Diff: stats.c

Revision:

0:62a1c91a859a

Child:

2:90292f8bd179

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stats.c	Fri Feb 18 22:28:05 2011 +0000
@@ -0,0 +1,137 @@
+// ===============================================================================================
+// =                              UAVXArm Quadrocopter Controller                                =
+// =                           Copyright (c) 2008 by Prof. Greg Egan                             =
+// =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
+// =                     http://code.google.com/p/uavp-mods/ http://uavp.ch                      =
+// ===============================================================================================
+
+//    This is part of UAVXArm.
+
+//    UAVXArm 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 3 of the
+//    License, or (at your option) any later version.
+
+//    UAVXArm 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 this program.
+//    If not, see http://www.gnu.org/licenses/
+
+#include "UAVXArm.h"
+
+void ZeroStats(void);
+void ReadStatsPX(void);
+void WriteStatsPX(void);
+void ShowStats(void);
+
+int16     Stats[MAX_STATS];
+
+#define INIT_MIN 1000L
+
+void ZeroStats(void)
+{
+    int8 s;
+
+    for (s = 0 ; s < MAX_STATS ; s++ )
+        Stats[s] = 0;
+
+    Stats[MinHDiluteS] = INIT_MIN;
+    Stats[MaxHDiluteS] = 0;
+    Stats[MinROCS] = INIT_MIN;
+    Stats[MaxROCS] = 0;
+    Stats[GPSMinSatsS] = INIT_MIN;
+    Stats[GPSMaxSatsS] = 0;
+    Stats[MinTempS] = INIT_MIN;
+    Stats[MaxTempS] = 0;
+
+} // ZeroStats
+
+void ReadStatsPX(void)
+{
+    int8 s;
+
+    for (s = 0 ; s < MAX_STATS ; s++ )
+        Stats[s] = Read16PX(STATS_ADDR_PX + s*2);
+} // InitStats
+
+void WriteStatsPX()
+{
+    int8 s, i;
+    int16 Temp;
+
+    if ( P[ESCType] != ESCPPM )
+        for ( i = 0; i < NoOfI2CESCOutputs; i++ )
+            Stats[ESCI2CFailS] += ESCI2CFail[i];
+
+    for (s = 0 ; s < MAX_STATS ; s++ )
+        Write16PX(STATS_ADDR_PX + s*2, Stats[s]);
+
+    Temp = ToPercent(CruiseThrottle, OUT_MAXIMUM);
+    WritePX(PercentCruiseThr, Temp);
+
+} // WriteStatsPX
+
+void ShowStats(void)
+{
+    TxString("\r\nFlight Statistics\r\n");
+
+    if ( Stats[BadS] != 0 )
+    {
+        TxString("Misc(gke):     \t");TxVal32((int32)Stats[BadS],0,' '); TxVal32((int32)Stats[BadNumS],0,' ');TxNextLine();
+    }
+
+    TxString("\r\nSensor/Rx Failures (Count)\r\n");
+    TxString("I2CBus:   \t");TxVal32((int32)Stats[I2CFailS],0,0); TxNextLine();
+    TxString("GPS:      \t");TxVal32((int32)Stats[GPSInvalidS],0,0); TxNextLine();
+    TxString("Acc:      \t");TxVal32((int32)Stats[AccFailS], 0, 0); TxNextLine();
+    TxString("Gyro:     \t");TxVal32((int32)Stats[GyroFailS], 0, 0); TxNextLine();
+    TxString("Comp:     \t");TxVal32((int32)Stats[CompassFailS], 0, 0); TxNextLine();
+    TxString("Baro:     \t");TxVal32((int32)Stats[BaroFailS],0 , 0); TxNextLine();
+    if ( P[ESCType] != ESCPPM )
+    {
+        TxString("I2CESC:   \t");TxVal32((int32)Stats[ESCI2CFailS],0 , 0); TxNextLine();
+    }
+    TxString("Rx:       \t");TxVal32((int32)Stats[RCGlitchesS],0,' '); TxNextLine(); 
+    TxString("Failsafes:\t");TxVal32((int32)Stats[RCFailsafesS],0,' '); TxNextLine();
+    
+    TxString("\r\nBaro\r\n"); // can only display to 3276M
+    TxString("Alt:      \t");TxVal32((int32)Stats[BaroRelAltitudeS], 1, ' '); TxString("M \r\n");
+    if ( Stats[MinROCS] < INIT_MIN )
+    {
+        TxString("ROC:      \t");TxVal32((int32)Stats[MinROCS], 1, ' '); 
+                            TxVal32((int32)Stats[MaxROCS], 1, ' '); TxString("M/S\r\n");
+    }
+    
+    if ( Stats[MinTempS] < INIT_MIN )
+    {
+        TxString("Ambient:  \t");TxVal32((int32)Stats[MinTempS], 1, ' '); 
+                            TxVal32((int32)Stats[MaxTempS], 1, ' '); TxString("C\r\n");
+    }
+
+    TxString("\r\nGPS\r\n");
+    TxString("Alt:      \t");TxVal32((int32)Stats[GPSAltitudeS], 1, ' '); TxString("M\r\n");
+    #ifdef GPS_INC_GROUNDSPPXD 
+    TxString("Vel:      \t");TxVal32(ConvertGPSToM((int32)Stats[GPSVelS]), 1, ' '); TxString("M/S\r\n"); 
+    #endif // GPS_INC_GROUNDSPPXD
+
+    if ( Stats[GPSMinSatsS] < INIT_MIN )
+    {
+        TxString("Sats:     \t");TxVal32((int32)Stats[GPSMinSatsS], 0, ' ');
+        TxVal32((int32)Stats[GPSMaxSatsS], 0, 0); TxNextLine();
+    }
+
+    if ( Stats[MinHDiluteS] < INIT_MIN )
+    {
+        TxString("HDilute:  \t");TxVal32((int32)Stats[MinHDiluteS], 2, ' ');
+        TxVal32((int32)Stats[MaxHDiluteS], 2, 0); TxNextLine();
+    }
+
+    if ( Stats[NavValidS] )
+        TxString("Navigation ENABLED\r\n");    
+    else
+        TxString("Navigation DISABLED (No fix at launch)\r\n");
+       
+} // ShowStats
+
+