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Merge pull request #1482 from sjwilks/uavcan_debug

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Display ESC data in the status output
This commit is contained in:
Lorenz Meier 2014-12-03 11:16:34 +01:00
commit 6bd586c837
1 changed files with 24 additions and 0 deletions
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24
src/modules/uavcan/uavcan_main.cpp
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@ -46,6 +46,8 @@
#include <arch/board/board.h>
#include <arch/chip/chip.h>
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
@ -612,10 +614,32 @@ UavcanNode::print_info()
if (_outputs.noutputs != 0) {
printf("ESC output: ");
for (uint8_t i=0; i<_outputs.noutputs; i++) {
printf("%d ", (int)(_outputs.output[i]*1000));
}
printf("\n");
// ESC status
int esc_sub = orb_subscribe(ORB_ID(esc_status));
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
orb_copy(ORB_ID(esc_status), esc_sub, &esc);
printf("ESC Status:\n");
printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
for (uint8_t i=0; i<_outputs.noutputs; i++) {
printf("%d\t", esc.esc[i].esc_address);
printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
printf("%3.2f\t", (double)esc.esc[i].esc_current);
printf("%3.2f\t", (double)esc.esc[i].esc_temperature);
printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
printf("%d\t", esc.esc[i].esc_rpm);
printf("%d", esc.esc[i].esc_errorcount);
printf("\n");
}
orb_unsubscribe(esc_sub);
}
// Sensor bridges