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SPI SD Logger updates (#2605)

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* modify spi sd logger for arbitrary downlink devices
* Update sglogger_download to pprzlink v2
* Fix logger_sd_spi_direct enum settings
* Change commented printf to DEBUG_PRINT
* settings_xml_parse.py: print errors and warnings to stderr

Co-authored-by: Tom van Dijk <tomvand@users.noreply.github.com>
This commit is contained in:
Tom van Dijk
2020-12-10 09:41:41 +01:00
committed by GitHub
parent fbf19a8fa1
commit 172f8fe44b
4 changed files with 85 additions and 44 deletions
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conf/modules/logger_sd_spi_direct.xml
+20 -8
View File
@@ -5,27 +5,34 @@
<description>
Direct SPI SD Logger that saves pprzlog messages to SD Card.
This module logs data directly to an SD Card which is connected on a SPI port. For now, it is only possible to use a radio switch to start and stop logging.
Supported SD cards:
- SDv2 cards. Old SDv1 cards are not supported.
- Both SDSC and SDHC/SDXC are supported.
Some SD cards need to be zeroed out before use: https://askubuntu.com/a/511476
This module logs data directly to an SD Card which is connected on a SPI port.
Logging can be started/stopped by setting sdlogger_spi.do_log from the GCS
or by defining SDLOGGER_ON_ARM to TRUE.
The values to be logged are defined in the telemetry config file. An example is available in rotorcraft_with_logger.xml. The logmessage is defined as the default message in the process "Logger".
A LOGGER_LED can be enabled which indicates if the logger is writing or reading data.
Downloading of the data occurs over an UART datalink. There is no check to verify that all data is transfered, so it is recommended to use an FTDI cable to the UART port.
Do not use start/stop functionality of the module, the module is not intended to be used like this.
Downloading of the data occurs over the configured serial device using sw/logalizer/sdlogger_download. There is no check to verify that all data is transfered. For UART it is recommended to use an FTDI cable.
</description>
<configure name="SDLOGGER_DIRECT_SPI" value="SPI1|SPI2|SPI3|SPI4|SPI5|SPI6" description="Port to which the SD Card is connected."/>
<configure name="SDLOGGER_DIRECT_SPI_SLAVE" value="SPI_SLAVE1|SPI_SLAVE2|SPI_SLAVE3|SPI_SLAVE4|SPI_SLAVE5|SPI_SLAVE6" description="Port to which the SD Card is connected."/>
<configure name="SDLOGGER_DIRECT_CONTROL_SWITCH" value="RADIO_AUX2"/>
<define name="SDLOGGER_ON_ARM" value="TRUE" description="Start/stop SD logger with motor arming"/>
<configure name="SDLOGGER_DOWNLINK_DEVICE" value="DOWNLINK_DEVICE|uartX|usb_serial|..." description="Note: case sensitive!"/>
<configure name="LOGGER_LED" value="none"/>
</doc>
<settings>
<dl_settings NAME="sdlogger">
<dl_settings NAME="SD Logger">
<dl_setting module="loggers/sdlogger_spi_direct" var="sdlogger_spi.status" min="0" max="20" step="1" values="UnInit|Error|Init|Index|Ready|Log|FinalBlock|Stop|GetIndexUp|UpInd|GetIndDwn|Down"/>
