From e06c46da03d75dd01423485f91c0502724f1aa30 Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Sun, 18 Oct 2015 03:56:09 +0300 Subject: [PATCH] uavcan status output extended with CAN error reporting --- src/modules/uavcan/uavcan_main.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 3d7580b534..4b77c91648 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -1131,6 +1131,13 @@ UavcanNode::print_info() printf("\tReserved: %u blocks\n", _pool_allocator.getNumReservedBlocks()); printf("\tAllocated: %u blocks\n", _pool_allocator.getNumAllocatedBlocks()); + // CAN driver status + printf("CAN status:\n"); + for (unsigned i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) { + auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i); + printf("\tCAN%u: errors: %llu\n", unsigned(i + 1), iface->getErrorCount()); + } + // ESC mixer status printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n", (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);