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--- projects:crazyflie:firmware:log [2013-03-20 10:14]
arnaud
+++ projects:crazyflie:firmware:log [2021-06-24 16:49] (current)
kimberly
@@ Line 1: / Line 1: @@
+<WRAP center round important 60%>
+This page has deprecated and will be archived. Please go to [[https://www.bitcraze.io/]].
+</WRAP>
 ====== Crazyflie LOG subsystem ======
-The purpose of the logging is to be able to log variables that are available in the copter during runtime. The Crazyflie log system is design in such a way that the copter firmware is mostly independant from the client and all information required to get the log system to work are communicated at connection time. The copter contains a table of content of all the variable possible to log. The client retrieve the list at connection time. The client then program in the copter log packets (ie. list of variable to log at the same time) to be sent back at regular interval.
+The purpose of the logging is to be able to log variables that are available in the copter during runtime. The Crazyflie log system is design in such a way that the copter firmware is mostly independent from the client and all information required to get the log system to work are communicated at connection time. The copter contains a table of content of all the variable possible to log. The client retrieve the list at connection time. The client then program in the copter log packets (ie. list of variable to log at the same time) to be sent back at regular interval.
 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.
@@ Line 9: / Line 12: @@
 {{:projects:crazyflie:firmware:logmagic.png?800|}}
+===== Firmware usage =====
+A couple of macros are declared in //log.h// to define new log variables. All log variables should be in a log group. Example:
+<code style="c">
+LOG_GROUP_START(stabilizer)
+LOG_ADD(LOG_FLOAT, roll, &eulerRollActual)
+LOG_ADD(LOG_FLOAT, pitch, &eulerPitchActual)
+LOG_ADD(LOG_FLOAT, yaw, &eulerYawActual)
+LOG_GROUP_STOP(stabilizer)
+</code>
+^ Macro                        ^ Usage                                             ^
+| LOG_GROUP_START(grp_name)    | Start a log group named //grp_name//              |
+| LOG_GROUP_STOP(grp_name)     | Stop log group declaration for group //grp_name// |
+| LOG_ADD(type, name, address) | Add a log variable. //type// is the variable type (see bellow), //name// is the name as it will be sent to the ground and //address// is the memory address of the variable |
+^ Type defines ^ Corresponding C99 type ^ Note ^
+| LOG_UINT8    | uint8_t                |      |
+| LOG_UINT16   | uint16_t               |      |
+| LOG_UINT32   | uint32_t               |      |
+| LOG_INT8     | int8_t                 |      |
+| LOG_INT16    | int16_t                |      |
+| LOG_INT32    | int32_t                |      |
+| LOG_FLOAT    | float                  | IEEE 754 binary32 (single precision float) |
+| LOG_FP16     | //N/A?//               | IEEE 754 binary16, intended for log report only (not in memory) |

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