<dl_setting module="loggers/sdlogger_spi_direct" var="sdcard1.status" min="0" max="40" step="1" values="UnInit|Error|Idle|Busy|Other"/>
<dl_setting module="loggers/sdlogger_spi_direct" var="sdcard1.error_status" min="0" max="15" step="1" values="None|NoResp|CardInfo|Timeout|NoRes4|NoRes8|CCInval|SBNoRes|WBNoRes|SPIErr|BlockErr|RBNoRes|RBTimeout|MWNoRes|MWErr"/>
<dl_setting module="loggers/sdlogger_spi_direct" var="sdlogger_spi.status" min="0" max="11" step="1" values="UnInit|Error|Init|Index|Ready|Log|FinalBlock|Stop|GetIndexUp|UpInd|GetIndDwn|Down"/>
<dl_setting module="loggers/sdlogger_spi_direct" var="sdcard1.status" min="0" max="31" step="1" values="UnInit|Error|Idle|Busy|BeforeDummyClock|SendingDummyClock|SendingCMD0|ReadingCMD0Resp|SendingCMD8|ReadingCMD8Resp|ReadingCMD8Param|SendingACMD41v2|ReadingACMD41v2Resp|SendingCMD58|ReadingCMD58Resp|ReadingCMD58Param|SendingCMD16|ReadingCMD16Resp|SendingCMD24|ReadingCMD24Resp|BeforeDataBlock|SendingDataBlock|SendingCMD17|ReadingCMD17Resp|WaitForToken|ReadingDataBlock|SendingCMD25|ReadingCMD25Resp|MWIdle|MWWriting|MWBusy|MWStopping"/>
<dl_setting module="loggers/sdlogger_spi_direct" var="sdcard1.error_status" min="0" max="15" step="1" values="None|InitNoResp|CardInfoNoResponse|CardInfoInvalid|ACMD41Timeout|ACMD41NoRes|ACMD58NoRes|CCSInval|SBNoRes|WBNoRes|SPIErr|BlockErr|RBNoRes|RBTimeout|MWNoRes|MWErr"/>
<dl_setting module="loggers/sdlogger_spi_direct" var="sdlogger_spi.command" min="1" max="42" step="1" />
<dl_setting module="loggers/sdlogger_spi_direct" var="sdlogger_spi.do_log" min="0" max="1" step="1" values="Off|On"/>
</dl_settings>
@@ -36,7 +43,7 @@ Do not use start/stop functionality of the module, the module is not intended to
<file name="sdlogger_spi_direct.h"/>
</header>
<init fun="sdlogger_spi_direct_init()"/>
<periodic fun="sdlogger_spi_direct_periodic()" freq="512" start="sdlogger_spi_direct_start()" stop="sdlogger_spi_direct_stop()" autorun="TRUE"/>
<periodic fun="sdlogger_spi_direct_periodic()" freq="512" start="sdlogger_spi_direct_start()" stop="sdlogger_spi_direct_stop()" autorun="LOCK"/>
<datalink message="SETTING" fun="sdlogger_spi_direct_command()"/>
<makefile target="ap">
@@ -55,6 +62,11 @@ Do not use start/stop functionality of the module, the module is not intended to
<define name="SDLOGGER_SPI_LINK_DEVICE" value="$(SDLOGGER_DIRECT_SPI_LOWER)" />
<define name="USE_$(SDLOGGER_DIRECT_SPI_SLAVE_UPPER)" value="1" />
<define name="SDLOGGER_SPI_LINK_SLAVE_NUMBER" value="$(SDLOGGER_DIRECT_SPI_SLAVE_UPPER)" />
<configure name="SDLOGGER_DOWNLINK_DEVICE" default="DOWNLINK_DEVICE" case="upper"/>
<define name="SDLOGGER_DOWNLINK_DEVICE" value="$(SDLOGGER_DOWNLINK_DEVICE)"/>
<define name="USE_$(SDLOGGER_DOWNLINK_DEVICE_UPPER)" cond="ifneq ($(SDLOGGER_DOWNLINK_DEVICE_UPPER),DOWNLINK_DEVICE)"/>
<file_arch name="usb_ser_hw.c" dir="." cond="ifeq ($(SDLOGGER_DOWNLINK_DEVICE_UPPER),USB_SERIAL)"/>
</makefile>
</module>
sw/airborne/modules/loggers/sdlogger_spi_direct.c
+9 -8
View File
@@ -58,8 +58,8 @@
#error "You need to use a telemetry xml file with Logger process!"
#endif
#ifndef DOWNLINK_DEVICE
#warning This module can only be used with uart downlink for now.
