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Code Issues Wiki Activity

Boot-time event logging implementation (#536)

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* Initial cut on boot-time event logging
* More verbose PWM init logging; more verbose HMC5883 error logging
* Disable NMEA GPS on CC3D due to flash size issues
This commit is contained in:
Konstantin Sharlaimov 2016-09-01 11:23:20 +03:00 • committed by GitHub
parent 11c42fd4a2
commit f6c6e4f8ba
11 changed files with 388 additions and 18 deletions
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1
Makefile
View file

@ -372,6 +372,7 @@ COMMON_SRC = \
common/streambuf.c \
config/config.c \
fc/runtime_config.c \
drivers/logging.c \
drivers/adc.c \
drivers/buf_writer.c \
drivers/bus_i2c_soft.c \

25
src/main/drivers/compass_hmc5883l.c
View file

@ -36,6 +36,8 @@
#include "bus_i2c.h"
#include "light_led.h"
#include "logging.h"
#include "sensor.h"
#include "compass.h"
@ -189,6 +191,8 @@ bool hmc5883lInit(void)
int16_t magADC[3];
int32_t xyz_total[3] = { 0, 0, 0 }; // 32 bit totals so they won't overflow.
bool bret = true; // Error indicator
bool error_read = false;
bool error_saturation = false;
delay(50);
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
@ -211,6 +215,7 @@ bool hmc5883lInit(void)
xyz_total[Z] += magADC[Z];
// Detect saturation.
if (-4096 >= MIN(magADC[X], MIN(magADC[Y], magADC[Z]))) {
error_saturation = true;
bret = false;
break; // Breaks out of the for loop. No sense in continuing if we saturated.
}
@ -219,10 +224,15 @@ bool hmc5883lInit(void)
}
LED1_TOGGLE;
}
if (failedSamples >= INIT_MAX_FAILURES) {
bret = false;
}
if (failedSamples > 0) {
error_read = true;
}
// Apply the negative bias. (Same gain)
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
validSamples = 0;
@ -238,6 +248,7 @@ bool hmc5883lInit(void)
xyz_total[Z] -= magADC[Z];
// Detect saturation.
if (-4096 >= MIN(magADC[X], MIN(magADC[Y], magADC[Z]))) {
error_saturation = true;
bret = false;
break; // Breaks out of the for loop. No sense in continuing if we saturated.
}
@ -246,10 +257,15 @@ bool hmc5883lInit(void)
}
LED1_TOGGLE;
}
if (failedSamples >= INIT_MAX_FAILURES) {
bret = false;
}
if (failedSamples > 0) {
error_read = true;
}
if (bret) {
magGain[X] = fabsf(660.0f * HMC58X3_X_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[X]);
magGain[Y] = fabsf(660.0f * HMC58X3_Y_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[Y]);
@ -268,6 +284,15 @@ bool hmc5883lInit(void)
delay(100);
hmc5883lConfigureDataReadyInterruptHandling();
if (error_read) {
addBootlogEvent2(BOOT_EVENT_HMC5883L_READ_FAILED, BOOT_EVENT_FLAGS_WARNING);
}
if (error_saturation) {
addBootlogEvent2(BOOT_EVENT_HMC5883L_SATURATION, BOOT_EVENT_FLAGS_ERROR);
}
return bret;
}

