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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-14 15:52:46 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-14 15:52:46 +0100 |
commit | 7b60761bf53cab2b63c33aa8d054e3fb1a90ddf8 (patch) | |
tree | 65f486de04656e502bdc813d3251969d9bba0dbd /src/modules/sdlog2 | |
parent | 1008d0c38320544579eb449d54c053e14568585e (diff) | |
parent | b529e112b8ffaa92274f9dc5d94a1fce581a358e (diff) | |
download | px4-firmware-7b60761bf53cab2b63c33aa8d054e3fb1a90ddf8.tar.gz px4-firmware-7b60761bf53cab2b63c33aa8d054e3fb1a90ddf8.tar.bz2 px4-firmware-7b60761bf53cab2b63c33aa8d054e3fb1a90ddf8.zip |
Merge branch 'master' into autostart_cleanup
Diffstat (limited to 'src/modules/sdlog2')
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 30 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 14 |
2 files changed, 35 insertions, 9 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 658c6779c..ad9726863 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> * Anton Babushkin <anton.babushkin@me.com> * @@ -702,6 +702,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct airspeed_s airspeed; struct esc_status_s esc; struct vehicle_global_velocity_setpoint_s global_vel_sp; + struct battery_status_s battery; } buf; memset(&buf, 0, sizeof(buf)); @@ -726,6 +727,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int airspeed_sub; int esc_sub; int global_vel_sp_sub; + int battery_sub; } subs; /* log message buffer: header + body */ @@ -752,6 +754,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GPSP_s log_GPSP; struct log_ESC_s log_ESC; struct log_GVSP_s log_GVSP; + struct log_BATT_s log_BATT; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -760,9 +763,9 @@ int sdlog2_thread_main(int argc, char *argv[]) memset(&log_msg.body, 0, sizeof(log_msg.body)); /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of subscriptions */ - const ssize_t fdsc = 19; - /* sanity check variable and index */ + /* number of messages */ + const ssize_t fdsc = 25; + /* Sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ struct pollfd fds[fdsc]; @@ -881,6 +884,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- BATTERY --- */ + subs.battery_sub = orb_subscribe(ORB_ID(battery_status)); + fds[fdsc_count].fd = subs.battery_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -971,8 +980,6 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state; log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state; log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state; - log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage; - log_msg.body.log_STAT.battery_current = buf_status.battery_current; log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining; log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning; log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed; @@ -1238,6 +1245,17 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(GVSP); } + /* --- BATTERY --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(battery_status), subs.battery_sub, &buf.battery); + log_msg.msg_type = LOG_BATT_MSG; + log_msg.body.log_BATT.voltage = buf.battery.voltage_v; + log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v; + log_msg.body.log_BATT.current = buf.battery.current_a; + log_msg.body.log_BATT.discharged = buf.battery.discharged_mah; + LOGBUFFER_WRITE_AND_COUNT(BATT); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index ab4dc9b00..a784a1f30 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -148,8 +148,6 @@ struct log_STAT_s { uint8_t main_state; uint8_t navigation_state; uint8_t arming_state; - float battery_voltage; - float battery_current; float battery_remaining; uint8_t battery_warning; uint8_t landed; @@ -248,6 +246,15 @@ struct log_GVSP_s { 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 { @@ -281,7 +288,7 @@ static const struct log_format_s log_formats[] = { 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, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"), + 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"), @@ -291,6 +298,7 @@ static const struct log_format_s log_formats[] = { 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"), |