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Added new debug mode to time pidloop subtasks.

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This commit is contained in:
Martin Budden 2016-05-05 10:28:26 +01:00
parent fa24d2950e
commit 825475fd43
10 changed files with 98 additions and 78 deletions
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26
src/main/io/display.c
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@ -22,6 +22,7 @@
#include "platform.h"
#include "version.h"
#include "debug.h"
#include "build_config.h"
@ -58,14 +59,16 @@
#include "flight/navigation.h"
#endif
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/runtime_config.h"
#include "config/config_profile.h"
#include "display.h"
#include "scheduler.h"
extern profile_t *currentProfile;
controlRateConfig_t *getControlRateConfig(uint8_t profileIndex);
#define MICROSECONDS_IN_A_SECOND (1000 * 1000)
@ -317,13 +320,26 @@ void showProfilePage(void)
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
uint8_t currentRateProfileIndex = getCurrentControlRateProfile();
static const char* const axisTitles[3] = {"ROL", "PIT", "YAW"};
const pidProfile_t *pidProfile = &currentProfile->pidProfile;
for (int axis = 0; axis < 3; ++axis) {
tfp_sprintf(lineBuffer, "%s P:%3d I:%3d D:%3d",
axisTitles[axis],
pidProfile->P8[axis],
pidProfile->I8[axis],
pidProfile->D8[axis]
);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
}
const uint8_t currentRateProfileIndex = getCurrentControlRateProfile();
tfp_sprintf(lineBuffer, "Rate profile: %d", currentRateProfileIndex);
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
controlRateConfig_t *controlRateConfig = getControlRateConfig(currentRateProfileIndex);
const controlRateConfig_t *controlRateConfig = getControlRateConfig(currentRateProfileIndex);
tfp_sprintf(lineBuffer, "RCE: %d, RCR: %d",
controlRateConfig->rcExpo8,
controlRateConfig->rcRate8