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-rw-r--r--src/modules/sdlog2/module.mk2
-rw-r--r--src/modules/sdlog2/sdlog2.c230
-rw-r--r--src/modules/sdlog2/sdlog2_messages.h41
3 files changed, 255 insertions, 18 deletions
diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk
index f53129688..a28d43e72 100644
--- a/src/modules/sdlog2/module.mk
+++ b/src/modules/sdlog2/module.mk
@@ -41,3 +41,5 @@ MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
SRCS = sdlog2.c \
logbuffer.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index b74d4183b..577cadfbb 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -89,6 +89,7 @@
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
#include <version/version.h>
#include <mavlink/mavlink_log.h>
@@ -97,6 +98,36 @@
#include "sdlog2_format.h"
#include "sdlog2_messages.h"
+/**
+ * Logging rate.
+ *
+ * A value of -1 indicates the commandline argument
+ * should be obeyed. A value of 0 sets the minimum rate,
+ * any other value is interpreted as rate in Hertz. This
+ * parameter is only read out before logging starts (which
+ * commonly is before arming).
+ *
+ * @min -1
+ * @max 1
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_RATE, -1);
+
+/**
+ * Enable extended logging mode.
+ *
+ * A value of -1 indicates the commandline argument
+ * should be obeyed. A value of 0 disables extended
+ * logging mode, a value of 1 enables it. This
+ * parameter is only read out before logging starts
+ * (which commonly is before arming).
+ *
+ * @min -1
+ * @max 1
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_EXT, -1);
+
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
} else { \
@@ -112,12 +143,14 @@ static bool main_thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */
-static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
-static const int MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
+static const unsigned MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
+static const unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
static const int LOG_BUFFER_SIZE_DEFAULT = 8192;
static const int MAX_WRITE_CHUNK = 512;
static const int MIN_BYTES_TO_WRITE = 512;
+static bool _extended_logging = false;
+
static const char *log_root = "/fs/microsd/log";
static int mavlink_fd = -1;
struct logbuffer_s lb;
@@ -218,6 +251,8 @@ static int create_log_dir(void);
*/
static int open_log_file(void);
+static int open_perf_file(const char* str);
+
static void
sdlog2_usage(const char *reason)
{
@@ -225,12 +260,13 @@ sdlog2_usage(const char *reason)
fprintf(stderr, "%s\n", reason);
}
- errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n"
+ errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t -x\n"
"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
"\t-b\tLog buffer size in KiB, default is 8\n"
"\t-e\tEnable logging by default (if not, can be started by command)\n"
"\t-a\tLog only when armed (can be still overriden by command)\n"
- "\t-t\tUse date/time for naming log directories and files\n");
+ "\t-t\tUse date/time for naming log directories and files\n"
+ "\t-x\tExtended logging");
}
/**
@@ -349,8 +385,8 @@ int create_log_dir()
int open_log_file()
{
/* string to hold the path to the log */
- char log_file_name[16] = "";
- char log_file_path[48] = "";
+ char log_file_name[32] = "";
+ char log_file_path[64] = "";
if (log_name_timestamp && gps_time != 0) {
/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
@@ -378,7 +414,58 @@ int open_log_file()
if (file_number > MAX_NO_LOGFILE) {
/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
- warnx("all %d possible files exist already", MAX_NO_LOGFILE);
+ mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
+ return -1;
+ }
+ }
+
+ int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
+
+ if (fd < 0) {
+ warn("failed opening log: %s", log_file_name);
+ mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+
+ } else {
+ warnx("log file: %s", log_file_name);
+ mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
+ }
+
+ return fd;
+}
+
+int open_perf_file(const char* str)
+{
+ /* string to hold the path to the log */
+ char log_file_name[32] = "";
+ char log_file_path[64] = "";
+
+ if (log_name_timestamp && gps_time != 0) {
+ /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
+ time_t gps_time_sec = gps_time / 1000000;
+ struct tm t;
+ gmtime_r(&gps_time_sec, &t);
+ strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &t);
+ snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
+
+ } else {
+ unsigned file_number = 1; // start with file log001
+
