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AP_UAVCAN: log bus statistics

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This commit is contained in:
Andrew Tridgell 2022-12-07 13:36:20 +11:00
parent 21b4a19c6f
commit 50d00f4e45
2 changed files with 69 additions and 2 deletions
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61
libraries/AP_UAVCAN/AP_UAVCAN.cpp
View File

@ -494,6 +494,7 @@ void AP_UAVCAN::loop(void)
#if AP_OPENDRONEID_ENABLED
AP::opendroneid().dronecan_send(this);
#endif
logging();
}
}
@ -543,7 +544,11 @@ void AP_UAVCAN::SRV_send_actuator(void)
}
if (i > 0) {
act_out_array[_driver_index]->broadcast(msg);
if (act_out_array[_driver_index]->broadcast(msg) > 0) {
_srv_send_count++;
} else {
_fail_send_count++;
}
if (i == 15) {
repeat_send = true;
@ -594,7 +599,11 @@ void AP_UAVCAN::SRV_send_esc(void)
k++;
}
esc_raw[_driver_index]->broadcast(esc_msg);
if (esc_raw[_driver_index]->broadcast(esc_msg) > 0) {
_esc_send_count++;
} else {
_fail_send_count++;
}
}
}
@ -1217,4 +1226,52 @@ bool AP_UAVCAN::prearm_check(char* fail_msg, uint8_t fail_msg_len) const
return _dna_server->prearm_check(fail_msg, fail_msg_len);
}
/*
periodic logging
*/
void AP_UAVCAN::logging(void)
{
#if HAL_LOGGING_ENABLED
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - last_log_ms < 1000) {
return;
}
last_log_ms = now_ms;
if (HAL_NUM_CAN_IFACES <= _driver_index) {
// no interface?
return;
}
const auto *iface = hal.can[_driver_index];
if (iface == nullptr) {
return;
}
const auto *stats = iface->get_statistics();
if (stats == nullptr) {
// statistics not implemented on this interface
return;
}
const auto &s = *stats;
AP::logger().WriteStreaming("CANS",
"TimeUS,I,T,Trq,Trej,Tov,Tto,Tab,R,Rov,Rer,Bo,Etx,Stx,Ftx",
"s#-------------",
"F--------------",
"QBIIIIIIIIIIIII",
AP_HAL::micros64(),
_driver_index,
s.tx_success,
s.tx_requests,
s.tx_rejected,
s.tx_overflow,
s.tx_timedout,
s.tx_abort,
s.rx_received,
s.rx_overflow,
s.rx_errors,
s.num_busoff_err,
_esc_send_count,
_srv_send_count,
_fail_send_count);
#endif // HAL_LOGGING_ENABLED
}
#endif // HAL_NUM_CAN_IFACES

10
libraries/AP_UAVCAN/AP_UAVCAN.h
View File

@ -247,6 +247,9 @@ private:
// send parameter save request
void send_parameter_save_request();
// periodic logging
void logging();
// set parameter on a node
ParamGetSetIntCb *param_int_cb;
ParamGetSetFloatCb *param_float_cb;
@ -287,10 +290,17 @@ private:
bool servo_pending;
} _SRV_conf[UAVCAN_SRV_NUMBER];
uint32_t _esc_send_count;
uint32_t _srv_send_count;
uint32_t _fail_send_count;
uint8_t _SRV_armed;
uint32_t _SRV_last_send_us;
HAL_Semaphore SRV_sem;
// last log time
uint32_t last_log_ms;
///// LED /////
struct led_device {
uint8_t led_index;