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Code Issues Releases Activity

Some fixes in debuglog to compile and run on all firmware platforms

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This commit is contained in:
Corvus Corax 2013-11-17 18:04:47 +01:00
parent 243e261411
commit 6031200aea
5 changed files with 245 additions and 33 deletions
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201
flight/pios/common/pios_debuglog.c Normal file
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@ -0,0 +1,201 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @defgroup PIOS_DEBUGLOG Flash log debugging Functions
* @brief Debugging functionality
* @{
*
* @file pios_debuglog.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief Debugging Functions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#include "uavobjectmanager.h"
#include "debuglogentry.h"
// global definitions
// Global variables
extern uintptr_t pios_user_fs_id; // flash filesystem for logging
#if defined(PIOS_INCLUDE_FREERTOS)
static xSemaphoreHandle mutex = 0;
#define mutexlock() xSemaphoreTakeRecursive(mutex, portMAX_DELAY)
#define mutexunlock() xSemaphoreGiveRecursive(mutex)
#else
#define mutexlock()
#define mutexunlock()
#endif
static bool logging_enabled = false;
static uint16_t flightnum = 0;
static uint16_t lognum = 0;
static DebugLogEntryData *buffer = 0;
#if !defined(PIOS_INCLUDE_FREERTOS)
static DebugLogEntryData staticbuffer;
#endif
/* Private Function Prototypes */
/**
* @brief Initialize the log facility
*/
void PIOS_DEBUGLOG_Initialize()
{
#if defined(PIOS_INCLUDE_FREERTOS)
if (!mutex) {
mutex = xSemaphoreCreateRecursiveMutex();
buffer = pvPortMalloc(sizeof(DebugLogEntryData));
}
#else
buffer = &staticbuffer;
#endif
if (!buffer) {
return;
}
mutexlock();
lognum = 0;
flightnum = 0;
while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
flightnum++;
}
mutexunlock();
}
/**
* @brief Enables or Disables logging globally
* @param[in] enable or disable logging
*/
void PIOS_DEBUGLOG_Enable(uint8_t enabled)
{
logging_enabled = enabled;
}
/**
* @brief Write a debug log entry with a uavobject
* @param[in] objectid
* @param[in] instanceid
* @param[in] instanceid
* @param[in] size of object
* @param[in] data buffer
*/
void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
{
if (!logging_enabled || !buffer) {
return;
}
mutexlock();
buffer->Flight = flightnum;
#if defined(PIOS_INCLUDE_FREERTOS)
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#else
buffer->FlightTime = 0;
#endif
buffer->Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
buffer->ObjectID = objid;
buffer->InstanceID = instid;
if (size > sizeof(buffer->Data)) {
size = sizeof(buffer->Data);
}
buffer->Size = size;
memcpy(buffer->Data, data, size);
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
lognum++;
}
mutexunlock();
}
/**
* @brief Write a debug log entry with text
* @param[in] format - as in printf
* @param[in] variable arguments for printf
* @param...
*/
void PIOS_DEBUGLOG_Printf(char *format, ...)
{
if (!logging_enabled || !buffer) {
return;
}
va_list args;
va_start(args, format);
mutexlock();
vsnprintf((char *)buffer->Data, sizeof(buffer->Data), (char *)format, args);
buffer->Flight = flightnum;
#if defined(PIOS_INCLUDE_FREERTOS)
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#else
buffer->FlightTime = 0;
#endif
buffer->Entry = lognum;
buffer->Type = DEBUGLOGENTRY_TYPE_TEXT;
buffer->ObjectID = 0;
buffer->InstanceID = 0;
buffer->Size = strlen((const char *)buffer->Data);
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
lognum++;
}
mutexunlock();
}
/**
* @brief Load one object instance from the filesystem
* @param[out] buffer where to store the uavobject
* @param[in] log entry from which flight
* @param[in] log entry sequence number
* @return 0 if success or error code
* @retval -1 if fs_id is not a valid filesystem instance
* @retval -2 if failed to start transaction
* @retval -3 if object not found in filesystem
* @retval -4 if object size in filesystem does not exactly match buffer size
* @retval -5 if reading the object data from flash fails
*/
int32_t PIOS_DEBUGLOG_Read(void *mybuffer, uint16_t flight, uint16_t inst)
{
PIOS_Assert(mybuffer);
return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flight * 256, inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData));
}
/**
* @brief Retrieve run time info of logging system
* @param[out] current flight number
* @param[out] next entry number
*/
void PIOS_DEBUGLOG_Info(uint16_t *flight, uint16_t *entry)
{
if (flight) {
*flight = flightnum;
}
if (entry) {
*entry = lognum;
}
}
/**
* @}
* @}
*/

2
flight/pios/inc/pios_debuglog.h
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@ -41,7 +41,7 @@ void PIOS_DEBUGLOG_Initialize();
* @brief Enables or Disables logging globally
* @param[in] enable or disable logging
*/
void PIOS_DEBUGLOG_Enable(bool enabled);
void PIOS_DEBUGLOG_Enable(uint8_t enabled);
/**
* @brief Write a debug log entry with a uavobject

1
flight/pios/pios.h
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@ -69,6 +69,7 @@
/* #define DEBUG_LEVEL 0 */
/* #define PIOS_ENABLE_DEBUG_PINS */
#include <pios_debug.h>
#include <pios_debuglog.h>
/* PIOS common functions */
#include <pios_crc.h>

