Cleanup debug code.

Makefile

@@ -212,6 +212,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
 VPATH		:= $(VPATH):$(TARGET_DIR)
 
 COMMON_SRC	 = build_config.c \
+		   debug.c \
 		   version.c \
 		   $(TARGET_SRC) \
 		   config/config.c \

src/main/build_config.h

@@ -35,27 +35,3 @@
 #define REQUIRE_PRINTF_LONG_SUPPORT
 #endif
 
-extern int16_t debug[4];
-
-#define DEBUG_SECTION_TIMES
-
-#ifdef DEBUG_SECTION_TIMES
-extern uint32_t sectionTimes[2][4];
-
-#define TIME_SECTION_BEGIN(index) { \
-    extern uint32_t sectionTimes[2][4]; \
-    sectionTimes[0][index] = micros(); \
-}
-
-#define TIME_SECTION_END(index) { \
-    extern uint32_t sectionTimes[2][4]; \
-    sectionTimes[1][index] = micros(); \
-    debug[index] = sectionTimes[1][index] - sectionTimes[0][index]; \
-}
-#else
-
-#define TIME_SECTION_BEGIN(index) {}
-#define TIME_SECTION_END(index) {}
-
-#endif
-

src/main/debug.c

@@ -0,0 +1,27 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "stdint.h"
+
+
+#include "debug.h"
+
+int16_t debug[DEBUG16_VALUE_COUNT];
+
+#ifdef DEBUG_SECTION_TIMES
+uint32_t sectionTimes[2][4];
+#endif

src/main/debug.h

@@ -0,0 +1,41 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#define DEBUG16_VALUE_COUNT 4
+extern int16_t debug[DEBUG16_VALUE_COUNT];
+
+#define DEBUG_SECTION_TIMES
+
+#ifdef DEBUG_SECTION_TIMES
+extern uint32_t sectionTimes[2][4];
+
+#define TIME_SECTION_BEGIN(index) { \
+    extern uint32_t sectionTimes[2][4]; \
+    sectionTimes[0][index] = micros(); \
+}
+
+#define TIME_SECTION_END(index) { \
+    extern uint32_t sectionTimes[2][4]; \
+    sectionTimes[1][index] = micros(); \
+    debug[index] = sectionTimes[1][index] - sectionTimes[0][index]; \
+}
+#else
+
+#define TIME_SECTION_BEGIN(index) {}
+#define TIME_SECTION_END(index) {}
+
+#endif

src/main/drivers/accgyro_l3gd20.c

@@ -19,8 +19,8 @@
 #include <stdint.h>
 
 #include "platform.h"
-
 #include "build_config.h"
+#include "debug.h"
 
 #include "common/maths.h"
 
@@ -32,8 +32,6 @@
 #include "accgyro.h"
 #include "accgyro_l3gd20.h"
 
-extern int16_t debug[4];
-
 #define READ_CMD               ((uint8_t)0x80)
 #define MULTIPLEBYTE_CMD       ((uint8_t)0x40)
 #define DUMMY_BYTE             ((uint8_t)0x00)

src/main/drivers/accgyro_lsm303dlhc.c

@@ -19,6 +19,8 @@
 #include <stdint.h>
 
 #include "platform.h"
+#include "build_config.h"
+#include "debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -31,8 +33,6 @@
 #include "accgyro.h"
 #include "accgyro_lsm303dlhc.h"
 
-extern int16_t debug[4];
-
 // Addresses (7 bit address format)
 
 #define LSM303DLHC_ACCEL_ADDRESS 0x19

src/main/drivers/adc.c

@@ -18,9 +18,10 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "build_config.h"
-
 #include "platform.h"
+#include "build_config.h"
+#include "debug.h"
+
 #include "system.h"
 
 #include "adc.h"
@@ -32,7 +33,6 @@
 adc_config_t adcConfig[ADC_CHANNEL_COUNT];
 volatile uint16_t adcValues[ADC_CHANNEL_COUNT];
 
