flight_recorder.c

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/*
 * Copyright (C) 2015 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#define PERIODIC_C_FLIGHTRECORDER
 
#include "modules/loggers/flight_recorder.h"
 
#include "modules/datalink/telemetry.h"
#include "modules/datalink/downlink.h"
#include "modules/loggers/pprzlog_tp.h"
 
#if FLIGHTRECORDER_SDLOG
#include "modules/loggers/sdlog_chibios.h"
struct chibios_sdlog flightrecorder_sdlog;
#ifndef FLIGHTRECORDER_DEVICE
#define FLIGHTRECORDER_DEVICE flightrecorder_sdlog
#else
#warning "SD log is activated, but FLIGHTRECORDER_DEVICE is alreay set (should not be defined)"
#endif
 
#else
// include downlink for other devices
#include "modules/datalink/downlink.h"
#endif
 
#ifndef TELEMETRY_PROCESS_FlightRecorder
#error "You need to use a telemetry xml file with FlightRecorder process!"
#endif
 
void flight_recorder_init()
{
#if FLIGHTRECORDER_SDLOG
  chibios_sdlog_init(&flightrecorder_sdlog, &flightRecorderLogFile);
#endif
}
 
void flight_recorder_periodic()
{
#if FLIGHTRECORDER_SDLOG
  // test if sd log is ready
  if (flightRecorderLogFile == -1) return;
#endif
 
#if PERIODIC_TELEMETRY
  periodic_telemetry_send_FlightRecorder(DefaultPeriodic, &pprzlog_tp.trans_tx, &(FLIGHTRECORDER_DEVICE).device);
#endif
}
 
void flight_recorder_log_msg_up(uint8_t *buf) {
  uint8_t ac_id = pprzlink_get_DL_INFO_MSG_UP_ac_id(buf);
  if(ac_id != AC_ID && ac_id != 0xFF) {
    return;
  }
  uint8_t fd = pprzlink_get_DL_INFO_MSG_UP_fd(buf);
  if(fd == DEST_INFO_MSG_ALL || fd == DEST_INFO_MSG_FLIGHT_RECORDER) {
    uint8_t len = pprzlink_get_INFO_MSG_UP_msg_length(buf);
    char* msg = pprzlink_get_DL_INFO_MSG_UP_msg(buf);
    pprz_msg_send_INFO_MSG(&pprzlog_tp.trans_tx, &(FLIGHTRECORDER_DEVICE).device, AC_ID, len, msg);
  }
}