73
flight/pios/posix/pios_debuglog.c
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@ -51,7 +51,10 @@ static xSemaphoreHandle mutex = 0;
static bool logging_enabled = false;
static uint16_t flightnum = 0;
static uint16_t lognum = 0;
static DebugLogEntryData buffer;
static DebugLogEntryData *buffer = 0;
#if !defined(PIOS_INCLUDE_FREERTOS)
static DebugLogEntryData staticbuffer;
#endif
/* Private Function Prototypes */
@ -62,13 +65,19 @@ void PIOS_DEBUGLOG_Initialize()
{
#if defined(PIOS_INCLUDE_FREERTOS)
if (!mutex) {
mutex = xSemaphoreCreateRecursiveMutex();
mutex = xSemaphoreCreateRecursiveMutex();
buffer = pvPortMalloc(sizeof(DebugLogEntryData));
}
#else
buffer = &staticbuffer;
#endif
if (!buffer) {
return;
}
mutexlock();
lognum = 0;
flightnum = 0;
while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)&buffer, sizeof(DebugLogEntryData)) == 0) {
while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
flightnum++;
}
mutexunlock();
@ -79,7 +88,7 @@ void PIOS_DEBUGLOG_Initialize()
* @brief Enables or Disables logging globally
* @param[in] enable or disable logging
*/
void PIOS_DEBUGLOG_Enable(bool enabled)
void PIOS_DEBUGLOG_Enable(uint8_t enabled)
{
logging_enabled = enabled;
}
@ -94,26 +103,26 @@ void PIOS_DEBUGLOG_Enable(bool enabled)
*/
void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
{
if (!logging_enabled) {
if (!logging_enabled || !buffer) {
return;
}
mutexlock();
buffer.Flight = flightnum;
buffer->Flight = flightnum;
#if defined(PIOS_INCLUDE_FREERTOS)
buffer.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#else
buffer.FlightTime = 0;
buffer->FlightTime = 0;
#endif
buffer.Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
buffer.ObjectID = objid;
buffer.InstanceID = instid;
buffer.Size = size;
uint16_t t = 0;
for (; t < size && t < sizeof(buffer.Data); t++) {
buffer.Data[t] = data[t];
buffer->Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
buffer->ObjectID = objid;
buffer->InstanceID = instid;
if (size > sizeof(buffer->Data)) {
size = sizeof(buffer->Data);
}
buffer->Size = size;
memcpy(buffer->Data, data, size);
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)&buffer, sizeof(DebugLogEntryData)) == 0) {
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
lognum++;
}
mutexunlock();
@ -126,26 +135,26 @@ void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8
*/
void PIOS_DEBUGLOG_Printf(char *format, ...)
{
if (!logging_enabled) {
if (!logging_enabled || !buffer) {
return;
}
va_list args;
va_start(args, format);
mutexlock();
vsnprintf((char *)buffer.Data, sizeof(buffer.Data), (char *)format, args);
buffer.Flight = flightnum;
vsnprintf((char *)buffer->Data, sizeof(buffer->Data), (char *)format, args);
buffer->Flight = flightnum;
#if defined(PIOS_INCLUDE_FREERTOS)
buffer.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#else
buffer.FlightTime = 0;
buffer->FlightTime = 0;
#endif
buffer.Entry = lognum;
buffer.Type = DEBUGLOGENTRY_TYPE_TEXT;
buffer.ObjectID = 0;
buffer.InstanceID = 0;
buffer.Size = strlen((const char *)buffer.Data);
buffer->Entry = lognum;
buffer->Type = DEBUGLOGENTRY_TYPE_TEXT;
buffer->ObjectID = 0;
buffer->InstanceID = 0;
buffer->Size = strlen((const char *)buffer->Data);
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)&buffer, sizeof(DebugLogEntryData)) == 0) {
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
lognum++;
}
mutexunlock();
@ -164,16 +173,16 @@ void PIOS_DEBUGLOG_Printf(char *format, ...)
* @retval -4 if object size in filesystem does not exactly match buffer size
* @retval -5 if reading the object data from flash fails
*/
int32_t PIOS_DEBUGLOG_Read(void *buffer, uint16_t flight, uint16_t inst)
int32_t PIOS_DEBUGLOG_Read(void *mybuffer, uint16_t flight, uint16_t inst)
{
PIOS_Assert(buffer);
return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flight * 256, inst, (uint8_t *)buffer, sizeof(DebugLogEntryData));
PIOS_Assert(mybuffer);
return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flight * 256, inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData));
}
/**
* @brief Retrieve run time info of logging system
* @param[out] buffer where to store the uavobject
* @param[in] log entry from which flight
* @param[out] current flight number
* @param[out] next entry number
*/
void PIOS_DEBUGLOG_Info(uint16_t *flight, uint16_t *entry)
{

1
make/apps-defs.mk
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@ -81,6 +81,7 @@ SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/pios_crc.c
SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
SRC += $(PIOSCOMMON)/pios_flash_jedec.c
SRC += $(PIOSCOMMON)/pios_debuglog.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/pios_rfm22b.c
SRC += $(PIOSCOMMON)/pios_rfm22b_com.c