src/main/debug.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #define DEBUG16_VALUE_COUNT 4
  19 extern int16_t debug[DEBUG16_VALUE_COUNT];
  20 extern uint8_t debugMode;
  21
  22 #define DEBUG_SECTION_TIMES
  23
  24 #ifdef DEBUG_SECTION_TIMES
  25 extern uint32_t sectionTimes[2][4];
  26
  27 #define TIME_SECTION_BEGIN(index) { \
  28     extern uint32_t sectionTimes[2][4]; \
  29     sectionTimes[0][index] = micros(); \
  30 }
  31
  32 #define TIME_SECTION_END(index) { \
  33     extern uint32_t sectionTimes[2][4]; \
  34     sectionTimes[1][index] = micros(); \
  35     debug[index] = sectionTimes[1][index] - sectionTimes[0][index]; \
  36 }
  37 #else
  38
  39 #define TIME_SECTION_BEGIN(index) {}
  40 #define TIME_SECTION_END(index) {}
  41
  42 #endif
  43
  44 typedef enum {
  45     DEBUG_NONE,
  46     DEBUG_CYCLETIME,
  47     DEBUG_BATTERY,
  48     DEBUG_GYRO,
  49     DEBUG_ACCELEROMETER,
  50     DEBUG_MIXER,
  51     DEBUG_AIRMODE,
  52     DEBUG_PIDLOOP,
  53     DEBUG_NOTCH,
  54     DEBUG_RC_INTERPOLATION,
  55     DEBUG_VELOCITY,
  56     DEBUG_DTERM_FILTER,
  57     DEBUG_COUNT
  58 } debugType_e;