Properly implemented registerInternalFailure(); some logging in STM32 test app

libuavcan_drivers/stm32/test_stm32f107/Makefile

@@ -17,7 +17,8 @@ CPPSRC = src/main.cpp src/dummy.cpp
 UDEFS = -DUAVCAN_STM32_CHIBIOS=1         \
         -DUAVCAN_STM32_TIMER_NUMBER=6    \
         -DUAVCAN_MEM_POOL_BLOCK_SIZE=56  \
-        -DUAVCAN_TOSTRING=0
+        -DUAVCAN_TOSTRING=0              \
+        -DUAVCAN_EXCEPTIONS=0
 
 include ../../../libuavcan/include.mk
 CPPSRC += $(LIBUAVCAN_SRC)

libuavcan_drivers/stm32/test_stm32f107/src/main.cpp

@@ -143,6 +143,8 @@ int main()
     lowsyslog("Starting the UAVCAN thread\n");
     app::uavcan_node_thread.start(LOWPRIO);
 
+    app::getNode().getLogger().setLevel(uavcan::protocol::debug::LogLevel::INFO);
+
     while (true)
     {
         for (int i = 0; i < 200; i++)
@@ -156,5 +158,13 @@ int main()
                   static_cast<unsigned long>(utc.toMSec() / 1000),
                   uavcan_stm32::clock::getUtcSpeedCorrectionPPM(),
                   uavcan_stm32::clock::getUtcAjdustmentJumpCount());
+
+        if (app::getNode().isStarted())
+        {
+            app::getNode().logInfo("app", "UTC %* sec, %* corr, %* jumps",
+                                   utc.toMSec() / 1000,
+                                   uavcan_stm32::clock::getUtcSpeedCorrectionPPM(),
+                                   uavcan_stm32::clock::getUtcAjdustmentJumpCount());
+        }
     }
 }