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Back out upstream changes from test_stm32f107/src/main.cpp

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This commit is contained in:
David Sidrane
2016-06-22 11:25:04 -10:00
parent c1b6451b9c
commit e031a0e93f
1 changed files with 16 additions and 16 deletions
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libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
+16 -16
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@@ -39,13 +39,13 @@ void init()
do
{
::sleep(1);
::syslog("CAN auto bit rate detection...\n");
::lowsyslog("CAN auto bit rate detection...\n");
std::uint32_t bitrate = 0;
res = can.init([]() { ::usleep(can.getRecommendedListeningDelay().toUSec()); }, bitrate);
if (res >= 0)
{
::syslog("CAN inited at %u bps\n", unsigned(bitrate));
::lowsyslog("CAN inited at %u bps\n", unsigned(bitrate));
}
}
while (res < 0);
@@ -68,7 +68,7 @@ class : public chibios_rt::BaseStaticThread<8192>
getNode().setSoftwareVersion(swver);
syslog("Git commit hash: 0x%08x\n", GIT_HASH);
lowsyslog("Git commit hash: 0x%08x\n", GIT_HASH);
/*
* Hardware version
@@ -82,12 +82,12 @@ class : public chibios_rt::BaseStaticThread<8192>
getNode().setHardwareVersion(hwver);
syslog("UDID:");
lowsyslog("UDID:");
for (auto b : hwver.unique_id)
{
syslog(" %02x", unsigned(b));
lowsyslog(" %02x", unsigned(b));
}
syslog("\n");
lowsyslog("\n");
}
void performDynamicNodeIDAllocation()
@@ -100,17 +100,17 @@ class : public chibios_rt::BaseStaticThread<8192>
board::die(client_start_res);
}
syslog("Waiting for dynamic node ID allocation...\n");
lowsyslog("Waiting for dynamic node ID allocation...\n");
while (!client.isAllocationComplete())
{
const int spin_res = getNode().spin(uavcan::MonotonicDuration::fromMSec(100));
if (spin_res < 0)
{
syslog("Spin failure: %i\n", spin_res);
lowsyslog("Spin failure: %i\n", spin_res);
}
}
syslog("Dynamic node ID %d allocated by %d\n",
lowsyslog("Dynamic node ID %d allocated by %d\n",
int(client.getAllocatedNodeID().get()),
int(client.getAllocatorNodeID().get()));
@@ -154,24 +154,24 @@ public:
/*
* Main loop
*/
syslog("UAVCAN node started\n");
lowsyslog("UAVCAN node started\n");
getNode().setModeOperational();
while (true)
{
const int spin_res = getNode().spin(uavcan::MonotonicDuration::fromMSec(5000));
if (spin_res < 0)
{
syslog("Spin failure: %i\n", spin_res);
lowsyslog("Spin failure: %i\n", spin_res);
}
syslog("Time sync master: %u\n", unsigned(time_sync_slave.getMasterNodeID().get()));
lowsyslog("Time sync master: %u\n", unsigned(time_sync_slave.getMasterNodeID().get()));
syslog("Memory usage: free=%u used=%u worst=%u\n",
lowsyslog("Memory usage: free=%u used=%u worst=%u\n",
getNode().getAllocator().getNumFreeBlocks(),
getNode().getAllocator().getNumUsedBlocks(),
getNode().getAllocator().getPeakNumUsedBlocks());
syslog("CAN errors: %lu %lu\n",
lowsyslog("CAN errors: %lu %lu\n",
static_cast<unsigned long>(can.driver.getIface(0)->getErrorCount()),
static_cast<unsigned long>(can.driver.getIface(1)->getErrorCount()));
@@ -194,7 +194,7 @@ int main()
{
app::init();
syslog("Starting the UAVCAN thread\n");
lowsyslog("Starting the UAVCAN thread\n");
app::uavcan_node_thread.start(LOWPRIO);
while (true)
@@ -206,7 +206,7 @@ int main()
}
const uavcan::UtcTime utc = uavcan_stm32::clock::getUtc();
syslog("UTC %lu sec Rate corr: %fPPM Jumps: %lu Locked: %i\n",
lowsyslog("UTC %lu sec Rate corr: %fPPM Jumps: %lu Locked: %i\n",
static_cast<unsigned long>(utc.toMSec() / 1000),
uavcan_stm32::clock::getUtcRateCorrectionPPM(),
uavcan_stm32::clock::getUtcJumpCount(),