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AP_Periph: added DEBUG parameter for displaying stack usage

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This commit is contained in:
Andrew Tridgell 2020-11-30 10:14:56 +11:00
parent ba69cd72c9
commit 0c2770a8d4
4 changed files with 49 additions and 4 deletions
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39
Tools/AP_Periph/AP_Periph.cpp
View File

@ -217,6 +217,28 @@ static void update_rainbow()
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && CH_DBG_ENABLE_STACK_CHECK == TRUE
void AP_Periph_FW::show_stack_free()
{
const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
can_printf("ISR %u/%u", stack_free(&__main_stack_base__), isr_stack_size);
for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
uint32_t total_stack;
if (tp->wabase == (void*)&__main_thread_stack_base__) {
// main thread has its stack separated from the thread context
total_stack = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
} else {
// all other threads have their thread context pointer
// above the stack top
total_stack = uint32_t(tp) - uint32_t(tp->wabase);
}
can_printf("%s STACK=%u/%u\n", tp->name, stack_free(tp->wabase), total_stack);
}
}
#endif
void AP_Periph_FW::update()
{
@ -242,13 +264,28 @@ void AP_Periph_FW::update()
hal.uartA->printf("RNG %u %ucm\n", rangefinder.num_sensors(), rangefinder.distance_cm_orient(ROTATION_NONE));
#endif
hal.scheduler->delay(1);
show_stack_usage();
#endif
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
hal.rcout->set_serial_led_num_LEDs(HAL_PERIPH_NEOPIXEL_CHAN, HAL_PERIPH_NEOPIXEL_COUNT, AP_HAL::RCOutput::MODE_NEOPIXEL);
#endif
}
static uint32_t last_error_ms;
const auto &ierr = AP::internalerror();
if (now - last_error_ms > 5000 && ierr.errors()) {
// display internal errors as DEBUG every 5s
last_error_ms = now;
can_printf("IERR 0x%x %u", ierr.errors(), ierr.last_error_line());
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && CH_DBG_ENABLE_STACK_CHECK == TRUE
static uint32_t last_debug_ms;
if (g.debug==1 && now - last_debug_ms > 5000) {
last_debug_ms = now;
show_stack_free();
}
#endif
#ifdef HAL_PERIPH_ENABLE_BATTERY
if (now - battery.last_read_ms >= 100) {
// update battery at 10Hz

3
Tools/AP_Periph/AP_Periph.h
View File

@ -132,6 +132,9 @@ public:
uint32_t last_gps_update_ms;
uint32_t last_baro_update_ms;
uint32_t last_airspeed_update_ms;
// show stack as DEBUG msgs
void show_stack_free();
};
extern AP_Periph_FW periph;

2
Tools/AP_Periph/Parameters.cpp
View File

@ -39,6 +39,8 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GSCALAR(flash_bootloader, "FLASH_BOOTLOADER", 0),
#endif
GSCALAR(debug, "DEBUG", 0),
#ifdef HAL_PERIPH_ENABLE_BUZZER
GSCALAR(buzz_volume, "BUZZER_VOLUME", 100),
#endif

3
Tools/AP_Periph/Parameters.h
View File

@ -29,6 +29,7 @@ public:
k_param_baro_enable,
k_param_esc_number,
k_param_battery,
k_param_debug,
};
AP_Int16 format_version;
@ -64,6 +65,8 @@ public:
AP_Int8 esc_number;
#endif
AP_Int8 debug;
Parameters() {}
};