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author | Andrew Tridgell <tridge@samba.org> | 2013-01-27 08:46:41 +1100 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-14 19:30:15 +0100 |
commit | bfecfbf5eef422e0ee069a17ff2482b352e29386 (patch) | |
tree | 290957dcc7973bbaa7e5d815332445f0a8ba173a | |
parent | cd0d108b6b39b7368078540f577c7cfe0dcb0b2b (diff) | |
download | px4-firmware-bfecfbf5eef422e0ee069a17ff2482b352e29386.tar.gz px4-firmware-bfecfbf5eef422e0ee069a17ff2482b352e29386.tar.bz2 px4-firmware-bfecfbf5eef422e0ee069a17ff2482b352e29386.zip |
px4io: added isr_debug()
this is useful for debugging px4io internals
-rw-r--r-- | apps/px4io/px4io.c | 62 |
1 files changed, 61 insertions, 1 deletions
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c index c3dacb2a6..8e0e52f04 100644 --- a/apps/px4io/px4io.c +++ b/apps/px4io/px4io.c @@ -63,6 +63,54 @@ struct sys_state_s system_state; static struct hrt_call serial_dma_call; +// global debug level for isr_debug() +volatile uint8_t debug_level = 0; +volatile uint32_t i2c_resets = 0; +volatile uint32_t i2c_loop_resets = 0; + + +/* + a set of debug buffers to allow us to send debug information from ISRs + */ + +static volatile uint32_t msg_counter; +static volatile uint32_t last_msg_counter; +static volatile uint8_t msg_next_out, msg_next_in; +#define NUM_MSG 6 +static char msg[NUM_MSG][60]; + +/* + add a debug message to be printed on the console + */ +void isr_debug(uint8_t level, const char *fmt, ...) +{ + if (level > debug_level) { + return; + } + va_list ap; + va_start(ap, fmt); + vsnprintf(msg[msg_next_in], sizeof(msg[0]), fmt, ap); + va_end(ap); + msg_next_in = (msg_next_in+1) % NUM_MSG; + msg_counter++; +} + +/* + show all pending debug messages + */ +static void show_debug_messages(void) +{ + if (msg_counter != last_msg_counter) { + uint32_t n = msg_counter - last_msg_counter; + if (n > NUM_MSG) n = NUM_MSG; + last_msg_counter = msg_counter; + while (n--) { + debug("%s", msg[msg_next_out]); + msg_next_out = (msg_next_out+1) % NUM_MSG; + } + } +} + int user_start(int argc, char *argv[]) { /* run C++ ctors before we go any further */ @@ -108,6 +156,8 @@ int user_start(int argc, char *argv[]) struct mallinfo minfo = mallinfo(); debug("free %u largest %u\n", minfo.mxordblk, minfo.fordblks); + debug("debug_level=%u\n", (unsigned)debug_level); + /* start the i2c handler */ i2c_init(); @@ -116,10 +166,20 @@ int user_start(int argc, char *argv[]) /* run the mixer at 100Hz (for now...) */ /* XXX we should use CONFIG_IDLE_CUSTOM and take over the idle thread instead of running two additional tasks */ + uint8_t counter=0; for (;;) { poll(NULL, 0, 10); perf_begin(mixer_perf); mixer_tick(); perf_end(mixer_perf); + show_debug_messages(); + if (counter++ == 200) { + counter = 0; + isr_debug(0, "tick debug=%u status=0x%x resets=%u loop_resets=%u", + (unsigned)debug_level, + (unsigned)r_status_flags, + (unsigned)i2c_resets, + (unsigned)i2c_loop_resets); + } } -}
\ No newline at end of file +} |