mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.6 KiB
C
78 lines
2.6 KiB
C
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#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_HAL_CHIBIOS \
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LOG_MON_MSG, \
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LOG_WDOG_MSG
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// @LoggerMessage: MON
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// @Description: Main loop performance monitoring message.
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// @Field: TimeUS: Time since system startup
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// @Field: Dly: Loop delay so far
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// @Field: Tsk: Current task
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// @Field: IErr: Internal error mask
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// @Field: IErrCnt: Count of internal error occurances
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// @Field: IErrLn: Internal Error line
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// @Field: MM: MAVLink message currently being processed
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// @Field: MC: MAVLink command currently being processed
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// @Field: SmLn: If semaphore taken, line of semaphore take call
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// @Field: SPICnt: count of SPI transactions
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// @Field: I2CCnt: count of i2c transactions
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struct PACKED log_MON {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint32_t loop_delay;
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int8_t current_task;
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uint32_t internal_error_mask;
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uint16_t internal_error_count;
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uint16_t internal_error_line;
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uint16_t mavmsg;
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uint16_t mavcmd;
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uint16_t semline;
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uint32_t spicnt;
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uint32_t i2ccnt;
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};
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// @LoggerMessage: WDOG
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// @Description: Watchdog diagnostics
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// @Field: TimeUS: Time since system startup
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// @Field: Tsk: current task number
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// @Field: IE: internal error mast
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// @Field: IEC: internal error count
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// @Field: IEL: line internal error was raised on
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// @Field: MvMsg: mavlink message being acted on
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// @Field: MvCmd: mavlink command being acted on
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// @Field: SmLn: line semaphore was taken on
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// @Field: FL: fault_line
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// @Field: FT: fault_type
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// @Field: FA: fault address
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// @Field: FP: fault thread priority
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// @Field: ICSR: ICS regiuster
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// @Field: LR: long return address
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// @Field: TN: Thread name
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struct PACKED log_WDOG {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int8_t scheduler_task;
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uint32_t internal_errors;
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uint16_t internal_error_count;
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uint16_t internal_error_last_line;
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uint16_t last_mavlink_msgid;
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uint16_t last_mavlink_cmd;
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uint16_t semaphore_line;
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uint16_t fault_line;
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uint16_t fault_type;
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uint32_t fault_addr;
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uint8_t fault_thd_prio;
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uint32_t fault_icsr;
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uint32_t fault_lr;
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char thread_name4[4];
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};
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#define LOG_STRUCTURE_FROM_HAL_CHIBIOS \
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{ LOG_MON_MSG, sizeof(log_MON), \
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"MON","QIbIHHHHHII","TimeUS,Dly,Tsk,IErr,IErrCnt,IErrLn,MM,MC,SmLn,SPICnt,I2CCnt", "s----------", "F----------", false }, \
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{ LOG_WDOG_MSG, sizeof(log_WDOG), \
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"WDOG","QbIHHHHHHHIBIIn","TimeUS,Tsk,IE,IEC,IEL,MvMsg,MvCmd,SmLn,FL,FT,FA,FP,ICSR,LR,TN", "s--------------", "F--------------", false },
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