src/main/build/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 #pragma once
  19
  20 #include <stddef.h>
  21 #include <stdint.h>
  22 #include <stdbool.h>
  23
  24 #include "platform.h"
  25
  26 #define DEBUG32_VALUE_COUNT 8
  27 extern int32_t debug[DEBUG32_VALUE_COUNT];
  28 extern uint8_t debugMode;
  29
  30 #define DEBUG_SET(mode, index, value) {if (debugMode == (mode)) {debug[(index)] = (value);}}
  31
  32 #define DEBUG_SECTION_TIMES
  33
  34 #ifdef DEBUG_SECTION_TIMES
  35 #include "common/time.h"
  36 extern timeUs_t sectionTimes[2][4];
  37
  38 #define TIME_SECTION_BEGIN(index) { \
  39     extern timeUs_t sectionTimes[2][4]; \
  40     sectionTimes[0][index] = micros(); \
  41 }
  42
  43 #define TIME_SECTION_END(index) { \
  44     extern timeUs_t sectionTimes[2][4]; \
  45     sectionTimes[1][index] = micros(); \
  46     debug[index] = sectionTimes[1][index] - sectionTimes[0][index]; \
  47 }
  48 #else
  49
  50 #define TIME_SECTION_BEGIN(index) {}
  51 #define TIME_SECTION_END(index) {}
  52
  53 #endif
  54
  55 typedef enum {
  56     DEBUG_NONE,
  57     DEBUG_AGL,
  58     DEBUG_FLOW_RAW,
  59     DEBUG_FLOW,
  60     DEBUG_ALWAYS,
  61     DEBUG_SAG_COMP_VOLTAGE,
  62     DEBUG_VIBE,
  63     DEBUG_CRUISE,
  64     DEBUG_REM_FLIGHT_TIME,
  65     DEBUG_SMARTAUDIO,
  66     DEBUG_ACC,
  67     DEBUG_NAV_YAW,
  68     DEBUG_PCF8574,
  69     DEBUG_DYNAMIC_GYRO_LPF,
  70     DEBUG_AUTOLEVEL,
  71     DEBUG_ALTITUDE,
  72     DEBUG_AUTOTRIM,
  73     DEBUG_AUTOTUNE,
  74     DEBUG_RATE_DYNAMICS,
  75     DEBUG_LANDING,
  76     DEBUG_POS_EST,
  77     DEBUG_ADAPTIVE_FILTER,
  78     DEBUG_HEADTRACKING,
  79     DEBUG_GPS,
  80     DEBUG_LULU,
  81     DEBUG_COUNT // also update debugModeNames in cli.c
  82 } debugType_e;
  83
  84 #ifdef SITL_BUILD
  85 #define SD(X) (X)
  86 #else
  87 #define SD(X)
  88 #endif