Replace DEBUG_TRACE with LOG

LOG system has multiple levels, selectable both at compile and run
times. FEATURE_TRACE has been removed, since we now rely just on
the log level/topic and the defined outputs for the log messages.

src/main/common/log.c

@@ -0,0 +1,196 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdarg.h>
+#include <ctype.h>
+
+#include "build/version.h"
+
+#include "drivers/serial.h"
+#include "drivers/time.h"
+
+#include "common/log.h"
+#include "common/printf.h"
+#include "common/utils.h"
+
+#include "config/feature.h"
+#include "config/parameter_group_ids.h"
+
+#include "io/serial.h"
+
+#include "fc/config.h"
+
+#include "msp/msp.h"
+#include "msp/msp_serial.h"
+#include "msp/msp_protocol.h"
+
+#if defined(USE_LOG)
+
+#define LOG_PREFIX                  "[%6d.%03d] "
+#define LOG_PREFIX_FORMATTED_SIZE   13
+
+static serialPort_t * logPort = NULL;
+static mspPort_t * mspLogPort = NULL;
+
+PG_REGISTER(logConfig_t, logConfig, PG_LOG_CONFIG, 0);
+
+void logInit(void)
+{
+    const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_LOG);
+    if (!portConfig) {
+        return;
+    }
+
+    bool portIsSharedWithMSP = false;
+
+    if (determinePortSharing(portConfig, FUNCTION_LOG) == PORTSHARING_SHARED) {
+        // We support sharing a LOG port only with MSP
+        if (portConfig->functionMask != (FUNCTION_LOG | FUNCTION_MSP)) {
+            return;
+        }
+        portIsSharedWithMSP = true;
+    }
+
+    // If the port is shared with MSP, reuse the port
+    if (portIsSharedWithMSP) {
+        const serialPort_t *logAndMspPort = findSharedSerialPort(FUNCTION_LOG, FUNCTION_MSP);
+        if (!logAndMspPort) {
+            return;
+        }
+
+        mspLogPort = mspSerialPortFind(logAndMspPort);
+        if (!mspLogPort) {
+            return;
+        }
+
+    } else {
+        logPort = openSerialPort(portConfig->identifier, FUNCTION_LOG, NULL, NULL, baudRates[BAUD_921600], MODE_TX, SERIAL_NOT_INVERTED);
+        if (!logPort) {
+            return;
+        }
+    }
+    // Initialization done
+    LOG_I_SYNC(SYSTEM, "%s/%s %s %s / %s (%s)",
+        FC_FIRMWARE_NAME,
+        targetName,
+        FC_VERSION_STRING,
+        buildDate,
+        buildTime,
+        shortGitRevision
+    );
+}
+
+static void logPutcp(void *p, char ch)
+{
+    *(*((char **) p))++ = ch;
+}
+
+static void logPrint(bool synchronous, const char *buf, size_t size)
+{
+    if (logPort) {
+        // Send data via UART (if configured & connected - a safeguard against zombie VCP)
+        if (serialIsConnected(logPort)) {
+            serialPrint(logPort, buf);
+            if (synchronous) {
+                waitForSerialPortToFinishTransmitting(logPort);
+            }
+        }
+    } else if (mspLogPort) {
+        mspSerialPushPort(MSP_DEBUGMSG, (uint8_t*)buf, size, mspLogPort, MSP_V2_NATIVE);
+    }
+}
+
+static size_t logFormatPrefix(char *buf, const timeMs_t timeMs)
+{
+    // Write timestamp
+    return tfp_sprintf(buf, LOG_PREFIX, timeMs / 1000, timeMs % 1000);
+}
+
+static bool logHasOutput(void)
+{
+    return logPort || mspLogPort;
+}
+
+static bool logIsEnabled(logTopic_e topic, unsigned level)
+{
+    return logHasOutput() && (level <= logConfig()->level || (logConfig()->topics & (1 << topic)));
+}
+
+void _logf(logTopic_e topic, unsigned level, bool synchronous, const char *fmt, ...)
+{
+    char buf[128];
+    char *bufPtr;
+    int charCount;
+
+    STATIC_ASSERT(MSP_PORT_OUTBUF_SIZE >= sizeof(buf), MSP_PORT_OUTBUF_SIZE_not_big_enough_for_log);
+
+    if (!logIsEnabled(topic, level)) {
+        return;
+    }
+
+    charCount = logFormatPrefix(buf, millis());
+    bufPtr = &buf[charCount];
+
+    // Write message
+    va_list va;
+    va_start(va, fmt);
+    charCount += tfp_format(&bufPtr, logPutcp, fmt, va);
+    logPutcp(&bufPtr, '\n');
+    logPutcp(&bufPtr, 0);
+    charCount += 2;
+    va_end(va);
+
+    logPrint(synchronous, buf, charCount);
+}
+
+void _logBufferHex(logTopic_e topic, unsigned level, bool synchronous, const void *buffer, size_t size)
+{
+    // Print lines of up to maxBytes bytes. We need 5 characters per byte
+    // 0xAB[space|\n]
+    const size_t charsPerByte = 5;
+    const size_t maxBytes = 8;
+    char buf[LOG_PREFIX_FORMATTED_SIZE + charsPerByte * maxBytes + 1]; // +1 for the null terminator
+    size_t bufPos = LOG_PREFIX_FORMATTED_SIZE;
+    const uint8_t *inputPtr = buffer;
+
+    if (!logIsEnabled(topic, level)) {
+        return;
+    }
+
+    logFormatPrefix(buf, millis());
+
+    for (size_t ii = 0; ii < size; ii++) {
+        tfp_sprintf(buf + bufPos, "0x%02x ", inputPtr[ii]);
+        bufPos += charsPerByte;
+        if (bufPos == sizeof(buf)-1) {
+            buf[bufPos-1] = '\n';
+            buf[bufPos] = '\0';
+            logPrint(synchronous, buf, bufPos + 1);
+            bufPos = LOG_PREFIX_FORMATTED_SIZE;
+        }
+    }
+
+    if (bufPos > LOG_PREFIX_FORMATTED_SIZE) {
+        buf[bufPos-1] = '\n';
+        buf[bufPos] = '\0';
+        logPrint(synchronous, buf, bufPos + 1);
+    }
+}
+
+#endif