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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_CANManager/LogStructure.h
Views: 1798
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#pragma once

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/*

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  log structures for AP_CANManager

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 */

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#include <AP_Logger/LogStructure.h>

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#include "AP_CANManager_config.h"

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#define LOG_IDS_FROM_CANMANAGER \

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    LOG_CANF_MSG,               \

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    LOG_CAFD_MSG

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// @LoggerMessage: CANF

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// @Description: CAN Frame

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// @Field: TimeUS: Time since system startup

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// @Field: Bus: bus number

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// @Field: Id: frame identifier

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// @Field: DLC: data length code

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// @Field: B0: byte 0

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// @Field: B1: byte 1

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// @Field: B2: byte 2

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// @Field: B3: byte 3

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// @Field: B4: byte 4

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// @Field: B5: byte 5

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// @Field: B6: byte 6

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// @Field: B7: byte 7

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struct PACKED log_CANF {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint8_t bus;

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    uint32_t id;

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    uint8_t dlc;

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    uint8_t data[8];

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};

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// @LoggerMessage: CAFD

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// @Description: CANFD Frame

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// @Field: TimeUS: Time since system startup

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// @Field: Bus: bus number

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// @Field: Id: frame identifier

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// @Field: DLC: data length code

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// @Field: D0: data 0

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// @Field: D1: data 1

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// @Field: D2: data 2

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// @Field: D3: data 3

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// @Field: D4: data 4

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// @Field: D5: data 5

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// @Field: D6: data 6

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// @Field: D7: data 7

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struct PACKED log_CAFD {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint8_t bus;

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    uint32_t id;

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    uint8_t dlc;

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    uint64_t data[8];

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};

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#if AP_CAN_LOGGING_ENABLED

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#define LOG_STRUCTURE_FROM_CANMANAGER \

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    { LOG_CANF_MSG, sizeof(log_CANF), \

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            "CANF", \

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            "Q"       "B"    "I"    "B"    "B"    "B"    "B"    "B"    "B"    "B"    "B"    "B", \

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            "TimeUS," "Bus," "Id,"  "DLC," "B0,"  "B1,"  "B2,"  "B3,"  "B4,"  "B5,"  "B6,"  "B7", \

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            "s"       "#"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-", \

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            "F"       "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-", \

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            false \

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            }, \

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    { LOG_CAFD_MSG, sizeof(log_CAFD), \

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            "CAFD", \

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            "Q"       "B"    "I"    "B"    "Q"    "Q"    "Q"    "Q"    "Q"    "Q"    "Q"    "Q", \

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            "TimeUS," "Bus," "Id,"  "DLC," "D0,"  "D1,"  "D2,"  "D3,"  "D4,"  "D5,"  "D6,"  "D7", \

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            "s"       "#"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-", \

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            "F"       "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-", \

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            false \

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            },

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#else

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#define LOG_STRUCTURE_FROM_CANMANAGER

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#endif // AP_CAN_LOGGING_ENABLED

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