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AP_InertialSensor: improved invensense debugging on ChibiOS

This commit is contained in:
Andrew Tridgell 2018-01-17 13:55:24 +11:00
parent d5976442f8
commit 9416165fe3
1 changed files with 8 additions and 3 deletions
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11
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -38,7 +38,12 @@ extern const AP_HAL::HAL& hal;
#endif
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
// hal.console can be accessed from bus threads on ChibiOS
#define debug(fmt, args ...) do {hal.console->printf("MPU: " fmt "\n", ## args); } while(0)
#else
#define debug(fmt, args ...) do {printf("MPU: " fmt "\n", ## args); } while(0)
#endif
/*
EXT_SYNC allows for frame synchronisation with an external device
@ -574,7 +579,7 @@ bool AP_InertialSensor_Invensense::_accumulate(uint8_t *samples, uint8_t n_sampl
int16_t t2 = int16_val(data, 3);
if (!_check_raw_temp(t2)) {
debug("temp reset %d %d", _raw_temp, t2);
debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
_fifo_reset();
return false;
}
@ -617,7 +622,7 @@ bool AP_InertialSensor_Invensense::_accumulate_fast_sampling(uint8_t *samples, u
// use temperatue to detect FIFO corruption
int16_t t2 = int16_val(data, 3);
if (!_check_raw_temp(t2)) {
debug("temp reset %d %d", _raw_temp, t2);
debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
_fifo_reset();
ret = false;
break;
@ -730,7 +735,7 @@ void AP_InertialSensor_Invensense::_read_fifo()
if (_fast_sampling) {
if (!_accumulate_fast_sampling(rx, n)) {
debug("stop at %u of %u", n_samples, bytes_read/MPU_SAMPLE_SIZE);
debug("IMU[%u] stop at %u of %u", _accel_instance, n_samples, bytes_read/MPU_SAMPLE_SIZE);
break;
}
} else {