133
src/main/drivers/logging.c Executable file
View file

@ -0,0 +1,133 @@
/*
* 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 <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#ifdef BOOTLOG
#include "logging.h"
#include "system.h"
#define MAX_BOOTLOG_ENTRIES 64
static bootLogEntry_t events[MAX_BOOTLOG_ENTRIES];
static int eventCount;
static bool eventOverflow;
#ifdef BOOTLOG_DESCRIPTIONS
static const char * eventDescription[BOOT_EVENT_CODE_COUNT] = {
[BOOT_EVENT_CONFIG_LOADED] = "CONFIG_LOADED",
[BOOT_EVENT_SYSTEM_INIT_DONE] = "SYSTEM_INIT_DONE",
[BOOT_EVENT_PWM_INIT_DONE] = "PWM_INIT_DONE",
[BOOT_EVENT_EXTRA_BOOT_DELAY] = "EXTRA_BOOT_DELAY",
[BOOT_EVENT_SENSOR_INIT_DONE] = "SENSOR_INIT_DONE",
[BOOT_EVENT_GPS_INIT_DONE] = "GPS_INIT_DONE",
[BOOT_EVENT_LEDSTRIP_INIT_DONE] = "LEDSTRIP_INIT_DONE",
[BOOT_EVENT_TELEMETRY_INIT_DONE] = "TELEMETRY_INIT_DONE",
[BOOT_EVENT_SYSTEM_READY] = "SYSTEM_READY",
[BOOT_EVENT_GYRO_DETECTION] = "GYRO_DETECTION",
[BOOT_EVENT_ACC_DETECTION] = "ACC_DETECTION",
[BOOT_EVENT_BARO_DETECTION] = "BARO_DETECTION",
[BOOT_EVENT_MAG_DETECTION] = "MAG_DETECTION",
[BOOT_EVENT_RANGEFINDER_DETECTION] = "RANGEFINDER_DETECTION",
[BOOT_EVENT_MAG_INIT_FAILED] = "MAG_INIT_FAILED",
[BOOT_EVENT_HMC5883L_READ_FAILED] = "HMC5883L_READ_FAILED",
[BOOT_EVENT_HMC5883L_SATURATION] = "HMC5883L_SATURATION",
[BOOT_EVENT_TIMER_CH_SKIPPED] = "TIMER_CHANNEL_SKIPPED",
[BOOT_EVENT_TIMER_CH_MAPPED] = "TIMER_CHANNEL_MAPPED"
};
const char * getBootlogEventDescription(bootLogEventCode_e eventCode)
{
if (eventCode < BOOT_EVENT_CODE_COUNT) {
return eventDescription[eventCode];
}
else {
return NULL;
}
}
#endif
void initBootlog(void)
{
memset(events, 0, sizeof(events));
eventCount = 0;
eventOverflow = false;
}
int getBootlogEventCount(void)
{
return eventCount;
}
bootLogEntry_t * getBootlogEvent(int index)
{
if (index <= eventCount) {
return &events[index];
}
else {
return 0;
}
}
static void addBootlogEntry(bootLogEntry_t * event)
{
if (eventCount >= MAX_BOOTLOG_ENTRIES) {
eventOverflow = true;
return;
}
memcpy(&events[eventCount], event, sizeof(bootLogEntry_t));
events[eventCount].timestamp = millis();
eventCount++;
}
void addBootlogEvent2(bootLogEventCode_e eventCode, uint16_t eventFlags)
{
bootLogEntry_t event;
event.eventCode = eventCode;
event.eventFlags = eventFlags;
addBootlogEntry(&event);
}
void addBootlogEvent4(bootLogEventCode_e eventCode, uint16_t eventFlags, uint32_t param1, uint32_t param2)
{
bootLogEntry_t event;
event.eventCode = eventCode;
event.eventFlags = eventFlags | BOOT_EVENT_FLAGS_PARAM32;
event.params.u32[0] = param1;
event.params.u32[1] = param2;
addBootlogEntry(&event);
}
void addBootlogEvent6(bootLogEventCode_e eventCode, uint16_t eventFlags, uint16_t param1, uint16_t param2, uint16_t param3, uint16_t param4)
{
bootLogEntry_t event;
event.eventCode = eventCode;
event.eventFlags = eventFlags | BOOT_EVENT_FLAGS_PARAM16;
event.params.u16[0] = param1;
event.params.u16[1] = param2;
event.params.u16[2] = param3;
event.params.u16[3] = param4;
addBootlogEntry(&event);
}
#endif