+ /* look for the next file that does not exist */
+ while (file_number <= MAX_NO_LOGFILE) {
+ /* format log file path: e.g. /fs/microsd/sess001/log001.bin */
+ snprintf(log_file_name, sizeof(log_file_name), "perf%03u.txt", file_number);
+ snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
+
+ if (!file_exist(log_file_path)) {
+ break;
+ }
+
+ file_number++;
+ }
+
+ if (file_number > MAX_NO_LOGFILE) {
+ /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
+ mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
return -1;
}
}
@@ -387,7 +474,7 @@ int open_log_file()
if (fd < 0) {
warn("failed opening log: %s", log_file_name);
- mavlink_log_info(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+ mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
} else {
warnx("log file: %s", log_file_name);
@@ -529,6 +616,12 @@ void sdlog2_start_log()
errx(1, "error creating logwriter thread");
}
+ /* write all performance counters */
+ int perf_fd = open_perf_file("preflight");
+ dprintf(perf_fd, "PERFORMANCE COUNTERS PRE-FLIGHT\n\n");
+ perf_print_all(perf_fd);
+ close(perf_fd);
+
logging_enabled = true;
}
@@ -556,6 +649,12 @@ void sdlog2_stop_log()
logwriter_pthread = 0;
pthread_attr_destroy(&logwriter_attr);
+ /* write all performance counters */
+ int perf_fd = open_perf_file("postflight");
+ dprintf(perf_fd, "PERFORMANCE COUNTERS POST-FLIGHT\n\n");
+ perf_print_all(perf_fd);
+ close(perf_fd);
+
sdlog2_status();
}
@@ -572,7 +671,7 @@ int write_formats(int fd)
int written = 0;
/* fill message format packet for each format and write it */
- for (int i = 0; i < log_formats_num; i++) {
+ for (unsigned i = 0; i < log_formats_num; i++) {
log_msg_format.body = log_formats[i];
written += write(fd, &log_msg_format, sizeof(log_msg_format));
}
@@ -679,12 +778,12 @@ int sdlog2_thread_main(int argc, char *argv[])
* set error flag instead */
bool err_flag = false;
- while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) {
+ while ((ch = getopt(argc, argv, "r:b:eatx")) != EOF) {
switch (ch) {
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
- if (r <= 0) {
+ if (r == 0) {
r = 1;
}
@@ -715,6 +814,10 @@ int sdlog2_thread_main(int argc, char *argv[])
log_name_timestamp = true;
break;
+ case 'x':
+ _extended_logging = true;
+ break;
+
case '?':
if (optopt == 'c') {
warnx("option -%c requires an argument", optopt);
@@ -741,6 +844,44 @@ int sdlog2_thread_main(int argc, char *argv[])
gps_time = 0;
+ /* interpret logging params */
+
+ param_t log_rate_ph = param_find("SDLOG_RATE");
+
+ if (log_rate_ph != PARAM_INVALID) {
+ int32_t param_log_rate;
+ param_get(log_rate_ph, &param_log_rate);
+
+ if (param_log_rate > 0) {
+
+ /* we can't do more than ~ 500 Hz, even with a massive buffer */
+ if (param_log_rate > 500) {
+ param_log_rate = 500;
+ }
+
+ sleep_delay = 1000000 / param_log_rate;
+ } else if (param_log_rate == 0) {
+ /* we need at minimum 10 Hz to be able to see anything */
+ sleep_delay = 1000000 / 10;
+ }
+ }
+
+ param_t log_ext_ph = param_find("SDLOG_EXT");
+
+ if (log_ext_ph != PARAM_INVALID) {
+
+ int32_t param_log_extended;
+ param_get(log_ext_ph, &param_log_extended);
+
+ if (param_log_extended > 0) {
+ _extended_logging = true;
+ } else if (param_log_extended == 0) {
+ _extended_logging = false;
+ }
+ /* any other value means to ignore the parameter, so no else case */
+
+ }
+
/* create log root dir */
int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
@@ -834,6 +975,10 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_ESTM_s log_ESTM;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
+ struct log_GS0A_s log_GS0A;
+ struct log_GS0B_s log_GS0B;
+ struct log_GS1A_s log_GS1A;
+ struct log_GS1B_s log_GS1B;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -967,8 +1112,17 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
- /* --- GPS POSITION --- */
+ /* --- GPS POSITION - UNIT #1 --- */
if (gps_pos_updated) {
+
+ float snr_mean = 0.0f;
+
+ for (unsigned i = 0; i < buf_gps_pos.satellites_visible; i++) {
+ snr_mean += buf_gps_pos.satellite_snr[i];
+ }
+
+ snr_mean /= buf_gps_pos.satellites_visible;
+
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
@@ -981,7 +1135,48 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s;
log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
+ log_msg.body.log_GPS.sats = buf_gps_pos.satellites_visible;
+ log_msg.body.log_GPS.snr_mean = snr_mean;
+ log_msg.body.log_GPS.noise_per_ms = buf_gps_pos.noise_per_ms;
+ log_msg.body.log_GPS.jamming_indicator = buf_gps_pos.jamming_indicator;
LOGBUFFER_WRITE_AND_COUNT(GPS);
+
+ if (_extended_logging) {
