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projects:crazyflie:firmware:log [2012-10-07 14:04] arnaud [Table of content access] |
projects:crazyflie:firmware:log [2012-10-08 07:03] arnaud [Log control] |
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This mechanism is used both for regular log operation (ie. user requested log to inspect and debug flight data) but also to update indication in the GUI application. | This mechanism is used both for regular log operation (ie. user requested log to inspect and debug flight data) but also to update indication in the GUI application. | ||
- | Each variable to log is contained in a | + | Each variable to log is contained in a group group and has a name. The system is designed to make it easy to add a log variable in the Firmware and have it available in the ground station GUI: |
+ | |||
+ | {{: | ||
===== Communication protocol ===== | ===== Communication protocol ===== | ||
Line 12: | Line 14: | ||
^ **Port** | ^ **Port** | ||
- | | | + | | |
- | | | + | | |
- | | | + | | |
==== Table of content access ==== | ==== Table of content access ==== | ||
Line 26: | Line 28: | ||
| 1 | GET_INFO | | 1 | GET_INFO | ||
- | === Get TOC element | + | === Get TOC item === |
+ | |||
+ | The GET_ITEM TOC command permits to retrieved the log variables name, group and types from the copter. This command is intended to be requested from all the ID from 0 to LOG_LEN (see GET_INFO). | ||
< | < | ||
Request (PC to Copter): | Request (PC to Copter): | ||
- | +--------------+------------+ | + | +--------------+----+ |
- | | GET_ITEM (0) | Element | + | | GET_ITEM (0) | ID | |
- | +--------------+------------+ | + | +--------------+----+ |
- | Length | + | Length |
Answer (Copter to PC): | Answer (Copter to PC): | ||
- | +--------------+------------+------+------------+--------------+ | + | +--------------+----+ |
- | | GET_ITEM (0) | Element | + | | GET_ITEM (0) | ID | If index out of range |
- | +--------------+------------+------+------------+--------------+ | + | +--------------+----+------+------------+--------------+ |
- | Length | + | | GET_ITEM (0) | ID | Type | |
+ | +--------------+----+------+------------+--------------+ | ||
+ | Length | ||
</ | </ | ||
^ Request fields ^ Content | ^ Request fields ^ Content | ||
| GET_ITEM | | GET_ITEM | ||
- | | Element | + | | ID |
^ Answer fields | ^ Answer fields | ||
| GET_ITEM | | GET_ITEM | ||
- | | Element | + | | ID |
| Type | Variable type of the element. See variable types list | | | Type | Variable type of the element. See variable types list | | ||
| Group | Null-terminated string containing variable group | | | Group | Null-terminated string containing variable group | | ||
| Name | Null-terminated string containing the variable name | | | Name | Null-terminated string containing the variable name | | ||
+ | |||
+ | Type, group and name are not sent if the required ID is higher than TOC_LEN-1. | ||
+ | |||
+ | === Get Info === | ||
+ | |||
+ | The get info command is intended to be requested first when connecting to the copter. This permits to know the number of variable, the limitations of the log implementation and the fingerprint of the log variables. | ||
+ | |||
+ | < | ||
+ | Request (PC to Copter): | ||
+ | +--------------+ | ||
+ | | GET_INFO (1) | | ||
+ | +--------------+ | ||
+ | Length | ||
+ | |||
+ | Answer (Copter to PC): | ||
+ | +--------------+---------+---------+-----------------+-------------+ | ||
+ | | GET_INFO (1) | LOG_LEN | LOG_CRC | LOG_MAX_PACKET | LOG_MAX_OPS | | ||
+ | +--------------+---------+---------+-----------------+-------------+ | ||
+ | Length | ||
+ | </ | ||
+ | |||
+ | ^ Request fields ^ Content | ||
+ | | GET_INFO | ||
+ | |||
+ | ^ Answer fields | ||
+ | | GET_INFO | ||
+ | | LOG_LEN | ||
+ | | LOG_CRC | ||
+ | | LOG_MAX_PACKET | Maximum number of log packets that can be programmed in the copter | | ||
+ | | LOG_MAX_OPS | ||
+ | |||
+ | ==== Log control ==== | ||
+ | |||
+ | The log control channel permits to setup, activate, deactivate and remove log packets. Like the TOC access channel the first data byte represents a command. | ||
+ | |||
+ | ^ Control command byte ^ Command | ||
+ | | 0 | CREATE_BLOCK | ||
+ | | 1 | APPEND_BLOCK | ||
+ | | 2 | DEL_BLOCK | ||
+ | | 3 | START_BLOCK | ||
+ | | 4 | STOP_BLOCK | ||
+ | |||