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px4io: added isr_debug()

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this is useful for debugging px4io internals
This commit is contained in:
Andrew Tridgell 2013-01-27 08:46:41 +11:00 committed by Lorenz Meier
parent cd0d108b6b
commit bfecfbf5ee
1 changed files with 61 additions and 1 deletions
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62
apps/px4io/px4io.c
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@ -63,6 +63,54 @@ struct sys_state_s system_state;
static struct hrt_call serial_dma_call;
// global debug level for isr_debug()
volatile uint8_t debug_level = 0;
volatile uint32_t i2c_resets = 0;
volatile uint32_t i2c_loop_resets = 0;
/*
a set of debug buffers to allow us to send debug information from ISRs
*/
static volatile uint32_t msg_counter;
static volatile uint32_t last_msg_counter;
static volatile uint8_t msg_next_out, msg_next_in;
#define NUM_MSG 6
static char msg[NUM_MSG][60];
/*
add a debug message to be printed on the console
*/
void isr_debug(uint8_t level, const char *fmt, ...)
{
if (level > debug_level) {
return;
}
va_list ap;
va_start(ap, fmt);
vsnprintf(msg[msg_next_in], sizeof(msg[0]), fmt, ap);
va_end(ap);
msg_next_in = (msg_next_in+1) % NUM_MSG;
msg_counter++;
}
/*
show all pending debug messages
*/
static void show_debug_messages(void)
{
if (msg_counter != last_msg_counter) {
uint32_t n = msg_counter - last_msg_counter;
if (n > NUM_MSG) n = NUM_MSG;
last_msg_counter = msg_counter;
while (n--) {
debug("%s", msg[msg_next_out]);
msg_next_out = (msg_next_out+1) % NUM_MSG;
}
}
}
int user_start(int argc, char *argv[])
{
/* run C++ ctors before we go any further */
@ -108,6 +156,8 @@ int user_start(int argc, char *argv[])
struct mallinfo minfo = mallinfo();
debug("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
debug("debug_level=%u\n", (unsigned)debug_level);
/* start the i2c handler */
i2c_init();
@ -116,10 +166,20 @@ int user_start(int argc, char *argv[])
/* run the mixer at 100Hz (for now...) */
/* XXX we should use CONFIG_IDLE_CUSTOM and take over the idle thread instead of running two additional tasks */
uint8_t counter=0;
for (;;) {
poll(NULL, 0, 10);
perf_begin(mixer_perf);
mixer_tick();
perf_end(mixer_perf);
show_debug_messages();
if (counter++ == 200) {
counter = 0;
isr_debug(0, "tick debug=%u status=0x%x resets=%u loop_resets=%u",
(unsigned)debug_level,
(unsigned)r_status_flags,
(unsigned)i2c_resets,
(unsigned)i2c_loop_resets);
}
}
}
}