Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
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logger_sd_spi_direct module

Direct SPI SD Logger that saves pprzlog messages to SD Card.

Supported SD cards:

  • SDv2 cards. Old SDv1 cards are not supported.
  • Both SDSC and SDHC/SDXC are supported. Some SD cards need to be zeroed out before use: https://askubuntu.com/a/511476

This module logs data directly to an SD Card which is connected on a SPI port. Logging can be started/stopped by setting sdlogger_spi.do_log from the GCS or by defining SDLOGGER_ON_ARM to TRUE.

The values to be logged are defined in the telemetry config file. An example is available in rotorcraft_with_logger.xml. The logmessage is defined as the default message in the process "Logger".

A LOGGER_LED can be enabled which indicates if the logger is writing or reading data.

Downloading of the data occurs over the configured serial device using sw/logalizer/sdlogger_download. There is no check to verify that all data is transfered. For UART it is recommended to use an FTDI cable.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

1 <module name="logger_sd_spi_direct">
2  <define name="SDLOGGER_ON_ARM" value="TRUE" />
3  <configure name="SDLOGGER_DIRECT_SPI" value="SPI1|SPI2|SPI3|SPI4|SPI5|SPI6" />
4  <configure name="SDLOGGER_DIRECT_SPI_SLAVE" value="SPI_SLAVE1|SPI_SLAVE2|SPI_SLAVE3|SPI_SLAVE4|SPI_SLAVE5|SPI_SLAVE6" />
5  <configure name="SDLOGGER_DIRECT_CONTROL_SWITCH" value="RADIO_AUX2" />
6  <configure name="SDLOGGER_DOWNLOAD_DEVICE" value="DOWNLINK_DEVICE|uartX|usb_serial|..." />
7  <configure name="LOGGER_LED" value="none" />
8 </module>

Module configuration options

Configure Options

  • name: SDLOGGER_DIRECT_SPI value: SPI1|SPI2|SPI3|SPI4|SPI5|SPI6
    Description: Port to which the SD Card is connected.
  • name: SDLOGGER_DIRECT_SPI_SLAVE value: SPI_SLAVE1|SPI_SLAVE2|SPI_SLAVE3|SPI_SLAVE4|SPI_SLAVE5|SPI_SLAVE6
    Description: Port to which the SD Card is connected.
  • name: SDLOGGER_DIRECT_CONTROL_SWITCH value: RADIO_AUX2
  • name: SDLOGGER_DOWNLOAD_DEVICE value: DOWNLINK_DEVICE|uartX|usb_serial|...
    Description: Note: case sensitive!
  • name: LOGGER_LED value: none

Define Options

  • name: SDLOGGER_ON_ARM value: TRUE
    Description: Start/stop SD logger with motor arming