42
src/main/drivers/logging.h Executable file
View file

@ -0,0 +1,42 @@
/*
* 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/>.
*/
#pragma once
#ifdef BOOTLOG
#include "logging_codes.h"
typedef struct bootLogEntry_s {
uint32_t timestamp;
uint16_t eventCode;
uint16_t eventFlags;
union {
uint16_t u16[4];
uint32_t u32[2];
} params;
} bootLogEntry_t;
void initBootlog(void);
int getBootlogEventCount(void);
bootLogEntry_t * getBootlogEvent(int index);
const char * getBootlogEventDescription(bootLogEventCode_e eventCode);
void addBootlogEvent2(bootLogEventCode_e eventCode, bootLogFlags_e eventFlags);
void addBootlogEvent4(bootLogEventCode_e eventCode, bootLogFlags_e eventFlags, uint32_t param1, uint32_t param2);
void addBootlogEvent6(bootLogEventCode_e eventCode, bootLogFlags_e eventFlags, uint16_t param1, uint16_t param2, uint16_t param3, uint16_t param4);
#endif

55
src/main/drivers/logging_codes.h Executable file
View file

@ -0,0 +1,55 @@
/*
* 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/>.
*/
#pragma once
#ifdef BOOTLOG
typedef enum {
BOOT_EVENT_FLAGS_NONE = 0,
BOOT_EVENT_FLAGS_WARNING = 1 << 0,
BOOT_EVENT_FLAGS_ERROR = 1 << 1,
BOOT_EVENT_FLAGS_PARAM16 = 1 << 14,
BOOT_EVENT_FLAGS_PARAM32 = 1 << 15
} bootLogFlags_e;
typedef enum {
BOOT_EVENT_CONFIG_LOADED = 0,
BOOT_EVENT_SYSTEM_INIT_DONE = 1,
BOOT_EVENT_PWM_INIT_DONE = 2,
BOOT_EVENT_EXTRA_BOOT_DELAY = 3,
BOOT_EVENT_SENSOR_INIT_DONE = 4,
BOOT_EVENT_GPS_INIT_DONE = 5,
BOOT_EVENT_LEDSTRIP_INIT_DONE = 6,
BOOT_EVENT_TELEMETRY_INIT_DONE = 7,
BOOT_EVENT_SYSTEM_READY = 8,
BOOT_EVENT_GYRO_DETECTION = 9,
BOOT_EVENT_ACC_DETECTION = 10,
BOOT_EVENT_BARO_DETECTION = 11,
BOOT_EVENT_MAG_DETECTION = 12,
BOOT_EVENT_RANGEFINDER_DETECTION = 13,
BOOT_EVENT_MAG_INIT_FAILED = 14,
BOOT_EVENT_HMC5883L_READ_FAILED = 15,
BOOT_EVENT_HMC5883L_SATURATION = 16,
BOOT_EVENT_TIMER_CH_SKIPPED = 17, // 1 - MAX_MOTORS exceeded, 2 - MAX_SERVOS exceeded, 3 - feature clash
BOOT_EVENT_TIMER_CH_MAPPED = 18, // 0 - PPM, 1 - PWM, 2 - MOTOR, 3 - SERVO
BOOT_EVENT_CODE_COUNT
} bootLogEventCode_e;
#endif

