mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: use structure for writing out WDOG,MON message
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Peter Barker
Peter Barker
parent
a546bc797c
commit
00de10d796
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@ -0,0 +1,77 @@
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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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@ -410,19 +410,22 @@ void Scheduler::_monitor_thread(void *arg)
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#if HAL_LOGGING_ENABLED
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const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
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if (AP_Logger::get_singleton()) {
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AP::logger().Write("MON", "TimeUS,LDelay,Task,IErr,IErrCnt,IErrLn,MavMsg,MavCmd,SemLine,SPICnt,I2CCnt", "QIbIHHHHHII",
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AP_HAL::micros64(),
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loop_delay,
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pd.scheduler_task,
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pd.internal_errors,
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pd.internal_error_count,
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pd.internal_error_last_line,
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pd.last_mavlink_msgid,
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pd.last_mavlink_cmd,
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pd.semaphore_line,
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pd.spi_count,
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pd.i2c_count);
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}
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const struct log_MON mon{
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LOG_PACKET_HEADER_INIT(LOG_MON_MSG),
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time_us : AP_HAL::micros64(),
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loop_delay : loop_delay,
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current_task : pd.scheduler_task,
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internal_error_mask : pd.internal_errors,
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internal_error_count : pd.internal_error_count,
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internal_error_line : pd.internal_error_last_line,
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mavmsg : pd.last_mavlink_msgid,
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mavcmd : pd.last_mavlink_cmd,
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semline : pd.semaphore_line,
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spicnt : pd.spi_count,
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i2ccnt : pd.i2c_count
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};
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AP::logger().WriteCriticalBlock(&mon, sizeof(mon));
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}
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#endif
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}
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if (loop_delay >= 500 && !sched->in_expected_delay()) {
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@ -435,22 +438,26 @@ void Scheduler::_monitor_thread(void *arg)
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log_wd_counter = 0;
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// log watchdog message once a second
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const AP_HAL::Util::PersistentData &pd = hal.util->last_persistent_data;
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AP::logger().WriteCritical("WDOG", "TimeUS,Tsk,IE,IEC,IEL,MvMsg,MvCmd,SmLn,FL,FT,FA,FP,ICSR,LR,TN", "QbIHHHHHHHIBIIn",
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AP_HAL::micros64(),
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pd.scheduler_task,
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pd.internal_errors,
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pd.internal_error_count,
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pd.internal_error_last_line,
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pd.last_mavlink_msgid,
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pd.last_mavlink_cmd,
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pd.semaphore_line,
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pd.fault_line,
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pd.fault_type,
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pd.fault_addr,
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pd.fault_thd_prio,
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pd.fault_icsr,
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pd.fault_lr,
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pd.thread_name4);
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struct log_WDOG wdog{
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LOG_PACKET_HEADER_INIT(LOG_WDOG_MSG),
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time_us : AP_HAL::micros64(),
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scheduler_task : pd.scheduler_task,
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internal_errors : pd.internal_errors,
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internal_error_count : pd.internal_error_count,
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internal_error_last_line : pd.internal_error_last_line,
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last_mavlink_msgid : pd.last_mavlink_msgid,
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last_mavlink_cmd : pd.last_mavlink_cmd,
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semaphore_line : pd.semaphore_line,
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fault_line : pd.fault_line,
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fault_type : pd.fault_type,
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fault_addr : pd.fault_addr,
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fault_thd_prio : pd.fault_thd_prio,
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fault_icsr : pd.fault_icsr,
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fault_lr : pd.fault_lr
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};
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memcpy(wdog.thread_name4, pd.thread_name4, ARRAY_SIZE(wdog.thread_name4));
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AP::logger().WriteCriticalBlock(&wdog, sizeof(wdog));
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}
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#endif // HAL_LOGGING_ENABLED
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