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Debug 8 columns (#12445)

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Brian White 2023-03-09 22:39:40 -05:00 • committed by GitHub
parent 38372c3dbd
commit 2efc895cf9
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3 changed files with 9 additions and 4 deletions
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6
src/main/blackbox/blackbox.c
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@ -231,6 +231,10 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"debug", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
{"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
{"debug", 4, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
{"debug", 5, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
{"debug", 6, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
{"debug", 7, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
/* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
/* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
@ -1558,7 +1562,7 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_D, "%d", gpsRescueConfig()->velD)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_YAW_P, "%d", gpsRescueConfig()->yawP)
#ifdef USE_MAG
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_USE_MAG, "%d", gpsRescueConfig()->useMag)
#endif

2
src/main/build/debug.h
View file

@ -20,7 +20,7 @@
#pragma once
#define DEBUG16_VALUE_COUNT 4
#define DEBUG16_VALUE_COUNT 8
extern int16_t debug[DEBUG16_VALUE_COUNT];
extern uint8_t debugMode;

5
src/main/drivers/dshot.c
View file

@ -155,13 +155,14 @@ static uint32_t dshot_decode_eRPM_telemetry_value(uint16_t value)
static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded, dshotTelemetryType_t *pType)
{
uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;
const unsigned motorCount = motorDeviceCount();
if (dshotTelemetryState.motorState[motorIndex].telemetryTypes == DSHOT_NORMAL_TELEMETRY_MASK) { /* Check DSHOT_TELEMETRY_TYPE_eRPM mask */
// Decode eRPM telemetry
*pDecoded = dshot_decode_eRPM_telemetry_value(value);
// Update debug buffer
if (motorIndex < 4) {
if (motorIndex < motorCount && motorIndex < DEBUG16_VALUE_COUNT) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, *pDecoded);
}
@ -232,7 +233,7 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,
*pDecoded = dshot_decode_eRPM_telemetry_value(value);
// Update debug buffer
if (motorIndex < 4) {
if (motorIndex < motorCount && motorIndex < DEBUG16_VALUE_COUNT) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, *pDecoded);
}