>
+#include <errno.h>
+
+#include "sdlog.h"
+#include "sdlog_generated.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+__EXPORT int sdlog_main(int argc, char *argv[]);
+
+const char *src  = "/dev/mmcsd0";
+const char *trgt = "/fs/microsd";
+const char *type = "vfat";
+const char *logfile_end = ".px4log";
+const char *mfile_end = ".m";
+char folder_path[64];
+
+#define SDLOG_LED_PRIORITY LED_REQUEST_PRIORITY_MAX
+#define BUFFER_BYTES 1000 // length of buffer
+#define SAVE_EVERY_BYTES 2000
+#define MAX_MOUNT_TRIES 5
+
+static void sdlog_sig_handler(int signo, siginfo_t *info, void *ucontext); // is executed when SIGUSR1 is received
+bool sdlog_sigusr1_rcvd; // if this is set to true through SIGUSR1, sdlog will terminate
+
+static pthread_t logbuffer_thread; // thread to copy log values to the buffer
+static void *logbuffer_loop(void *arg);
+
+
+uint8_t *buffer_start; // always points to the very beginning
+uint8_t *buffer_end; // always points to the very end
+uint8_t *buffer_cursor_start; // points to the start of the current buffer
+uint8_t *buffer_cursor_end; // points to the end of the current buffer
+size_t buffer_bytes_used; // amount stored in the buffer at the moment
+
+uint32_t bytes_recv; // to count bytes received and written to the sdcard
+uint32_t bytes_sent; // to count the bytes written to the buffer
+
+/****************************************************************************
+ * user_start
+ ****************************************************************************/
+
+int file_exist(const char *filename)
+{
+	struct stat buffer;
+	return (stat(filename, &buffer) == 0);
+}
+
+
+int sdlog_main(int argc, char *argv[])
+{
+	// print text
+	printf("[sdlog] initialized\n");
+	usleep(10000);
+
+	sdlog_sigusr1_rcvd = false;
+
+	led_request_t amber_on_request = {.led = LED_AMBER, .priority = SDLOG_LED_PRIORITY, .request_type = LED_REQUEST_ON};
+	led_request_t amber_off_request = {.led = LED_AMBER, .priority = SDLOG_LED_PRIORITY, .request_type = LED_REQUEST_OFF};
+	amber_on_request.pid = getpid();
+	amber_off_request.pid = getpid();
+
+	/* signal handler to abort when low voltage occurs */
+	struct sigaction act;
+	struct sigaction oact;
+	act.sa_sigaction = sdlog_sig_handler;
+	(void)sigemptyset(&act.sa_mask);
+	(void)sigaddset(&act.sa_mask, SIGUSR1);
+	(void)sigaction(SIGUSR1, &act, &oact);
+
+	uint8_t mount_counter = 0;
+
+	commander_state_machine_t current_system_state;
+
+	global_data_send_led_request(&amber_on_request);
+
+	if (file_exist(trgt) == 1) {
+		printf("[sdlog] Mount already available at %s\n", trgt);
+		global_data_send_led_request(&amber_off_request);
+
+	} else {
+		printf("[sdlog] Mount not available yet, trying to mount...\n");
+
+		/* mostly the first mount fails, sometimes it helps to press the card onto the board! */
+		while (mount(src, trgt, type, 0, "") != 0) {
+			/* abort if kill signal is received */
+			if (sdlog_sigusr1_rcvd == true) {
+				return 0;
+			}
+
+			//make sure were not airborne
+			global_data_trylock(&global_data_sys_status->access_conf);
+			current_system_state = global_data_sys_status->state_machine;
+			global_data_unlock(&global_data_sys_status->access_conf);
+
+			if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT || current_system_state == SYSTEM_STATE_GROUND_ERROR) {
+				usleep(1000000);
+				printf("[sdlog] ERROR: Failed to mount SD card (attempt %d of %d), reason: %s\n", mount_counter + 1, MAX_MOUNT_TRIES, strerror((int)*get_errno_ptr()));
+				global_data_send_led_request(&amber_off_request);
+				mount_counter++;
+
+			} else {
+				printf("[sdlog] WARNING: Not mounting SD card in flight!\n");
+				printf("[sdlog] ending now...\n");
+				fflush(stdout);
+				return 0;
+			}
+
+			if (mount_counter >= MAX_MOUNT_TRIES) {
+				printf("[sdlog] ERROR: SD card could not be mounted!\n");
+				printf("[sdlog] ending now...\n");
+				fflush(stdout);
+				return 0;
+			}
+		}
+
+		printf("[sdlog] Mount created at %s...\n", trgt);
+		global_data_send_led_request(&amber_off_request);
+	}
+
+
+	/* make folder on sdcard */
+	uint16_t foldernumber = 1; // start with folder 0001
+	int mkdir_ret;
+
+	/* look for the next folder that does not exist */
+	while (foldernumber < MAX_NO_LOGFOLDER) {