47
src/main/drivers/pwm_mapping.c
View file

@ -26,6 +26,8 @@
#include "io_impl.h"
#include "timer.h"
#include "logging.h"
#include "pwm_output.h"
#include "pwm_rx.h"
#include "pwm_mapping.h"
@ -118,39 +120,53 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
if (timerIndex == PWM2)
if (timerIndex == PWM2) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef STM32F10X
// skip UART2 ports
if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4))
if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#if defined(STM32F303xC) && defined(USE_UART3)
// skip UART3 ports (PB10/PB11)
if (init->useUART3 && (timerHardwarePtr->tag == IO_TAG(UART3_TX_PIN) || timerHardwarePtr->tag == IO_TAG(UART3_RX_PIN)))
if (init->useUART3 && (timerHardwarePtr->tag == IO_TAG(UART3_TX_PIN) || timerHardwarePtr->tag == IO_TAG(UART3_RX_PIN))) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER)
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef SOFTSERIAL_2_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_2_TIMER)
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_2_TIMER) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef WS2811_TIMER
// skip LED Strip output
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == WS2811_TIMER)
if (timerHardwarePtr->tim == WS2811_TIMER) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#if defined(STM32F303xC) && defined(WS2811_PIN)
if (timerHardwarePtr->tag == IO_TAG(WS2811_PIN))
if (timerHardwarePtr->tag == IO_TAG(WS2811_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
}
@ -158,18 +174,21 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
#ifdef VBAT_ADC_PIN
if (init->useVbat && timerHardwarePtr->tag == IO_TAG(VBAT_ADC_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef RSSI_ADC_GPIO
if (init->useRSSIADC && timerHardwarePtr->tag == IO_TAG(RSSI_ADC_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef CURRENT_METER_ADC_GPIO
if (init->useCurrentMeterADC && timerHardwarePtr->tag == IO_TAG(CURRENT_METER_ADC_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
@ -180,6 +199,7 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
timerHardwarePtr->tag == init->sonarIOConfig.triggerTag ||
timerHardwarePtr->tag == init->sonarIOConfig.echoTag
)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
@ -323,6 +343,8 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
ppmInConfig(timerHardwarePtr);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PPM;
pwmIOConfiguration.ppmInputCount++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 0);
#endif
} else if (type == MAP_TO_PWM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
@ -330,19 +352,24 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PWM;
pwmIOConfiguration.pwmInputCount++;
channelIndex++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 1);
#endif
} else if (type == MAP_TO_MOTOR_OUTPUT) {
/* Check if we already configured maximum supported number of motors and skip the rest */
if (pwmIOConfiguration.motorCount >= MAX_MOTORS) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 1);
continue;
}
#if defined(CC3D) && !defined(CC3D_PPM1)
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2)
if (timerHardwarePtr->tim == TIM2) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
}
#endif
if (init->useOneshot) {
@ -365,8 +392,10 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
pwmIOConfiguration.motorCount++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 2);
} else if (type == MAP_TO_SERVO_OUTPUT) {
if (pwmIOConfiguration.servoCount >= MAX_SERVOS) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 2);
continue;
}
@ -378,6 +407,8 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.servoCount++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
#endif
} else {
continue;

49
src/main/io/serial_cli.c
View file

@ -36,6 +36,8 @@
#include "common/color.h"
#include "common/typeconversion.h"
#include "drivers/logging.h"
#include "drivers/system.h"
#include "drivers/sensor.h"
@ -113,6 +115,10 @@ static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 16];
static void cliAssert(char *cmdline);
#endif
#if defined(BOOTLOG)
static void cliBootlog(char *cmdline);
#endif
static void cliAux(char *cmdline);
static void cliRxFail(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
@ -269,6 +275,9 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("assert", "", NULL, cliAssert),
#endif
CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
#if defined(BOOTLOG)
CLI_COMMAND_DEF("bootlog", "show boot events", NULL, cliBootlog),
#endif
#ifdef LED_STRIP
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
@ -1021,6 +1030,46 @@ static void cliAssert(char *cmdline)
}
#endif
#if defined(BOOTLOG)
static void cliBootlog(char *cmdline)
{
UNUSED(cmdline);
int bootEventCount = getBootlogEventCount();
#if defined(BOOTLOG_DESCRIPTIONS)
cliPrintf("Time Evt Description Parameters\r\n");
#else
cliPrintf("Time Evt Parameters\r\n");
#endif
for (int idx = 0; idx < bootEventCount; idx++) {
bootLogEntry_t * event = getBootlogEvent(idx);
#if defined(BOOTLOG_DESCRIPTIONS)
const char * eventDescription = getBootlogEventDescription(event->eventCode);
if (!eventDescription) {
eventDescription = "";
}
cliPrintf("%4d: %2d %22s ", event->timestamp, event->eventCode, eventDescription);
#else
cliPrintf("%4d: %2d ", event->timestamp, event->eventCode);
#endif
if (event->eventFlags & BOOT_EVENT_FLAGS_PARAM16) {
cliPrintf(" (%d, %d, %d, %d)\r\n", event->params.u16[0], event->params.u16[1], event->params.u16[2], event->params.u16[3]);
}
else if (event->eventFlags & BOOT_EVENT_FLAGS_PARAM32) {
cliPrintf(" (%d, %d)\r\n", event->params.u32[0], event->params.u32[1]);
}
else {
cliPrintf("\r\n");
}
}
}
#endif
static void cliAux(char *cmdline)
{
int i, val = 0;

