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Oleg Kalachev
2023-03-26 10:23:30 +03:00
commit e039055c8e
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flix/log.ino
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// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
#define LOG_RATE 200
#define LOG_DURATION 10
#define LOG_PERIOD 1000000 / LOG_RATE
#define LOG_SIZE LOG_DURATION * LOG_RATE
#define LOG_COLUMNS 11
static float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
static int logPointer = 0;
static uint32_t lastLog = 0;
void logData()
{
if (!armed) return;
if (stepTime - lastLog < LOG_PERIOD) return;
lastLog = stepTime;
logBuffer[logPointer][0] = stepTime;
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] = torqueTarget.x;
logBuffer[logPointer][8] = torqueTarget.y;
logBuffer[logPointer][9] = torqueTarget.z;
logBuffer[logPointer][10] = thrustTarget;
logPointer++;
if (logPointer >= 2000) {
logPointer = 0;
}
}
void dumpLog()
{
printf("timestamp,rate.x,rate.y,rate.z,target.rate.x,target.rate.y,target.rate.z,torque.x,torque.y,torque.z,thrust\n");
for (int i = 0; i < LOG_SIZE; i++) {
for (int j = 0; j < LOG_COLUMNS - 1; j++) {
printf("%f,", logBuffer[i][j]);
}
printf("%f\n", logBuffer[i][LOG_COLUMNS - 1]);
}
Serial.println();
}