sdlog2 logger app added. New flexible log format, compatible with APM.

makefiles/config_px4fmu_default.mk

@@ -78,6 +78,7 @@ MODULES		+= modules/multirotor_pos_control
 # Logging
 #
 MODULES		+= modules/sdlog
+MODULES		+= modules/sdlog2
 
 #
 # Library modules

src/modules/sdlog2/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+#
+# sdlog2 Application
+#
+
+MODULE_COMMAND  = sdlog2
+# The main thread only buffers to RAM, needs a high priority
+MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
+
+SRCS = sdlog2.c \
+       sdlog2_ringbuffer.c

src/modules/sdlog2/sdlog2_format.h

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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 sdlog2_format.h
+ *
+ * General log format structures and macro.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+/*
+Format characters in the format string for binary log messages
+  b   : int8_t
+  B   : uint8_t
+  h   : int16_t
+  H   : uint16_t
+  i   : int32_t
+  I   : uint32_t
+  f   : float
+  n   : char[4]
+  N   : char[16]
+  Z   : char[64]
+  c   : int16_t * 100
+  C   : uint16_t * 100
+  e   : int32_t * 100
+  E   : uint32_t * 100
+  L   : int32_t latitude/longitude
+  M   : uint8_t flight mode
+
+  q   : int64_t
+  Q   : uint64_t
+ */
+
+#ifndef SDLOG2_FORMAT_H_
+#define SDLOG2_FORMAT_H_
+
+#define LOG_PACKET_HEADER_LEN	   3
+#define LOG_PACKET_HEADER	       uint8_t head1, head2, msg_type;
+#define LOG_PACKET_HEADER_INIT(id) .head1 = HEAD_BYTE1, .head2 = HEAD_BYTE2, .msg_type = id
+
+// once the logging code is all converted we will remove these from
+// this header
+#define HEAD_BYTE1  0xA3    // Decimal 163
+#define HEAD_BYTE2  0x95    // Decimal 149
+
+struct log_format_s {
+	uint8_t type;
+	uint8_t length;
+	char name[4];
+	char format[16];
+	char labels[64];
+};
+
+#define LOG_FORMAT(_name, _format, _labels) { \
+		.type = LOG_##_name##_MSG, \
+			.length = sizeof(struct log_##_name##_s) + 8, \
+				  .name = #_name, \
+					  .format = _format, \
+						    .labels = _labels \
+	}
+
+#define LOG_FORMAT_MSG	  128
+
+#define LOG_PACKET_SIZE(_name)	LOG_PACKET_HEADER_LEN + sizeof(log_msg.body.log_##_name)
+
+#endif /* SDLOG2_FORMAT_H_ */

src/modules/sdlog2/sdlog2_messages.h

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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 sdlog2_messages.h
+ *
+ * Log messages and structures definition.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+#ifndef SDLOG2_MESSAGES_H_
+#define SDLOG2_MESSAGES_H_
+
+#include "sdlog2_format.h"
+
+/* define message formats */
+
+/* === 1: TS - TIME STAMP === */
+#define LOG_TS_MSG 1
+struct log_TS_s {
+	uint64_t t;
+};
+
+/* === 2: ATT - ATTITUDE === */
+#define LOG_ATT_MSG 2
+struct log_ATT_s {
+	float roll;
+	float pitch;
+	float yaw;
+};
+
+/* === 3: RAW - SENSORS === */
+#define LOG_RAW_MSG 3
+struct log_RAW_s {
+	float accX;
+	float accY;
+	float accZ;
+};
+
+/* construct list of all message formats */
+
+static const struct log_format_s log_formats[] = {
+	LOG_FORMAT(TS, "Q", "t"),
+	LOG_FORMAT(ATT, "fff", "roll,pitch,yaw"),
+	LOG_FORMAT(RAW, "fff", "accX,accY,accZ"),
+};
+
+static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
+
+#endif /* SDLOG2_MESSAGES_H_ */