16
src/main/main.c
View file

@ -31,6 +31,8 @@
#include "common/maths.h"
#include "common/printf.h"
#include "drivers/logging.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"
@ -145,6 +147,8 @@ void flashLedsAndBeep(void)
void init(void)
{
initBootlog();
printfSupportInit();
initEEPROM();
@ -152,6 +156,7 @@ void init(void)
ensureEEPROMContainsValidData();
readEEPROM();
addBootlogEvent2(BOOT_EVENT_CONFIG_LOADED, BOOT_EVENT_FLAGS_NONE);
systemState |= SYSTEM_STATE_CONFIG_LOADED;
systemInit();
@ -178,6 +183,8 @@ void init(void)
EXTIInit();
#endif
addBootlogEvent2(BOOT_EVENT_SYSTEM_INIT_DONE, BOOT_EVENT_FLAGS_NONE);
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
switch (masterConfig.rxConfig.serialrx_provider) {
@ -282,6 +289,7 @@ void init(void)
if (!feature(FEATURE_ONESHOT125))
motorControlEnable = true;
addBootlogEvent2(BOOT_EVENT_PWM_INIT_DONE, BOOT_EVENT_FLAGS_NONE);
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER
@ -394,6 +402,8 @@ void init(void)
/* Extra 500ms delay prior to initialising hardware if board is cold-booting */
#if defined(GPS) || defined(MAG)
if (!isMPUSoftReset()) {
addBootlogEvent2(BOOT_EVENT_EXTRA_BOOT_DELAY, BOOT_EVENT_FLAGS_NONE);
LED1_ON;
LED0_OFF;
@ -436,6 +446,7 @@ void init(void)
failureMode(FAILURE_MISSING_ACC);
}
addBootlogEvent2(BOOT_EVENT_SENSOR_INIT_DONE, BOOT_EVENT_FLAGS_NONE);
systemState |= SYSTEM_STATE_SENSORS_READY;
flashLedsAndBeep();
@ -458,6 +469,8 @@ void init(void)
&masterConfig.serialConfig,
&masterConfig.gpsConfig
);
addBootlogEvent2(BOOT_EVENT_GPS_INIT_DONE, BOOT_EVENT_FLAGS_NONE);
}
#endif
@ -477,12 +490,14 @@ void init(void)
if (feature(FEATURE_LED_STRIP)) {
ledStripEnable();
addBootlogEvent2(BOOT_EVENT_LEDSTRIP_INIT_DONE, BOOT_EVENT_FLAGS_NONE);
}
#endif
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
telemetryInit();
addBootlogEvent2(BOOT_EVENT_TELEMETRY_INIT_DONE, BOOT_EVENT_FLAGS_NONE);
}
#endif
@ -561,6 +576,7 @@ void init(void)
latchActiveFeatures();
motorControlEnable = true;
addBootlogEvent2(BOOT_EVENT_SYSTEM_READY, BOOT_EVENT_FLAGS_NONE);
systemState |= SYSTEM_STATE_READY;
}

14
src/main/sensors/initialisation.c
View file

@ -24,6 +24,8 @@
#include "common/axis.h"
#include "drivers/logging.h"
#include "drivers/io.h"
#include "drivers/system.h"
#include "drivers/exti.h"
@ -313,6 +315,8 @@ bool detectGyro(void)
gyroHardware = GYRO_NONE;
}
addBootlogEvent6(BOOT_EVENT_GYRO_DETECTION, BOOT_EVENT_FLAGS_NONE, gyroHardware, 0, 0, 0);
if (gyroHardware == GYRO_NONE) {
return false;
}
@ -451,6 +455,7 @@ retry:
goto retry;
}
addBootlogEvent6(BOOT_EVENT_ACC_DETECTION, BOOT_EVENT_FLAGS_NONE, accHardware, 0, 0, 0);
if (accHardware == ACC_NONE) {
return false;
@ -529,6 +534,8 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
break;
}
addBootlogEvent6(BOOT_EVENT_BARO_DETECTION, BOOT_EVENT_FLAGS_NONE, baroHardware, 0, 0, 0);
if (baroHardware == BARO_NONE) {
return false;
}
@ -651,6 +658,8 @@ static bool detectMag(magSensor_e magHardwareToUse)
break;
}
addBootlogEvent6(BOOT_EVENT_MAG_DETECTION, BOOT_EVENT_FLAGS_NONE, magHardware, 0, 0, 0);
// If not in autodetect mode and detected the wrong chip - disregard the compass even if detected
if ((magHardwareToUse != MAG_DEFAULT && magHardware != magHardwareToUse) || (magHardware == MAG_NONE)) {
return false;
@ -680,6 +689,9 @@ static rangefinderType_e detectRangefinder(void)
rangefinderType = RANGEFINDER_SRF10;
}
#endif
addBootlogEvent6(BOOT_EVENT_RANGEFINDER_DETECTION, BOOT_EVENT_FLAGS_NONE, rangefinderType, 0, 0, 0);
detectedSensors[SENSOR_INDEX_RANGEFINDER] = rangefinderType;
if (rangefinderType != RANGEFINDER_NONE) {
@ -724,6 +736,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
if (!detectGyro()) {
return false;
}
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.targetLooptime = gyroSetSampleRate(looptime, gyroLpf, gyroSync, gyroSyncDenominator); // Set gyro sample rate before initialisation
gyro.init(gyroLpf); // driver initialisation
@ -747,6 +760,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
if (detectMag(magHardwareToUse)) {
// calculate magnetic declination
if (!compassInit(magDeclinationFromConfig)) {
addBootlogEvent2(BOOT_EVENT_MAG_INIT_FAILED, BOOT_EVENT_FLAGS_ERROR);
sensorsClear(SENSOR_MAG);
}
}

6
src/main/target/CC3D/target.h
View file

@ -171,7 +171,9 @@
#undef TELEMETRY_HOTT
#undef TELEMETRY_SMARTPORT
#undef GPS_PROTO_NMEA
#undef GPS_PROTO_NAZA
#undef GPS_PROTO_I2C_NAV
#ifdef OPBL
@ -208,8 +210,8 @@
#define MAX_PWM_OUTPUT_PORTS 11
// DEBUG
#define USE_ASSERT // include assertion support code
#define USE_ASSERT_FULL // Provide file information
//#define USE_ASSERT // include assertion support code
//#define USE_ASSERT_FULL // Provide file information
//#define USE_ASSERT_STOP // stop on failed assertion
//#define USE_ASSERT_CHECK // include assertion check code (should in general a per-file define)

2
src/main/target/common.h
View file

@ -28,6 +28,7 @@
#define SKIP_TASK_STATISTICS
#define SKIP_CLI_COMMAND_HELP
#else
#define BOOTLOG
#define BLACKBOX
#define GPS
#define GPS_PROTO_NMEA
@ -46,6 +47,7 @@
#define DISPLAY
#define DISPLAY_ARMED_BITMAP
#define TELEMETRY_MAVLINK
#define BOOTLOG_DESCRIPTIONS
#else
#define SKIP_CLI_COMMAND_HELP
#define SKIP_RX_MSP