Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-23 16:25:26 +03:00
Code Issues Wiki Activity

Merge pull request #4050 from shellixyz/32bits_debug_array

Browse source 
Make the debug array cells int32 and increase cell count to 8
This commit is contained in:
Konstantin Sharlaimov 2018-12-07 14:23:21 +01:00 • committed by GitHub
commit 4d718e2009
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
11 changed files with 27 additions and 15 deletions
Download patch file Download diff file Expand all files Collapse all files

12
src/main/blackbox/blackbox.c
View file

@ -270,6 +270,10 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"debug", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 4, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 5, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 6, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 7, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
/* 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(MINTHROTTLE), .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: */
@ -396,7 +400,7 @@ typedef struct blackboxMainState_s {
int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t accADC[XYZ_AXIS_COUNT];
int16_t attitude[XYZ_AXIS_COUNT];
int16_t debug[DEBUG16_VALUE_COUNT];
int32_t debug[DEBUG32_VALUE_COUNT];
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS];
@ -755,7 +759,7 @@ static void writeIntraframe(void)
blackboxWriteSigned16VBArray(blackboxCurrent->attitude, XYZ_AXIS_COUNT);
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
blackboxWriteSigned16VBArray(blackboxCurrent->debug, DEBUG16_VALUE_COUNT);
blackboxWriteSignedVBArray(blackboxCurrent->debug, DEBUG32_VALUE_COUNT);
}
//Motors can be below minthrottle when disarmed, but that doesn't happen much
@ -966,7 +970,7 @@ static void writeInterframe(void)
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, attitude), XYZ_AXIS_COUNT);
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), DEBUG16_VALUE_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), DEBUG32_VALUE_COUNT);
}
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), getMotorCount());
@ -1335,7 +1339,7 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->attitude[1] = attitude.values.pitch;
blackboxCurrent->attitude[2] = attitude.values.yaw;
for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) {
for (int i = 0; i < DEBUG32_VALUE_COUNT; i++) {
blackboxCurrent->debug[i] = debug[i];
}

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

@ -43,7 +43,7 @@
timeUs_t sectionTimes[2][4];
#endif
int16_t debug[DEBUG16_VALUE_COUNT];
int32_t debug[DEBUG32_VALUE_COUNT];
uint8_t debugMode;
#if defined(USE_DEBUG_TRACE)

4
src/main/build/debug.h
View file

@ -19,8 +19,8 @@
#include <stdint.h>
#include <stdbool.h>
#define DEBUG16_VALUE_COUNT 4
extern int16_t debug[DEBUG16_VALUE_COUNT];
#define DEBUG32_VALUE_COUNT 8
extern int32_t debug[DEBUG32_VALUE_COUNT];
extern uint8_t debugMode;
#define DEBUG_SET(mode, index, value) {if (debugMode == (mode)) {debug[(index)] = (value);}}

8
src/main/fc/fc_msp.c
View file

@ -787,11 +787,17 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
// output some useful QA statistics
// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) {
for (int i = 0; i < 4; i++) {
sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
}
break;
case MSP2_INAV_DEBUG:
for (int i = 0; i < DEBUG32_VALUE_COUNT; i++) {
sbufWriteU32(dst, debug[i]); // 8 variables are here for general monitoring purpose
}
break;
case MSP_UID:
sbufWriteU32(dst, U_ID_0);
sbufWriteU32(dst, U_ID_1);

2
src/main/msp/msp_protocol_v2_inav.h
View file

@ -43,3 +43,5 @@
#define MSP2_INAV_OSD_SET_PREFERENCES 0x2017
#define MSP2_INAV_SELECT_BATTERY_PROFILE 0x2018
#define MSP2_INAV_DEBUG 0x2019

2
src/test/unit/flight_failsafe_unittest.cc.txt
View file

@ -410,7 +410,7 @@ int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint8_t armingFlags;
int16_t rcCommand[4];
uint32_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
int32_t debug[DEBUG32_VALUE_COUNT];
bool isUsingSticksToArm = true;

4
src/test/unit/flight_imu_unittest.cc.txt
View file

@ -135,7 +135,7 @@ int16_t heading;
gyro_t gyro;
int32_t magADC[XYZ_AXIS_COUNT];
int32_t BaroAlt;
int16_t debug[DEBUG16_VALUE_COUNT];
int32_t debug[DEBUG32_VALUE_COUNT];
uint8_t stateFlags;
uint16_t flightModeFlags;
@ -179,4 +179,4 @@ bool isBaroCalibrationComplete(void) { return true; }
void performBaroCalibrationCycle(void) {}
int32_t baroCalculateAltitude(void) { return 0; }
}
}

2
src/test/unit/flight_mixer_unittest.cc.txt
View file

@ -373,7 +373,7 @@ int16_t rcCommand[4];
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint32_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
int32_t debug[DEBUG32_VALUE_COUNT];
uint8_t stateFlags;
uint16_t flightModeFlags;

2
src/test/unit/navigation_unittest.cc.txt
View file

@ -134,7 +134,7 @@ int32_t accSum[XYZ_AXIS_COUNT];
int16_t accADC[XYZ_AXIS_COUNT];
int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t magADC[XYZ_AXIS_COUNT];
int16_t debug[DEBUG16_VALUE_COUNT];
int32_t debug[DEBUG32_VALUE_COUNT];
uint8_t stateFlags;
uint16_t flightModeFlags;

2
src/test/unit/serial_msp_unittest.cc.txt
View file

@ -511,7 +511,7 @@ void featureSet(uint32_t mask) {UNUSED(mask);}
void featureClearAll() {}
uint32_t featureMask(void) {return 0;}
// from debug.c
int16_t debug[DEBUG16_VALUE_COUNT];
int32_t debug[DEBUG32_VALUE_COUNT];
// from gps.c
#define GPS_SV_MAXSATS 16
int32_t GPS_coord[2]; // LAT/LON

2
src/test/unit/telemetry_hott_unittest.cc
View file

@ -163,7 +163,7 @@ TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
extern "C" {
int16_t debug[DEBUG16_VALUE_COUNT];
int32_t debug[DEBUG32_VALUE_COUNT];
uint32_t stateFlags;