#ifndef SDLOGGER_DOWNLINK_DEVICE
#error No downlink device defined for SD Logger
#endif
struct sdlogger_spi_periph sdlogger_spi;
@@ -190,12 +190,12 @@ void sdlogger_spi_direct_periodic(void)
case SDLogger_Downloading:
if (sdcard1.status == SDCard_Idle) {
/* Put bytes to the buffer until all is written or buffer is full */
for (uint16_t i = sdlogger_spi.sdcard_buf_idx; i < SD_BLOCK_SIZE; i++) {
long fd = 0;
if (uart_check_free_space(&(DOWNLINK_DEVICE), &fd, 1)) {
uart_put_byte(&(DOWNLINK_DEVICE), fd, sdcard1.input_buf[i]);
}
else {
long fd = 0;
uint16_t chunk_size = 64;
for (uint16_t i = sdlogger_spi.sdcard_buf_idx; i < SD_BLOCK_SIZE && chunk_size > 0; i++, chunk_size--) {
if ((SDLOGGER_DOWNLINK_DEVICE).device.check_free_space(&(SDLOGGER_DOWNLINK_DEVICE), &fd, 1)) {
(SDLOGGER_DOWNLINK_DEVICE).device.put_byte(&(SDLOGGER_DOWNLINK_DEVICE), fd, sdcard1.input_buf[i]);
} else {
/* No free space left, abort for-loop */
break;
}
@@ -203,6 +203,7 @@ void sdlogger_spi_direct_periodic(void)
}
/* Request next block if entire buffer was written to uart */
if (sdlogger_spi.sdcard_buf_idx >= SD_BLOCK_SIZE) {
(SDLOGGER_DOWNLINK_DEVICE).device.send_message(&(SDLOGGER_DOWNLINK_DEVICE), fd); // Flush buffers
if (sdlogger_spi.download_length > 0) {
sdcard_spi_read_block(&sdcard1, sdlogger_spi.download_address, NULL);
sdlogger_spi.download_address++;
sw/lib/python/settings_xml_parse.py
+9 -6
View File
@@ -6,6 +6,9 @@ import os
import sys
from lxml import etree
def printerr(*args, **kwargs):
print(*args, file=sys.stderr, **kwargs)
# if PAPARAZZI_HOME not set, then assume the tree containing this
# file is a reasonable substitute
PPRZ_HOME = os.getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
@@ -29,7 +32,7 @@ class PaparazziACSettings:
# extract aircraft node from conf.xml file
ac_node = conf_tree.xpath('/conf/aircraft[@ac_id=%i]' % ac_id)
if (len(ac_node) != 1):
print("Aircraft ID %i not found." % ac_id)
printerr("Aircraft ID %i not found." % ac_id)
sys.exit(1)
# save AC name for reference
@@ -39,7 +42,7 @@ class PaparazziACSettings:
settings_xml_path = os.path.join(paparazzi_home, 'var/aircrafts/' + self.name + '/settings.xml')
if not os.path.isfile(settings_xml_path):
print("Could not find %s, did you build it?" % settings_xml_path)
printerr("Could not find %s, did you build it?" % settings_xml_path)
sys.exit(1)
index = 0 # keep track of index/id of setting starting at 0
@@ -52,7 +55,7 @@ class PaparazziACSettings:
else:
setting_group_name = the_tab.attrib['name']
except:
#print("Could not read name of settings group")
#printerr("Could not read name of settings group")
continue
#print("parsing setting group:", setting_group_name)
@@ -71,7 +74,7 @@ class PaparazziACSettings:
else:
shortname = varname
except:
print("Could not get name for setting in group", setting_group)
printerr("Could not get name for setting in group", setting_group)
continue
settings = PaparazziSetting(shortname, varname)
@@ -93,14 +96,14 @@ class PaparazziACSettings:
else:
settings.step = float(the_setting.attrib['step'])
except:
print("Could not get min/max/step for setting", name)
printerr("Could not get min/max/step for setting", name)
continue
if 'values' in the_setting.attrib:
settings.values = the_setting.attrib['values'].split('|')
count = int((settings.max_value - settings.min_value + settings.step) / settings.step)
if len(settings.values) != count:
print("Warning: possibly wrong number of values (%i) for %s (expected %i)" % (len(settings.values), shortname, count))
printerr("Warning: possibly wrong number of values (%i) for %s (expected %i)" % (len(settings.values), shortname, count))
setting_group.member_list.append(settings)
self.lookup.append(settings)
sw/logalizer/sdlogger_download.c
+47 -22
View File
@@ -16,6 +16,13 @@
#include <endian.h>
#endif
#define PRINT(string,...) fprintf(stderr, "[sdlogger_download->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)
#ifdef DEBUG
#define DEBUG_PRINT PRINT
#else
#define DEBUG_PRINT(...)
