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 #include <stddef.h>
  19 #include <stdint.h>
  20 #include <stdbool.h>
  21
  22 #define DEBUG32_VALUE_COUNT 8
  23 extern int32_t debug[DEBUG32_VALUE_COUNT];
  24 extern uint8_t debugMode;
  25
  26 #define DEBUG_SET(mode, index, value) {if (debugMode == (mode)) {debug[(index)] = (value);}}
  27
  28 #define DEBUG_SECTION_TIMES
  29
  30 #ifdef DEBUG_SECTION_TIMES
  31 #include "common/time.h"
  32 extern timeUs_t sectionTimes[2][4];
  33
  34 #define TIME_SECTION_BEGIN(index) { \
  35     extern timeUs_t sectionTimes[2][4]; \
  36     sectionTimes[0][index] = micros(); \
  37 }
  38
  39 #define TIME_SECTION_END(index) { \
  40     extern timeUs_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_GYRO,
  54     DEBUG_AGL,
  55     DEBUG_FLOW_RAW,
  56     DEBUG_FLOW,
  57     DEBUG_SBUS,
  58     DEBUG_FPORT,
  59     DEBUG_ALWAYS,
  60     DEBUG_SAG_COMP_VOLTAGE,
  61     DEBUG_VIBE,
  62     DEBUG_CRUISE,
  63     DEBUG_REM_FLIGHT_TIME,
  64     DEBUG_SMARTAUDIO,
  65     DEBUG_ACC,
  66     DEBUG_ITERM_RELAX,
  67     DEBUG_ERPM,
  68     DEBUG_RPM_FILTER,
  69     DEBUG_RPM_FREQ,
  70     DEBUG_NAV_YAW,
  71     DEBUG_DYNAMIC_FILTER,
  72     DEBUG_DYNAMIC_FILTER_FREQUENCY,
  73     DEBUG_IRLOCK,
  74     DEBUG_CD,
  75     DEBUG_KALMAN,
  76     DEBUG_COUNT
  77 } debugType_e;