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw logger_sd_spi_direct.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="logger_sd_spi_direct" dir="loggers">
<doc>
<description>
Direct SPI SD Logger that saves pprzlog messages to SD Card.
Supported SD cards:
- SDv2 cards. Old SDv1 cards are not supported.
- Both SDSC and SDHC/SDXC are supported.
Some SD cards need to be zeroed out before use: https://askubuntu.com/a/511476
This module logs data directly to an SD Card which is connected on a SPI port.
Logging can be started/stopped by setting sdlogger_spi.do_log from the GCS
or by defining SDLOGGER_ON_ARM to TRUE.
The values to be logged are defined in the telemetry config file. An example is available in rotorcraft_with_logger.xml. The logmessage is defined as the default message in the process "Logger".
A LOGGER_LED can be enabled which indicates if the logger is writing or reading data.
Downloading of the data occurs over the configured serial device using sw/logalizer/sdlogger_download. There is no check to verify that all data is transfered. For UART it is recommended to use an FTDI cable.
</description>
<configure name="SDLOGGER_DIRECT_SPI" value="SPI1|SPI2|SPI3|SPI4|SPI5|SPI6" description="Port to which the SD Card is connected."/>
<configure name="SDLOGGER_DIRECT_SPI_SLAVE" value="SPI_SLAVE1|SPI_SLAVE2|SPI_SLAVE3|SPI_SLAVE4|SPI_SLAVE5|SPI_SLAVE6" description="Port to which the SD Card is connected."/>
<configure name="SDLOGGER_DIRECT_CONTROL_SWITCH" value="RADIO_AUX2"/>
<define name="SDLOGGER_ON_ARM" value="TRUE" description="Start/stop SD logger with motor arming"/>
<configure name="SDLOGGER_DOWNLOAD_DEVICE" value="DOWNLINK_DEVICE|uartX|usb_serial|..." description="Note: case sensitive!"/>
<configure name="LOGGER_LED" value="none"/>
</doc>
<settings>
<dl_settings NAME="sdlogger">
<dl_settings NAME="SD Logger">
<dl_setting module="loggers/sdlogger_spi_direct" var="sdlogger_spi.status" min="0" max="11" step="1" values="UnInit|Error|Init|Index|Ready|Log|FinalBlock|Stop|GetIndexUp|UpInd|GetIndDwn|Down"/>
<dl_setting module="loggers/sdlogger_spi_direct" var="sdcard1.status" min="0" max="31" step="1" values="UnInit|Error|Idle|Busy|BeforeDummyClock|SendingDummyClock|SendingCMD0|ReadingCMD0Resp|SendingCMD8|ReadingCMD8Resp|ReadingCMD8Param|SendingACMD41v2|ReadingACMD41v2Resp|SendingCMD58|ReadingCMD58Resp|ReadingCMD58Param|SendingCMD16|ReadingCMD16Resp|SendingCMD24|ReadingCMD24Resp|BeforeDataBlock|SendingDataBlock|SendingCMD17|ReadingCMD17Resp|WaitForToken|ReadingDataBlock|SendingCMD25|ReadingCMD25Resp|MWIdle|MWWriting|MWBusy|MWStopping"/>
<dl_setting module="loggers/sdlogger_spi_direct" var="sdcard1.error_status" min="0" max="15" step="1" values="None|InitNoResp|CardInfoNoResponse|CardInfoInvalid|ACMD41Timeout|ACMD41NoRes|ACMD58NoRes|CCSInval|SBNoRes|WBNoRes|SPIErr|BlockErr|RBNoRes|RBTimeout|MWNoRes|MWErr"/>
<dl_setting module="loggers/sdlogger_spi_direct" var="sdlogger_spi.command" min="1" max="42" step="1" />
<dl_setting module="loggers/sdlogger_spi_direct" var="sdlogger_spi.do_log" min="0" max="1" step="1" values="Off|On"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>pprzlog,spi_master</depends>
</dep>
<header>
<file name="sdlogger_spi_direct.h"/>
</header>
<init fun="sdlogger_spi_direct_init()"/>
<periodic fun="sdlogger_spi_direct_periodic()" freq="512" start="sdlogger_spi_direct_start()" stop="sdlogger_spi_direct_stop()" autorun="LOCK"/>
<datalink message="SETTING" fun="sdlogger_spi_direct_command()"/>
<makefile target="ap">
<configure name="SDLOGGER_DIRECT_SPI" default="spi2" case="upper|lower"/>
<configure name="SDLOGGER_DIRECT_SPI_SLAVE" default="spi_slave2" case="upper|lower"/>
<configure name="LOGGER_LED" default="none"/>
<define name="LOGGER_LED" value="$(LOGGER_LED)" cond="ifneq ($(LOGGER_LED),none)"/>
<file name="sdcard_spi.c" dir="peripherals"/>
<file name="sdlogger_spi_direct.c"/>
<define name="USE_$(SDLOGGER_DIRECT_SPI_UPPER)" value="1" />
<define name="SDLOGGER_SPI_LINK_DEVICE" value="$(SDLOGGER_DIRECT_SPI_LOWER)" />
<define name="USE_$(SDLOGGER_DIRECT_SPI_SLAVE_UPPER)" value="1" />
<define name="SDLOGGER_SPI_LINK_SLAVE_NUMBER" value="$(SDLOGGER_DIRECT_SPI_SLAVE_UPPER)" />
<configure name="SDLOGGER_DOWNLOAD_DEVICE" default="DOWNLINK_DEVICE" case="upper"/>
<define name="SDLOGGER_DOWNLOAD_DEVICE" value="$(SDLOGGER_DOWNLOAD_DEVICE)"/>
<define name="USE_$(SDLOGGER_DOWNLOAD_DEVICE_UPPER)" cond="ifneq ($(SDLOGGER_DOWNLOAD_DEVICE_UPPER),DOWNLINK_DEVICE)"/>
<file_arch name="usb_ser_hw.c" dir="." cond="ifeq ($(SDLOGGER_DOWNLOAD_DEVICE_UPPER),USB_SERIAL)"/>
<define name="SDLOGGER_DOWNLOAD_DEVICE_LISTEN" cond="ifneq ($(SDLOGGER_DOWNLOAD_DEVICE_UPPER),DOWNLINK_DEVICE)"/>
</makefile>
</module>