src/modules/sdlog2/sdlog2_ringbuffer.c

@@ -0,0 +1,141 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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 sdlog2_ringbuffer.c
+ *
+ * Ring FIFO buffer for binary data.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+
+#include "sdlog2_ringbuffer.h"
+
+void sdlog2_logbuffer_init(struct sdlog2_logbuffer *lb, int size)
+{
+	lb->size  = size;
+	lb->write_ptr = 0;
+	lb->read_ptr = 0;
+	lb->data = malloc(lb->size);
+}
+
+int sdlog2_logbuffer_free(struct sdlog2_logbuffer *lb)
+{
+	int n = lb->read_ptr - lb->write_ptr - 1;
+
+	if (n < 0) {
+		n += lb->size;
+	}
+
+	return n;
+}
+
+int sdlog2_logbuffer_count(struct sdlog2_logbuffer *lb)
+{
+	int n = lb->write_ptr - lb->read_ptr;
+
+	if (n < 0) {
+		n += lb->size;
+	}
+
+	return n;
+}
+
+int sdlog2_logbuffer_is_empty(struct sdlog2_logbuffer *lb)
+{
+	return lb->read_ptr == lb->write_ptr;
+}
+
+void sdlog2_logbuffer_write(struct sdlog2_logbuffer *lb, void *ptr, int size)
+{
+	// bytes available to write
+	int available = lb->read_ptr - lb->write_ptr - 1;
+
+	if (available < 0)
+		available += lb->size;
+
+	if (size > available) {
+		// buffer overflow
+		return;
+	}
+
+	char *c = (char *) ptr;
+	int n = lb->size - lb->write_ptr;	// bytes to end of the buffer
+
+	if (n < size) {
+		// message goes over end of the buffer
+		memcpy(&(lb->data[lb->write_ptr]), c, n);
+		lb->write_ptr = 0;
+
+	} else {
+		n = 0;
+	}
+
+	// now: n = bytes already written
+	int p = size - n;	// number of bytes to write
+	memcpy(&(lb->data[lb->write_ptr]), &(c[n]), p);
+	lb->write_ptr = (lb->write_ptr + p) % lb->size;
+}
+
+int sdlog2_logbuffer_get_ptr(struct sdlog2_logbuffer *lb, void **ptr)
+{
+	// bytes available to read
+	int available = lb->write_ptr - lb->read_ptr;
+
+	if (available == 0) {
+		return 0;	// buffer is empty
+	}
+
+	int n = 0;
+
+	if (available > 0) {
+		// read pointer is before write pointer, write all available bytes
+		n = available;
+
+	} else {
+		// read pointer is after write pointer, write bytes from read_ptr to end
+		n = lb->size - lb->read_ptr;
+	}
+
+	*ptr = &(lb->data[lb->read_ptr]);
+	return n;
+}
+
+void sdlog2_logbuffer_mark_read(struct sdlog2_logbuffer *lb, int n)
+{
+	lb->read_ptr = (lb->read_ptr + n) % lb->size;
+}

src/modules/sdlog2/sdlog2_ringbuffer.h

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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 sdlog2_ringbuffer.h
+ *
+ * Ring FIFO buffer for binary data.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+#ifndef SDLOG2_RINGBUFFER_H_
+#define SDLOG2_RINGBUFFER_H_
+
+struct sdlog2_logbuffer {
+	// all pointers are in bytes
+	int write_ptr;
+	int read_ptr;
+	int size;
+	char *data;
+};
+
+void sdlog2_logbuffer_init(struct sdlog2_logbuffer *lb, int size);
+
+int sdlog2_logbuffer_free(struct sdlog2_logbuffer *lb);
+
+int sdlog2_logbuffer_count(struct sdlog2_logbuffer *lb);
+
+int sdlog2_logbuffer_is_empty(struct sdlog2_logbuffer *lb);
+
+void sdlog2_logbuffer_write(struct sdlog2_logbuffer *lb, void *ptr, int size);
+
+int sdlog2_logbuffer_get_ptr(struct sdlog2_logbuffer *lb, void **ptr);
+
+void sdlog2_logbuffer_mark_read(struct sdlog2_logbuffer *lb, int n);
+
+#endif