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AP_HAL_Linux: Add debug message in RCInput_RPI _timer_tick()

This commit is contained in:
Aaron Wang Shi 2017-09-23 01:32:54 +08:00 committed by Lucas De Marchi
parent ccde7cfdd4
commit 6a82e3aecd
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_HAL_Linux/RCInput_RPI.cpp
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@ -25,6 +25,12 @@
#include "RCInput_RPI.h"
#include "Util_RPI.h"
#ifdef DEBUG
#define debug(fmt, args ...) do { fprintf(stderr,"[RCInput_RPI]: %s:%d: " fmt, __FUNCTION__, __LINE__, ## args); } while (0)
#else
#define debug(fmt, args ...)
#endif
//Parametres
#define RCIN_RPI_BUFFER_LENGTH 8
#define RCIN_RPI_SAMPLE_FREQ 500
@ -486,6 +492,7 @@ void RCInput_RPI::_timer_tick()
// Now we are getting address in which DMAC is writing at current moment
dma_cb_t *ad = (dma_cb_t *)con_blocks->get_virt_addr(dma_reg[RCIN_RPI_DMA_CONBLK_AD | RCIN_RPI_DMA_CHANNEL << 8]);
if (!ad) {
debug("DMA sampling stopped, restarting...\n");
init_ctrl_data();
init_PCM();
init_DMA();
@ -508,6 +515,7 @@ void RCInput_RPI::_timer_tick()
// How many bytes have DMA transferred (and we can process)?
// We can't stay in method for a long time, because it may lead to delays
if (counter > RCIN_RPI_MAX_COUNTER) {
debug("%5d sample(s) dropped\n", (counter - RCIN_RPI_MAX_COUNTER) / 0x8);
counter = RCIN_RPI_MAX_COUNTER;
}