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Allow levels of Sbus debugging

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This commit is contained in:
David Sidrane 2017-03-31 07:03:12 -10:00 committed by Lorenz Meier
parent 3ba3aff505
commit 36731e13c6
1 changed files with 15 additions and 15 deletions
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30
src/lib/rc/sbus.c
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@ -51,6 +51,8 @@
#include "sbus.h"
#include <drivers/drv_hrt.h>
#define SBUS_DEBUG_LEVEL 0 /* Set debug output level */
#define SBUS_START_SYMBOL 0x0f
#define SBUS_INPUT_CHANNELS 16
@ -88,8 +90,8 @@
#define SBUS_TARGET_MIN 1000.0f
#define SBUS_TARGET_MAX 2000.0f
#ifdef SBUS_DEBUG
#include <stdio.h>
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 0
# include <stdio.h>
#endif
/* pre-calculate the floating point stuff as far as possible at compile time */
@ -293,7 +295,7 @@ sbus_parse(uint64_t now, uint8_t *frame, unsigned len, uint16_t *values,
if (partial_frame_count == sizeof(sbus_frame) / sizeof(sbus_frame[0])) {
partial_frame_count = 0;
sbus_decode_state = SBUS2_DECODE_STATE_DESYNC;
#ifdef SBUS_DEBUG
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 0
printf("SBUS2: RESET (BUF LIM)\n");
#endif
}
@ -301,13 +303,12 @@ sbus_parse(uint64_t now, uint8_t *frame, unsigned len, uint16_t *values,
if (partial_frame_count == SBUS_FRAME_SIZE) {
partial_frame_count = 0;
sbus_decode_state = SBUS2_DECODE_STATE_DESYNC;
#ifdef SBUS_DEBUG
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 0
printf("SBUS2: RESET (PACKET LIM)\n");
#endif
}
#ifdef SBUS_DEBUG
#if 0
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 1
printf("sbus state: %s%s%s%s%s%s, count: %d, val: %02x\n",
(sbus_decode_state == SBUS2_DECODE_STATE_DESYNC) ? "SBUS2_DECODE_STATE_DESYNC" : "",
(sbus_decode_state == SBUS2_DECODE_STATE_SBUS_START) ? "SBUS2_DECODE_STATE_SBUS_START" : "",
@ -317,7 +318,6 @@ sbus_parse(uint64_t now, uint8_t *frame, unsigned len, uint16_t *values,
(sbus_decode_state == SBUS2_DECODE_STATE_SBUS2_GPS) ? "SBUS2_DECODE_STATE_SBUS2_GPS" : "",
partial_frame_count,
(unsigned)frame[d]);
#endif
#endif
switch (sbus_decode_state) {
@ -376,7 +376,7 @@ sbus_parse(uint64_t now, uint8_t *frame, unsigned len, uint16_t *values,
partial_frame_count -= start_index;
sbus_decode_state = SBUS2_DECODE_STATE_SBUS_START;
#ifdef SBUS_DEBUG
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 0
printf("DECODE RECOVERY: %d\n", start_index);
#endif
}
@ -413,9 +413,9 @@ sbus_parse(uint64_t now, uint8_t *frame, unsigned len, uint16_t *values,
// (frame[0] == 0x3 && frame[1] == 0xc4 && frame[2] == 0x0)
// (frame[0] == 0x3 && frame[1] == 0x80 && frame[2] == 0x2f)
// (frame[0] == 0x3 && frame[1] == 0xc0 && frame[2] == 0x2f)
#ifdef SBUS_DEBUG
//uint16_t rx_voltage = (sbus_frame[1] << 8) | sbus_frame[2];
//printf("rx_voltage %d\n", (int)rx_voltage);
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 2
uint16_t rx_voltage = (sbus_frame[1] << 8) | sbus_frame[2];
printf("rx_voltage %d\n", (int)rx_voltage);
#endif
}
@ -446,7 +446,7 @@ sbus_parse(uint64_t now, uint8_t *frame, unsigned len, uint16_t *values,
/* find out which payload we're dealing with in this slot */
switch (sbus_frame[0]) {
case 0x13: {
#ifdef SBUS_DEBUG
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 0
uint16_t gps_something = (frame[1] << 8) | frame[2];
printf("gps_something %d\n", (int)gps_something);
#endif
@ -465,7 +465,7 @@ sbus_parse(uint64_t now, uint8_t *frame, unsigned len, uint16_t *values,
break;
default:
#ifdef SBUS_DEBUG
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 0
printf("UNKNOWN PROTO STATE");
#endif
decode_ret = false;
@ -526,7 +526,7 @@ sbus_decode(uint64_t frame_time, uint8_t *frame, uint16_t *values, uint16_t *num
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != SBUS_START_SYMBOL)) {
sbus_frame_drops++;
#ifdef SBUS_DEBUG
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 0
printf("DECODE FAIL: ");
for (unsigned i = 0; i < SBUS_FRAME_SIZE; i++) {
@ -566,7 +566,7 @@ sbus_decode(uint64_t frame_time, uint8_t *frame, uint16_t *values, uint16_t *num
break;
default:
#ifdef SBUS_DEBUG
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 0
printf("DECODE FAIL: END MARKER\n");
#endif
sbus_decode_state = SBUS2_DECODE_STATE_DESYNC;