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/****************************************************************************
*
* 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 bat_current; /**< battery discharge current */
float bat_discharged; /**< discharged energy in mAh */
float adc[4]; /**< 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 */
float diff_pressure; /**< differential pressure */
float ind_airspeed; /**< indicated airspeed */
float true_airspeed; /**< true airspeed */
};
#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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