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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-02 22:03:51 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-02 22:03:51 +0100 |
commit | da2b2500f767e2bf57126974f16c1157e20b692f (patch) | |
tree | a2b19fee6beb4d785fb186e53b8bfaae5329aa91 /src/modules | |
parent | 5862f4ffe6b463934cceb7bb034e77f100f97633 (diff) | |
parent | 0e5b91d16fd35b1ad78df1a772ceb23676e5fa7a (diff) | |
download | px4-firmware-da2b2500f767e2bf57126974f16c1157e20b692f.tar.gz px4-firmware-da2b2500f767e2bf57126974f16c1157e20b692f.tar.bz2 px4-firmware-da2b2500f767e2bf57126974f16c1157e20b692f.zip |
Merge pull request #1422 from jgoppert/encoder_logging
Encoder logging support.
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 16 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 11 |
2 files changed, 26 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 9bde37432..af580f1f7 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -90,6 +90,7 @@ #include <uORB/topics/system_power.h> #include <uORB/topics/servorail_status.h> #include <uORB/topics/wind_estimate.h> +#include <uORB/topics/encoders.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -954,6 +955,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct servorail_status_s servorail_status; struct satellite_info_s sat_info; struct wind_estimate_s wind_estimate; + struct encoders_s encoders; } buf; memset(&buf, 0, sizeof(buf)); @@ -996,6 +998,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GS1B_s log_GS1B; struct log_TECS_s log_TECS; struct log_WIND_s log_WIND; + struct log_ENCD_s log_ENCD; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1033,6 +1036,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int system_power_sub; int servorail_status_sub; int wind_sub; + int encoders_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -1064,7 +1068,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate)); /* we need to rate-limit wind, as we do not need the full update rate */ orb_set_interval(subs.wind_sub, 90); - + subs.encoders_sub = orb_subscribe(ORB_ID(encoders)); /* add new topics HERE */ @@ -1667,6 +1671,16 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(WIND); } + /* --- ENCODERS --- */ + if (copy_if_updated(ORB_ID(encoders), subs.encoders_sub, &buf.encoders)) { + log_msg.msg_type = LOG_ENCD_MSG; + log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0]; + log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0]; + log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1]; + log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1]; + LOGBUFFER_WRITE_AND_COUNT(ENCD); + } + /* 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 d49fc0c79..fa9bdacb8 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -407,6 +407,16 @@ struct log_VISN_s { float qw; }; +/* --- ENCODERS - ENCODER DATA --- */ +#define LOG_ENCD_MSG 39 +struct log_ENCD_s { + int64_t cnt0; + float vel0; + int64_t cnt1; + float vel1; +}; + + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -471,6 +481,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), + LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ |