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127 lines
3.8 KiB
Markdown
127 lines
3.8 KiB
Markdown
# Serial printf style debugging
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## Overview
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inav offers a function to use serial `printf` style debugging.
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This provides a simple and intuitive debugging facility. This facility is only available after the serial sub-system has been initialised, which should be adequate for all but the most hard-core debugging requirements.
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In order to use this feature, the source file must include `common/log.h`.
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## CLI settings
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It is necessary to set a serial port for serial logging using the function mask `FUNCTION_LOG`, 32768. For convenience this may be shared with MSP (mask 1), but no other function.
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For example, on a VCP port.
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```
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serial 20 32769 115200 115200 0 115200
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```
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If the port is shared, it will be resused with extant settings; if the port is not shared it is opened at 921600 baud.
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There are two run time settings that control the verbosity, the most verbose settings being:
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```
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log_level = DEBUG
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Allowed values: ERROR, WARNING, INFO, VERBOSE, DEBUG
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log_topics = 0
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Allowed range: 0 - 4294967295
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```
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The use of level and topics is described in the following sections.
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## LOG LEVELS
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Log levels are defined in `src/main/common/log.h`, at the time of writing these include (in ascending order):
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* ERROR
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* WARNING
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* INFO
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* VERBOSE
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* DEBUG
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These are used at both compile time and run time.
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At compile time, a maximum level may be defined. As of inav 2.3, for F3 targets the maximum level is ERROR, for F4/F7 the maximum level is DEBUG.
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At run time, the level defines the level that will be displayed, so for a F4 or F7 target that has compile time suport for all log levels, if the CLI sets
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```
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log_level = INFO
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```
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then only `ERROR`, `WARNING` and `INFO` levels will be output.
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## Log Topic
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Log topics are defined in `src/main/common/log.h`, at the time of writing:
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* SYSTEM
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* GYRO
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* BARO
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* PITOT
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* PWM
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* TIMER
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* IMU
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* TEMPERATURE
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* POS_ESTIMATOR
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* VTX
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* OSD
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Topics are stored as masks (SYSTEM=1 ... OSD=1024) and may be used to unconditionally display log messages.
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If the CLI `log_topics` is non-zero, then all topics matching the mask will be displayed regardless of `log_level`. Setting `log_topics` to 4294967295 (all bits set) will display all log messages regardless of run time level (but still constrained by compile time settings), so F3 will still only display ERROR level messages.
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## Code usage
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A set of macros `LOG_E()` (log error) through `LOG_D()` (log debug) may be used, subject to compile time log level constraints. These provide `printf` style logging for a given topic.
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```
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// LOG_D(topic, fmt, ...)
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LOG_D(SYSTEM, "This is %s topic debug message, value %d", "system", 42);
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```
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It is also possible to dump a hex representation of arbitrary data:
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```
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// LOG_BUF_D(topic, buf, size)
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struct {...} tstruct;
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...
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LOG_BUF_D(TEMPERATURE, &tstruct, sizeof(tstruct));
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```
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## Output Support
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Log messages are transmitted through the `FUNCTION_LOG` serial port as MSP messages (`MSP_DEBUGMSG`). It is possible to use any serial terminal to display these messages, however it is advisable to use an application that understands `MSP_DEBUGMSG` in order to maintain readability (in a raw serial terminal the MSP message envelope may result in the display of strange characters). `MSP_DEBUGMSG` aware applications include:
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* msp-tool https://github.com/fiam/msp-tool
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* mwp https://github.com/stronnag/mwptools
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* inav Configurator
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For example, with the final lines of `src/main/fc/fc_init.c` set to:
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```
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LOG_E(SYSTEM, "Init is complete");
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systemState |= SYSTEM_STATE_READY;
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```
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and the following CLI settings:
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```
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serial 20 32769 115200 115200 0 115200
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set log_level = DEBUG
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set log_topics = 4294967295
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```
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The output will be formatted as follows:
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```
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# msp-tool
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[DEBUG] [ 3.967] Init is complete
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# mwp (stderr log file)
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2020-02-02T19:09:02+0000 DEBUG:[ 3.968] Init is complete
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```
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The numeric value in square brackets is the FC uptime in seconds.
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