+		/* set up file path: e.g. /mnt/sdcard/logfile0001.txt */
+		sprintf(folder_path, "%s/session%04u", trgt, foldernumber);
+		mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
+		/* the result is -1 if the folder exists */
+
+		if (mkdir_ret == 0) {
+			/* folder does not exist */
+			break;
+
+		} else if (mkdir_ret == -1) {
+			/* folder exists already */
+			foldernumber++; // to try next time
+			continue;
+
+		} else {
+			printf("[sdlog] ERROR: Failed creating new folder: %s\n", strerror((int)*get_errno_ptr()));
+			return -1;
+		}
+	}
+
+	if (foldernumber >= MAX_NO_LOGFOLDER) {
+		/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
+		printf("[sdlog] ERROR: all %d possible folders exist already\n", MAX_NO_LOGFOLDER);
+		return -1;
+	}
+
+
+	/* write m-file for evaluation in Matlab */
+	FILE *mfile;
+	char mfile_path[64] = ""; // string to hold the path to the mfile
+	const char *mfilename = "sdlog_eval";
+
+	sprintf(mfile_path, "%s/%s%s", folder_path, mfilename, mfile_end);
+
+	if (NULL == (mfile = fopen(mfile_path, "w"))) {
+		printf("[sdlog] ERROR: opening %s failed: %s\n", mfile_path, strerror((int)*get_errno_ptr()));
+	}
+
+	/* write file contents generated using updatesdlog.sh and mfile.template in nuttx/configs/px4fmu/include */
+	fwrite(MFILE_STRING, sizeof(MFILE_STRING), 1, mfile);
+	fprintf(mfile, "\n");
+	fclose(mfile);
+	printf("[sdlog] m-file written to sdcard\n");
+
+
+	/* create the ringbuffer */
+	uint8_t buffer[BUFFER_BYTES];
+	buffer_start = buffer;
+	buffer_cursor_start = buffer;
+	buffer_cursor_end = buffer;
+	buffer_end = buffer + BUFFER_BYTES;
+
+	/* create loop to write log data in a ringbuffer */
+	pthread_attr_t logbuffer_attr;
+	pthread_attr_init(&logbuffer_attr);
+	pthread_attr_setstacksize(&logbuffer_attr, 2400);
+	pthread_create(&logbuffer_thread, &logbuffer_attr, logbuffer_loop, NULL);
+
+	/* create logfile */
+	FILE *logfile;
+	char logfile_path[64] = ""; // string to hold the path to the logfile
+	const char *logfilename = "all";
+
+	/* set up file path: e.g. /mnt/sdcard/session0001/gpslog.txt */
+	sprintf(logfile_path, "%s/%s%s", folder_path, logfilename, logfile_end);
+
+
+	if (NULL == (logfile = fopen(logfile_path, "wb"))) {
+		printf("[sdlog] opening %s failed: %s\n", logfile_path, strerror((int)*get_errno_ptr()));
+	}
+
+//	else
+//	{
+//		printf("[sdlog] opening %s was successful\n",logfile_path);
+//	}
+
+	int logfile_no = fileno(logfile);
+
+	bytes_recv = 0;			/**< count all bytes that were received and written to the sdcard */
+	size_t ret_write;		/**< last amount written to sdcard */
+	size_t target_write;	/**< desired amount to write to sdcard */
+	int ret_fsync;			/**< return value of fsync() system call */
+	int error_count = 0;	/**< number of continous errors (one successful write resets it) */
+
+	/* Start logging */
+	while (1) {
+		/* write as soon as content is in the buffer */
+		while (buffer_bytes_used > 1) {
+			/* case where the data is not wrapped in the buffer */
+			if (buffer_cursor_start < buffer_cursor_end) {
+				/* write all available data */
+				target_write = (size_t)(buffer_cursor_end - buffer_cursor_start);
+
+				if (0 <= (ret_write = fwrite(buffer_cursor_start, 1, target_write, logfile))) {
+					/* decrease the amount stored in the buffer, normally to 0 */
+					buffer_bytes_used -= ret_write;
+					/* set new cursor position: wrap it in case it falls out of the buffer */
+					buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES;
+					bytes_recv += ret_write;
+					error_count = 0;
+
+				} else {
+					error_count++;
+					printf("[sdlog] ERROR: Write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr()));
+				}
+			}
+
+			/* case where the content is wrapped around the buffer */
+			else if (buffer_cursor_start > buffer_cursor_end) {
+				/* write data until the end of the buffer */
+				target_write = (size_t)(buffer_end - buffer_cursor_start);
+
+				if (0 <= (ret_write = fwrite(buffer_cursor_start, 1, target_write, logfile))) {
+					/* decrease the amount stored in the buffer */
+					buffer_bytes_used -= ret_write;
+					/* set new cursor position: wrap it in case it falls out of the buffer */
+					buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES;
+					bytes_recv += ret_write;
+					error_count = 0;
