src/main/build/debug.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #define DEBUG16_VALUE_COUNT 4
  24 extern int16_t debug[DEBUG16_VALUE_COUNT];
  25 extern uint8_t debugMode;
  26
  27 #define DEBUG_SET(mode, index, value) {if (debugMode == (mode)) {debug[(index)] = (value);}}
  28
  29 #define DEBUG_SECTION_TIMES
  30
  31 #ifdef DEBUG_SECTION_TIMES
  32 extern uint32_t sectionTimes[2][4];
  33
  34 #define TIME_SECTION_BEGIN(index) { \
  35     extern uint32_t sectionTimes[2][4]; \
  36     sectionTimes[0][index] = micros(); \
  37 }
  38
  39 #define TIME_SECTION_END(index) { \
  40     extern uint32_t sectionTimes[2][4]; \
  41     sectionTimes[1][index] = micros(); \
  42     debug[index] = sectionTimes[1][index] - sectionTimes[0][index]; \
  43 }
  44 #else
  45
  46 #define TIME_SECTION_BEGIN(index) {}
  47 #define TIME_SECTION_END(index) {}
  48
  49 #endif
  50
  51 typedef enum {
  52     DEBUG_NONE,
  53     DEBUG_CYCLETIME,
  54     DEBUG_BATTERY,
  55     DEBUG_GYRO_FILTERED,
  56     DEBUG_ACCELEROMETER,
  57     DEBUG_PIDLOOP,
  58     DEBUG_GYRO_SCALED,
  59     DEBUG_RC_INTERPOLATION,
  60     DEBUG_ANGLERATE,
  61     DEBUG_ESC_SENSOR,
  62     DEBUG_SCHEDULER,
  63     DEBUG_STACK,
  64     DEBUG_ESC_SENSOR_RPM,
  65     DEBUG_ESC_SENSOR_TMP,
  66     DEBUG_ALTITUDE,
  67     DEBUG_FFT,
  68     DEBUG_FFT_TIME,
  69     DEBUG_FFT_FREQ,
  70     DEBUG_RX_FRSKY_SPI,
  71     DEBUG_RX_SFHSS_SPI,
  72     DEBUG_GYRO_RAW,
  73     DEBUG_DUAL_GYRO,
  74     DEBUG_DUAL_GYRO_RAW,
  75     DEBUG_DUAL_GYRO_COMBINE,
  76     DEBUG_DUAL_GYRO_DIFF,
  77     DEBUG_MAX7456_SIGNAL,
  78     DEBUG_MAX7456_SPICLOCK,
  79     DEBUG_SBUS,
  80     DEBUG_FPORT,
  81     DEBUG_RANGEFINDER,
  82     DEBUG_RANGEFINDER_QUALITY,
  83     DEBUG_LIDAR_TF,
  84     DEBUG_ADC_INTERNAL,
  85     DEBUG_RUNAWAY_TAKEOFF,
  86     DEBUG_SDIO,
  87     DEBUG_CURRENT_SENSOR,
  88     DEBUG_USB,
  89     DEBUG_SMARTAUDIO,
  90     DEBUG_RTH,
  91     DEBUG_ITERM_RELAX,
  92     DEBUG_ACRO_TRAINER,
  93     DEBUG_RC_SMOOTHING,
  94     DEBUG_RX_SIGNAL_LOSS,
  95     DEBUG_RC_SMOOTHING_RATE,
  96     DEBUG_ANTI_GRAVITY,
  97     DEBUG_DYN_LPF,
  98     DEBUG_RX_SPEKTRUM_SPI,
  99     DEBUG_DSHOT_RPM_TELEMETRY,
 100     DEBUG_RPM_FILTER,
 101     DEBUG_D_MIN,
 102     DEBUG_AC_CORRECTION,
 103     DEBUG_AC_ERROR,
 104     DEBUG_DUAL_GYRO_SCALED,
 105     DEBUG_COUNT
 106 } debugType_e;
 107
 108 extern const char * const debugModeNames[DEBUG_COUNT];