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49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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#define LOG_RATE 200
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#define LOG_DURATION 10
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#define LOG_PERIOD 1000000 / LOG_RATE
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#define LOG_SIZE LOG_DURATION * LOG_RATE
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#define LOG_COLUMNS 11
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static float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
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static int logPointer = 0;
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static uint32_t lastLog = 0;
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void logData()
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{
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if (!armed) return;
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if (stepTime - lastLog < LOG_PERIOD) return;
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lastLog = stepTime;
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logBuffer[logPointer][0] = stepTime;
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logBuffer[logPointer][1] = rates.x;
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logBuffer[logPointer][2] = rates.y;
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logBuffer[logPointer][3] = rates.z;
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logBuffer[logPointer][4] = ratesTarget.x;
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logBuffer[logPointer][5] = ratesTarget.y;
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logBuffer[logPointer][6] = ratesTarget.z;
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logBuffer[logPointer][7] = torqueTarget.x;
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logBuffer[logPointer][8] = torqueTarget.y;
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logBuffer[logPointer][9] = torqueTarget.z;
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logBuffer[logPointer][10] = thrustTarget;
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logPointer++;
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if (logPointer >= 2000) {
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logPointer = 0;
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}
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}
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void dumpLog()
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{
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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");
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for (int i = 0; i < LOG_SIZE; i++) {
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for (int j = 0; j < LOG_COLUMNS - 1; j++) {
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printf("%f,", logBuffer[i][j]);
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}
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printf("%f\n", logBuffer[i][LOG_COLUMNS - 1]);
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}
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Serial.println();
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}
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