-extern int16_t debug[4];
 
 uint16_t adcGetChannel(uint8_t channel)
 {

src/main/flight/altitudehold.c

@@ -23,6 +23,7 @@
 
 
 #include "platform.h"
+#include "debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -46,8 +47,6 @@
 
 #include "config/runtime_config.h"
 
-extern int16_t debug[4];
-
 int32_t setVelocity = 0;
 uint8_t velocityControl = 0;
 int32_t errorVelocityI = 0;

src/main/flight/autotune.c

@@ -21,6 +21,8 @@
 #include <math.h>
 
 #include "platform.h"
+#include "build_config.h"
+#include "debug.h"
 
 #ifdef AUTOTUNE
 
@@ -40,8 +42,6 @@
 #include "config/config.h"
 #include "blackbox/blackbox.h"
 
-extern int16_t debug[4];
-
 /*
  * Authors
  * Brad Quick - initial implementation in BradWii

src/main/flight/imu.c

@@ -23,7 +23,8 @@
 
 #include "common/maths.h"
 
-#include <platform.h>
+#include "platform.h"
+#include "debug.h"
 
 #include "common/axis.h"
 
@@ -45,9 +46,6 @@
 
 #include "config/runtime_config.h"
 
-
-extern int16_t debug[4];
-
 int16_t accSmooth[XYZ_AXIS_COUNT];
 int32_t accSum[XYZ_AXIS_COUNT];
 int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };

src/main/flight/mixer.c

@@ -20,6 +20,7 @@
 #include <stdlib.h>
 
 #include "platform.h"
+#include "debug.h"
 
 #include "build_config.h"
 
@@ -57,8 +58,6 @@
 
 //#define MIXER_DEBUG
 
-extern int16_t debug[4];
-
 uint8_t motorCount = 0;
 int16_t motor[MAX_SUPPORTED_MOTORS];
 int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];

src/main/flight/navigation.c

@@ -23,6 +23,7 @@
 #include <math.h>
 
 #include "platform.h"
+#include "debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -53,8 +54,6 @@ extern int16_t magHold;
 
 #ifdef GPS
 
-extern int16_t debug[4];
-
 bool areSticksInApModePosition(uint16_t ap_mode);
 
 // **********************

src/main/io/gps.c

@@ -23,8 +23,8 @@
 #include <math.h>
 
 #include "platform.h"
-
 #include "build_config.h"
+#include "debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -51,9 +51,6 @@
 
 #ifdef GPS
 
-extern int16_t debug[4];
-
-
 #define LOG_ERROR        '?'
 #define LOG_IGNORED      '!'
 #define LOG_SKIPPED      '>'

src/main/io/serial_msp.c

@@ -22,6 +22,7 @@
 #include <math.h>
 
 #include "build_config.h"
+#include "debug.h"
 
 #include "platform.h"
 
@@ -88,7 +89,6 @@ static serialPort_t *mspSerialPort;
 
 extern uint16_t cycleTime; // FIXME dependency on mw.c
 extern uint16_t rssi; // FIXME dependency on mw.c
-extern int16_t debug[4]; // FIXME dependency on mw.c
 
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
 
@@ -1077,10 +1077,12 @@ static bool processOutCommand(uint8_t cmdMSP)
         break;
 #endif
     case MSP_DEBUG:
-        headSerialReply(8);
-        // make use of this crap, output some useful QA statistics
-        //debug[3] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000);         // XX0YY [crystal clock : core clock]
-        for (i = 0; i < 4; i++)
+        headSerialReply(DEBUG16_VALUE_COUNT * sizeof(debug[0]));
+
+        // output some useful QA statistics
+        // debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000);         // XX0YY [crystal clock : core clock]
+
+        for (i = 0; i < DEBUG16_VALUE_COUNT; i++)
             serialize16(debug[i]);      // 4 variables are here for general monitoring purpose
         break;
 

src/main/main.c

@@ -87,10 +87,8 @@
 #endif
 
 #include "build_config.h"
+#include "debug.h"
 