+ /* log the SNR of each satellite for a detailed view of signal quality */
+ unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]);
+ unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]);
+
+ log_msg.msg_type = LOG_GS0A_MSG;
+ memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A));
+ /* fill set A */
+ for (unsigned i = 0; i < gps_msg_max_snr; i++) {
+
+ int satindex = buf_gps_pos.satellite_prn[i] - 1;
+
+ /* handles index exceeding and wraps to to arithmetic errors */
+ if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
+ /* map satellites by their ID so that logs from two receivers can be compared */
+ log_msg.body.log_GS0A.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i];
+ }
+ }
+ LOGBUFFER_WRITE_AND_COUNT(GS0A);
+
+ log_msg.msg_type = LOG_GS0B_MSG;
+ memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B));
+ /* fill set B */
+ for (unsigned i = 0; i < gps_msg_max_snr; i++) {
+
+ /* get second bank of satellites, thus deduct bank size from index */
+ int satindex = buf_gps_pos.satellite_prn[i] - 1 - log_max_snr;
+
+ /* handles index exceeding and wraps to to arithmetic errors */
+ if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
+ /* map satellites by their ID so that logs from two receivers can be compared */
+ log_msg.body.log_GS0B.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i];
+ }
+ }
+ LOGBUFFER_WRITE_AND_COUNT(GS0B);
+ }
}
/* --- SENSOR COMBINED --- */
@@ -1105,10 +1300,16 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7;
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7;
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
- log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
- log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
+ log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) |
+ (buf.local_pos.z_valid ? 2 : 0) |
+ (buf.local_pos.v_xy_valid ? 4 : 0) |
+ (buf.local_pos.v_z_valid ? 8 : 0) |
+ (buf.local_pos.xy_global ? 16 : 0) |
+ (buf.local_pos.z_global ? 32 : 0);
log_msg.body.log_LPOS.landed = buf.local_pos.landed;
log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
+ log_msg.body.log_LPOS.eph = buf.local_pos.eph;
+ log_msg.body.log_LPOS.epv = buf.local_pos.epv;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}
@@ -1320,6 +1521,7 @@ void sdlog2_status()
float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f;
warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped);
+ warnx("extended logging: %s", (_extended_logging) ? "ON" : "OFF");
mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped);
}
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 595a787d6..f4d88f079 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -109,10 +109,11 @@ struct log_LPOS_s {
int32_t ref_lat;
int32_t ref_lon;
float ref_alt;
- uint8_t xy_flags;
- uint8_t z_flags;
+ uint8_t pos_flags;
uint8_t landed;
uint8_t ground_dist_flags;
+ float eph;
+ float epv;
};
/* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -138,6 +139,10 @@ struct log_GPS_s {
float vel_e;
float vel_d;
float cog;
+ uint8_t sats;
+ uint16_t snr_mean;
+ uint16_t noise_per_ms;
+ uint16_t jamming_indicator;
};
/* --- ATTC - ATTITUDE CONTROLS (ACTUATOR_0 CONTROLS)--- */
@@ -317,6 +322,30 @@ struct log_VICN_s {
float yaw;
};
+/* --- GS0A - GPS SNR #0, SAT GROUP A --- */
+#define LOG_GS0A_MSG 26
+struct log_GS0A_s {
+ uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
+};
+
+/* --- GS0B - GPS SNR #0, SAT GROUP B --- */
+#define LOG_GS0B_MSG 27
+struct log_GS0B_s {
+ uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
+};
+
+/* --- GS1A - GPS SNR #1, SAT GROUP A --- */
+#define LOG_GS1A_MSG 28
+struct log_GS1A_s {
+ uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
+};
+
+/* --- GS1B - GPS SNR #1, SAT GROUP B --- */
+#define LOG_GS1B_MSG 29
+struct log_GS1B_s {
+ uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
+};
+
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -348,9 +377,9 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
- LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"),
+ LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"),
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(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"),
LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
@@ -368,6 +397,10 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
+ LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+ LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+ LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+ LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-24 22:16:07 +0000