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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-08 14:57:12 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-08 14:57:12 +0100 |
commit | 435bae6542fa1f465e1f045b4ea264c53b594902 (patch) | |
tree | 1429ecc86a16aeee380d510bdefbc700fe793390 /apps/sdlog/sdlog_ringbuffer.h | |
parent | e24dd0f684eb118a5052919c555d3e06ce8c569b (diff) | |
download | px4-firmware-435bae6542fa1f465e1f045b4ea264c53b594902.tar.gz px4-firmware-435bae6542fa1f465e1f045b4ea264c53b594902.tar.bz2 px4-firmware-435bae6542fa1f465e1f045b4ea264c53b594902.zip |
Added logging with worker thread for microSD writes, untested, but feature-complete
Diffstat (limited to 'apps/sdlog/sdlog_ringbuffer.h')
-rw-r--r-- | apps/sdlog/sdlog_ringbuffer.h | 86 |
1 files changed, 86 insertions, 0 deletions
diff --git a/apps/sdlog/sdlog_ringbuffer.h b/apps/sdlog/sdlog_ringbuffer.h new file mode 100644 index 000000000..68fff3a91 --- /dev/null +++ b/apps/sdlog/sdlog_ringbuffer.h @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * 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 sdlog_ringbuffer.h + * microSD logging + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#ifndef SDLOG_RINGBUFFER_H_ +#define SDLOG_RINGBUFFER_H_ + +#pragma pack(push, 1) +struct sdlog_sysvector { + uint64_t timestamp; /**< time [us] */ + float gyro[3]; /**< [rad/s] */ + float accel[3]; /**< [m/s^2] */ + float mag[3]; /**< [gauss] */ + float baro; /**< pressure [millibar] */ + float baro_alt; /**< altitude above MSL [meter] */ + float baro_temp; /**< [degree celcius] */ + float control[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */ + float actuators[8]; /**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */ + float vbat; /**< battery voltage in [volt] */ + float adc[3]; /**< remaining auxiliary ADC ports [volt] */ + float local_position[3]; /**< tangent plane mapping into x,y,z [m] */ + int32_t gps_raw_position[3]; /**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */ + float attitude[3]; /**< roll, pitch, yaw [rad] */ + float rotMatrix[9]; /**< unitvectors */ + float vicon[6]; /**< Vicon ground truth x, y, z and roll, pitch, yaw */ + float control_effective[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */ + float flow[6]; /**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */ +}; +#pragma pack(pop) + +struct sdlog_logbuffer { + unsigned int start; + // unsigned int end; + unsigned int size; + int count; + struct sdlog_sysvector *elems; +}; + +void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size); + +int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb); + +int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb); + +void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem); + +int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem); + +#endif
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