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[MF_DAQ] improve data logging (including MD5 and GPS)

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Gautier Hattenberger
2014-02-23 11:52:46 +01:00
parent 782f996888
commit b6d90e873f
1 changed files with 42 additions and 2 deletions
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sw/airborne/modules/meteo/meteo_france_DAQ.c
+42 -2
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@@ -41,9 +41,11 @@
#include "subsystems/chibios-libopencm3/sdLog.h"
#include "subsystems/chibios-libopencm3/chibios_sdlog.h"
#include "subsystems/gps.h"
#include "modules/datalink/extra_pprz_dl.h"
struct MF_DAQ mf_daq;
bool_t log_started;
#ifndef MF_DAQ_POWER_INIT
#define MF_DAQ_POWER_INIT TRUE
@@ -55,7 +57,8 @@ void init_mf_daq(void) {
#if (defined MF_DAQ_POWER_PORT) && (defined MF_DAQ_POWER_PIN)
gpio_setup_output(MF_DAQ_POWER_PORT, MF_DAQ_POWER_PIN);
#endif
meteo_france_DAQ_SetPower(mf_daq.power)
meteo_france_DAQ_SetPower(mf_daq.power);
log_started = FALSE;
}
void mf_daq_send_state(void) {
@@ -86,6 +89,22 @@ void mf_daq_send_report(void) {
if (mf_daq.nb > 0) {
DOWNLINK_SEND_PAYLOAD_FLOAT(DefaultChannel, DefaultDevice, mf_daq.nb, mf_daq.values);
}
// Test if log is started
if (pprzLogFile.fs != NULL) {
if (log_started == FALSE) {
// Log MD5SUM once
DOWNLINK_SEND_ALIVE(PprzLogTransport, SDLOG, 16, MD5SUM);
log_started = TRUE;
}
// Log GPS for time reference
uint8_t foo = 0;
int16_t climb = -gps.ned_vel.z;
int16_t course = (DegOfRad(gps.course)/((int32_t)1e6));
DOWNLINK_SEND_GPS(PprzLogTransport, SDLOG, &gps.fix,
&gps.utm_pos.east, &gps.utm_pos.north,
&course, &gps.hmsl, &gps.gspeed, &climb,
&gps.week, &gps.tow, &gps.utm_pos.zone, &foo);
}
}
void parse_mf_daq_msg(void) {
@@ -94,7 +113,28 @@ void parse_mf_daq_msg(void) {
// Store data struct directly from dl_buffer
memcpy(mf_daq.values, DL_PAYLOAD_FLOAT_values(dl_buffer), mf_daq.nb * sizeof(float));
// Log on SD card
DOWNLINK_SEND_PAYLOAD_FLOAT(PprzLogTransport, SDLOG, mf_daq.nb, mf_daq.values);
if (log_started) {
DOWNLINK_SEND_PAYLOAD_FLOAT(PprzLogTransport, SDLOG, mf_daq.nb, mf_daq.values);
DOWNLINK_SEND_MF_DAQ_STATE(PprzLogTransport, SDLOG,
&autopilot_flight_time,
&stateGetBodyRates_f()->p,
&stateGetBodyRates_f()->q,
&stateGetBodyRates_f()->r,
&stateGetNedToBodyEulers_f()->phi,
&stateGetNedToBodyEulers_f()->theta,
&stateGetNedToBodyEulers_f()->psi,
&stateGetAccelNed_f()->x,
&stateGetAccelNed_f()->y,
&stateGetAccelNed_f()->z,
&stateGetSpeedEnu_f()->x,
&stateGetSpeedEnu_f()->y,
&stateGetSpeedEnu_f()->z,
&stateGetPositionLla_f()->lat,
&stateGetPositionLla_f()->lon,
&stateGetPositionLla_f()->alt,
&stateGetHorizontalWindspeed_f()->y,
&stateGetHorizontalWindspeed_f()->x);
}
}
}