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OP-1365 Flight code instrumentation API: Add CopterControl support
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@ -48,7 +48,7 @@ int8_t PIOS_Instrumentation_CreateCounter(uint32_t id)
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{
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PIOS_Assert(pios_instrumentation_perf_counters && (pios_instrumentation_max_counters > pios_instrumentation_last_used_counter));
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int8_t idx = ++pios_instrumentation_last_used_counter;
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pios_instrumentation_perf_counters[idx].id = id;
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pios_instrumentation_perf_counters[idx].id = id;
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pios_instrumentation_perf_counters[idx].max = INT32_MIN;
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pios_instrumentation_perf_counters[idx].min = INT32_MAX;
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return idx;
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@ -72,6 +72,7 @@ ifndef TESTAPP
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SRC += $(OPSYSTEM)/coptercontrol.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(FLIGHTLIB)/alarms.c
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SRC += $(FLIGHTLIB)/instrumentation.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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@ -126,6 +127,7 @@ ifndef TESTAPP
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SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
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SRC += $(OPUAVSYNTHDIR)/airspeedstate.c
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SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
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SRC += $(OPUAVSYNTHDIR)/perfcounter.c
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else
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## Test Code
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SRC += $(OPTESTS)/test_common.c
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@ -56,6 +56,8 @@
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#define PIOS_INCLUDE_INITCALL
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#define PIOS_INCLUDE_SYS
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#define PIOS_INCLUDE_TASK_MONITOR
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// #define PIOS_INCLUDE_INSTRUMENTATION
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#define PIOS_INSTRUMENTATION_MAX_COUNTERS 3
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/* PIOS hardware peripherals */
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#define PIOS_INCLUDE_IRQ
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@ -33,6 +33,9 @@
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#include <gcsreceiver.h>
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#include <taskinfo.h>
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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#include <pios_instrumentation.h>
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#endif
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/*
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* Pull in the board-specific static HW definitions.
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* Including .c files is a bit ugly but this allows all of
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@ -150,6 +153,10 @@ void PIOS_Board_Init(void)
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PIOS_LED_Init(led_cfg);
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#endif /* PIOS_INCLUDE_LED */
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
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#endif
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#if defined(PIOS_INCLUDE_SPI)
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/* Set up the SPI interface to the serial flash */
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