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Improve logging code

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Make it easer to add and remove log entries
This commit is contained in:
Oleg Kalachev 2024-12-28 22:10:43 +03:00
parent 299c8a6a02
commit 7ae5457bb4
1 changed files with 47 additions and 23 deletions
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70
flix/log.ino
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@ -3,36 +3,58 @@
// In-RAM logging
#include "vector.h"
#define LOG_RATE 100
#define LOG_DURATION 10
#define LOG_PERIOD 1.0 / LOG_RATE
#define LOG_SIZE LOG_DURATION * LOG_RATE
#define LOG_COLUMNS 14
float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
int logPointer = 0;
Vector attitudeEuler;
Vector attitudeTargetEuler;
struct LogEntry {
const char *name;
float *value;
};
LogEntry logEntries[] = {
{"t", &t},
{"rates.x", &rates.x},
{"rates.y", &rates.y},
{"rates.z", &rates.z},
{"ratesTarget.x", &ratesTarget.x},
{"ratesTarget.y", &ratesTarget.y},
{"ratesTarget.z", &ratesTarget.z},
{"attitude.x", &attitudeEuler.x},
{"attitude.y", &attitudeEuler.y},
{"attitude.z", &attitudeEuler.z},
{"attitudeTarget.x", &attitudeTargetEuler.x},
{"attitudeTarget.y", &attitudeTargetEuler.y},
{"attitudeTarget.z", &attitudeTargetEuler.z},
{"thrustTarget", &thrustTarget}
};
const int logColumns = sizeof(logEntries) / sizeof(logEntries[0]);
float logBuffer[LOG_SIZE][logColumns];
void prepareLogData() {
attitudeEuler = attitude.toEulerZYX();
attitudeTargetEuler = attitudeTarget.toEulerZYX();
}
void logData() {
if (!armed) return;
static int logPointer = 0;
static float logTime = 0;
if (t - logTime < LOG_PERIOD) return;
logTime = t;
logBuffer[logPointer][0] = t;
logBuffer[logPointer][1] = rates.x;
logBuffer[logPointer][2] = rates.y;
logBuffer[logPointer][3] = rates.z;
logBuffer[logPointer][4] = ratesTarget.x;
logBuffer[logPointer][5] = ratesTarget.y;
logBuffer[logPointer][6] = ratesTarget.z;
logBuffer[logPointer][7] = attitude.toEulerZYX().x;
logBuffer[logPointer][8] = attitude.toEulerZYX().y;
logBuffer[logPointer][9] = attitude.toEulerZYX().z;
logBuffer[logPointer][10] = attitudeTarget.toEulerZYX().x;
logBuffer[logPointer][11] = attitudeTarget.toEulerZYX().y;
logBuffer[logPointer][12] = attitudeTarget.toEulerZYX().z;
logBuffer[logPointer][13] = thrustTarget;
prepareLogData();
for (int i = 0; i < logColumns; i++) {
logBuffer[logPointer][i] = *logEntries[i].value;
}
logPointer++;
if (logPointer >= LOG_SIZE) {
@ -41,13 +63,15 @@ void logData() {
}
void dumpLog() {
Serial.printf("t,rates.x,rates.y,rates.z,ratesTarget.x,ratesTarget.y,ratesTarget.z,"
"attitude.x,attitude.y,attitude.z,attitudeTarget.x,attitudeTarget.y,attitudeTarget.z,thrustTarget\n");
// Print header
for (int i = 0; i < logColumns; i++) {
Serial.printf("%s%s", logEntries[i].name, i < logColumns - 1 ? "," : "\n");
}
// Print data
for (int i = 0; i < LOG_SIZE; i++) {
if (logBuffer[i][0] == 0) continue; // skip empty records
for (int j = 0; j < LOG_COLUMNS - 1; j++) {
Serial.printf("%f,", logBuffer[i][j]);
for (int j = 0; j < logColumns; j++) {
Serial.printf("%g%s", logBuffer[i][j], j < logColumns - 1 ? "," : "\n");
}
Serial.printf("%f\n", logBuffer[i][LOG_COLUMNS - 1]);
}
}