#endif
#define PPRZ_STX 0x99
/* File pointer for temp.tlm */
@@ -55,6 +62,7 @@ enum normal_parser_states {
SearchingPPRZ_STX,
ParsingLength,
ParsingSenderId,
SkippingTwoBytes,
ParsingMsgId,
ParsingMsgPayload,
CheckingCRCA,
@@ -270,10 +278,10 @@ void close_port(void)
void write_command(float value)
{
unsigned char msg[12];
unsigned char msg[14];
unsigned char crc_a = 0;
unsigned char crc_b = 0;
unsigned char length = 12;
unsigned char length = 14;
unsigned char *pc;
pc = (unsigned char*)&value;
@@ -284,25 +292,31 @@ void write_command(float value)
msg[2] = 0; // Sender ID
crc_a += 0; crc_b += crc_a;
msg[3] = 4; // MSG_ID = SETTING
msg[3] = 0xFF; // Receiver ID (broadcast)
crc_a += 0xFF; crc_b += crc_a;
msg[4] = 0x02; // Class/Component
crc_a += 0x02; crc_b += crc_a;
msg[5] = 4; // MSG_ID = SETTING
crc_a += 4; crc_b += crc_a;
msg[4] = setting; // setting index
msg[6] = setting; // setting index
crc_a += setting; crc_b += crc_a;
msg[5] = ac_id; // AC_ID
msg[7] = ac_id; // AC_ID
crc_a += ac_id; crc_b += crc_a;
msg[6] = pc[0]; // value
crc_a += msg[6]; crc_b += crc_a;
msg[7] = pc[1]; // value
crc_a += msg[7]; crc_b += crc_a;
msg[8] = pc[2]; // value
msg[8] = pc[0]; // value
crc_a += msg[8]; crc_b += crc_a;
msg[9] = pc[3]; // value
msg[9] = pc[1]; // value
crc_a += msg[9]; crc_b += crc_a;
msg[10] = crc_a;
msg[11] = crc_b;
msg[10] = pc[2]; // value
crc_a += msg[10]; crc_b += crc_a;
msg[11] = pc[3]; // value
crc_a += msg[11]; crc_b += crc_a;
msg[12] = crc_a;
msg[13] = crc_b;
if (write(fd, msg, length) != length) {
fprintf(stderr, "write_command: could not write %d bytes", length);
@@ -323,11 +337,12 @@ void write_command(float value)
*/
void parse_single_byte(unsigned char byte)
{
DEBUG_PRINT("parser.state %d\n", parser.state);
switch (parser.state) {
case SearchingPPRZ_STX:
if (byte == PPRZ_STX) {
//printf("Got PPRZ_STX\n");
DEBUG_PRINT("Got PPRZ_STX\n");
parser.crc_a = 0;
parser.crc_b = 0;
parser.counter = 1;
@@ -348,7 +363,16 @@ void parse_single_byte(unsigned char byte)
parser.crc_a += byte;
parser.crc_b += parser.crc_a;
parser.counter++;
parser.state = ParsingMsgId;
parser.state = SkippingTwoBytes;
break;
case SkippingTwoBytes:
parser.crc_a += byte;
parser.crc_b += parser.crc_a;
parser.counter++;
if (parser.counter == 5) {
parser.state = ParsingMsgId;
}
break;
case ParsingMsgId:
@@ -360,7 +384,7 @@ void parse_single_byte(unsigned char byte)
break;
case ParsingMsgPayload:
parser.payload[parser.counter-4] = byte;
parser.payload[parser.counter-6] = byte;
parser.crc_a += byte;
parser.crc_b += parser.crc_a;
parser.counter++;
@@ -370,7 +394,7 @@ void parse_single_byte(unsigned char byte)
break;
case CheckingCRCA:
//printf("CRCA: %d vs %d\n", byte, parser.crc_a);
DEBUG_PRINT("CRCA: %d vs %d\n", byte, parser.crc_a);
if (byte == parser.crc_a) {
parser.state = CheckingCRCB;
}
@@ -380,17 +404,17 @@ void parse_single_byte(unsigned char byte)
break;
case CheckingCRCB:
//printf("CRCB: %d vs %d\n", byte, parser.crc_b);
DEBUG_PRINT("CRCB: %d vs %d\n", byte, parser.crc_b);
if (byte == parser.crc_b && parser.msg_id == 31) {
/*printf("MSG ID: %d \t"
DEBUG_PRINT("MSG ID: %d \t"
"SENDER_ID: %d\t"
"LEN: %d\t"
"SETTING: %d\n",
parser.msg_id,
parser.sender_id,
parser.length,
parser.payload[0]);*/
//printf("Request confirmed\n");
parser.payload[0]);
DEBUG_PRINT("Request confirmed\n");
/* Check what to do next if the command was received */
if (global_state == WaitingForIndexRequestConfirmation
@@ -417,6 +441,7 @@ void parse_single_byte(unsigned char byte)
void parse_index_byte(unsigned char byte)
{
DEBUG_PRINT("parse_index_byte %d/512: %x\n", index_cnt, byte);
unsigned char *pc;
pc = (unsigned char*)&log_index;
pc[index_cnt] = byte;
@@ -440,7 +465,7 @@ void parse_download_byte(unsigned char byte)
{
static long long dcnt = 0;
dcnt++;
//printf("Got \t (%d) \t 0x%02x\n", dcnt, byte);
DEBUG_PRINT("Got \t (%lld) \t 0x%02x\n", dcnt, byte);
fputc(byte, fp);
/* Show progress */