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projects:crazyflie:firmware:log [2012-10-07 14:18] arnaud |
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 ===== | ||
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^ **Port** | ^ **Port** | ||
- | | | + | | |
- | | | + | | |
- | | | + | | |
==== Table of content access ==== | ==== Table of content access ==== | ||
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Answer (Copter to PC): | Answer (Copter to PC): | ||
+ | +--------------+----+ | ||
+ | | GET_ITEM (0) | ID | If index out of range | ||
+--------------+----+------+------------+--------------+ | +--------------+----+------+------------+--------------+ | ||
- | | GET_ITEM (0) | ID | Type | | + | | GET_ITEM (0) | ID | Type | |
+--------------+----+------+------------+--------------+ | +--------------+----+------+------------+--------------+ | ||
Length | Length | ||
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| 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 === | === Get Info === | ||
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| LOG_MAX_PACKET | Maximum number of log packets that can be programmed in the copter | | | LOG_MAX_PACKET | Maximum number of log packets that can be programmed in the copter | | ||
| LOG_MAX_OPS | | 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 | ||