-#ifdef DEBUG_SECTION_TIMES
-uint32_t sectionTimes[2][4];
-#endif
 extern uint32_t previousTime;
 
 #ifdef SOFTSERIAL_LOOPBACK

src/main/mw.c

@@ -90,7 +90,6 @@ enum {
 /* for VBAT monitoring frequency */
 #define VBATFREQ 6        // to read battery voltage - nth number of loop iterations
 
-int16_t debug[4];
 uint32_t currentTime = 0;
 uint32_t previousTime = 0;
 uint16_t cycleTime = 0;         // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop

src/main/rx/rx.c

@@ -21,9 +21,10 @@
 
 #include <string.h>
 
-#include "build_config.h"
-
 #include "platform.h"
+#include "build_config.h"
+#include "debug.h"
+
 
 #include "common/maths.h"
 
@@ -48,8 +49,6 @@
 
 #include "rx/rx.h"
 
-extern int16_t debug[4];
-
 void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
 
 bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);

src/main/telemetry/hott.c

@@ -57,8 +57,8 @@
 #include <string.h>
 
 #include "platform.h"
-
 #include "build_config.h"
+#include "debug.h"
 
 #ifdef TELEMETRY
 
@@ -81,8 +81,6 @@
 #include "telemetry/telemetry.h"
 #include "telemetry/hott.h"
 
-extern int16_t debug[4];
-
 //#define HOTT_DEBUG
 
 #define HOTT_MESSAGE_PREPARATION_FREQUENCY_5_HZ ((1000 * 1000) / 5)

src/test/unit/altitude_hold_unittest.cc

@@ -25,6 +25,8 @@
 #define BARO
 
 extern "C" {
+    #include "debug.h"
+
     #include "common/axis.h"
     #include "common/maths.h"
 
@@ -145,7 +147,7 @@ rollAndPitchInclination_t inclination;
 int32_t accSum[XYZ_AXIS_COUNT];
 //int16_t magADC[XYZ_AXIS_COUNT];
 int32_t BaroAlt;
-int16_t debug[4];
+int16_t debug[DEBUG16_VALUE_COUNT];
 
 uint8_t stateFlags;
 uint16_t flightModeFlags;

src/test/unit/flight_imu_unittest.cc

@@ -23,6 +23,8 @@
 #define BARO
 
 extern "C" {
+    #include "debug.h"
+
     #include "common/axis.h"
     #include "common/maths.h"
 
@@ -79,7 +81,7 @@ int16_t heading;
 gyro_t gyro;
 int16_t magADC[XYZ_AXIS_COUNT];
 int32_t BaroAlt;
-int16_t debug[4];
+int16_t debug[DEBUG16_VALUE_COUNT];
 
 uint8_t stateFlags;
 uint16_t flightModeFlags;

src/test/unit/flight_mixer_unittest.cc

@@ -21,6 +21,8 @@
 #include <limits.h>
 
 extern "C" {
+    #include "debug.h"
+
     #include "platform.h"
 
     #include "common/axis.h"
@@ -293,7 +295,7 @@ int16_t rcCommand[4];
 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 
 uint32_t rcModeActivationMask;
-int16_t debug[4];
+int16_t debug[DEBUG16_VALUE_COUNT];
 
 uint8_t stateFlags;
 uint16_t flightModeFlags;

src/test/unit/telemetry_hott_unittest.cc

@@ -22,6 +22,8 @@
 #include <limits.h>
 
 extern "C" {
+    #include "debug.h"
+
     #include "platform.h"
 
     #include "common/axis.h"
@@ -148,7 +150,7 @@ TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
 
 extern "C" {
 
-int16_t debug[4];
+int16_t debug[DEBUG16_VALUE_COUNT];
 
 uint8_t stateFlags;