+
+				} else {
+					error_count++;
+					printf("[sdlog] ERROR: Write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr()));
+				}
+
+				/* write the rest of the data at the beginning of the buffer */
+				target_write = (size_t)(buffer_cursor_end - buffer_start);
+
+				if (0 <= (ret_write = fwrite(buffer_start, 1, target_write, logfile))) {
+					/* decrease the amount stored in the buffer, now normally to 0 */
+					buffer_bytes_used -= ret_write;
+					/* set new cursor position: wrap it in case it falls out of the buffer */
+					buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES;
+					bytes_recv += ret_write;
+					error_count = 0;
+
+				} else {
+					error_count++;
+					printf("[sdlog] ERROR: write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr()));
+				}
+
+			} else {
+				error_count++;
+				printf("[sdlog] ERROR: dropped data\n");
+			}
+
+//			if(bytes_recv>500000)
+//			{
+//				goto finished;
+//			}
+		}
+
+
+		/* save and exit if we received signal 1 or have a permanent error */
+		if (sdlog_sigusr1_rcvd == true || error_count > 100) {
+			fclose(logfile);
+			umount(trgt);
+
+			if (error_count > 100) {
+				return ERROR;
+
+			} else {
+				return OK;
+			}
+		}
+
+		/* save file from time to time */
+		else if ((bytes_recv > 0 && bytes_recv % SAVE_EVERY_BYTES == 0)) {
+			if ((ret_fsync = fsync(logfile_no)) != OK) {
+				printf("[sdlog] ERROR: sync fail: #%d, %s\n", ret_fsync, strerror((int)*get_errno_ptr()));
+			}
+		}
+
+//		else if(bytes_recv > 2*SAVE_EVERY_BYTES)
+//		{
+//			goto finished;
+//		}
+		/* sleep, not to block everybody else */
+		usleep(1000);
+	}
+
+//finished:
+//
+//	/* at the moment we should not end here */
+//	fclose(logfile);
+//	printf("[sdlog] logfile saved\n");
+//	umount(trgt);
+//	printf("[sdlog] ending...\n");
+//	fflush(stdout);
+
+	return 0;
+}
+
+/* is executed when SIGUSR1 is raised (to terminate the app) */
+static void sdlog_sig_handler(int signo, siginfo_t *info, void *ucontext)
+{
+	sdlog_sigusr1_rcvd = true;
+}
+
+
+static void *logbuffer_loop(void *arg)
+{
+	/* set name for this pthread */
+	prctl(PR_SET_NAME, "sdlog logbuffer", getpid());
+
+	bytes_sent = 0; // count all bytes written to the buffer
+
+	//size_t block_length = sizeof(global_data_sensors_raw_t) - 4*sizeof(access_conf_t);
+	size_t first_block_length;
+	size_t second_block_length;
+	buffer_bytes_used = 0;
+
+	log_block_t log_block = {.check = {'$', '$', '$', '$'}};
+
+	size_t block_length = sizeof(log_block_t);
+//	printf("Block length is: %u",(uint16_t)block_length);
+
+//	uint16_t test_counter = 0;
+
+	/* start copying data to buffer */
+	while (1) {
+		copy_block(&log_block);
+
+		/* no more free space in buffer */
+		if (buffer_bytes_used + (uint16_t)block_length > BUFFER_BYTES) {
+			printf("[sdlog] buf full, skipping\n");
+		}
+
+		/* data needs to be wrapped around ringbuffer*/
+		else if (buffer_cursor_end + block_length >= buffer_end) {
+			/* first block length is from cursor until the end of the buffer */
+			first_block_length = (size_t)(buffer_end - buffer_cursor_end);
+			/* second block length is the rest */
+			second_block_length = block_length - first_block_length;
+			/* copy the data, not the pointer conversion */
+			memcpy(buffer_cursor_end, ((uint8_t *) & (log_block)), first_block_length);
+			memcpy(buffer_start, ((uint8_t *) & (log_block)) + first_block_length, second_block_length);
+			/* set the end position of the cursor */
+			buffer_cursor_end = buffer_start + second_block_length;
+			/* increase the amount stored in the buffer */
+			buffer_bytes_used += block_length;
+			bytes_sent += block_length;
+		}
+
+		/* data does not need to be wrapped around */
+		else {
+			/* copy the whole block in one step */
+			memcpy(buffer_cursor_end, ((uint8_t *) & (log_block)), block_length);
+			/* set the cursor to 0 of the buffer instead of the end */
+			buffer_cursor_end = buffer_start + (buffer_cursor_end - buffer_start + block_length) % BUFFER_BYTES;
+			/* increase the amount stored in the buffer */
+			buffer_bytes_used += block_length;
+			bytes_sent += block_length;
+		}
+
+		/* also end the pthread when we receive a SIGUSR1 */
+		if (sdlog_sigusr1_rcvd == true) {
+			break;
+		}
+	}
+
+	return NULL;
+}