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HAL_ChibiOS: implement get_statistics()

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This commit is contained in:
Andrew Tridgell 2022-12-07 13:35:42 +11:00
parent 05a6c0d026
commit bfff5548ef
3 changed files with 24 additions and 23 deletions
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24
libraries/AP_HAL_ChibiOS/CANFDIface.h
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@ -154,17 +154,11 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
bool _detected_bus_off;
Timings timings, fdtimings;
uint32_t _bitrate, _fdbitrate;
struct {
uint32_t tx_requests;
uint32_t tx_rejected;
uint32_t tx_overflow;
uint32_t tx_success;
uint32_t tx_timedout;
uint32_t tx_abort;
uint32_t rx_received;
uint32_t rx_overflow;
uint32_t rx_errors;
uint32_t num_busoff_err;
/*
additional statistics
*/
struct bus_stats : public AP_HAL::CANIface::bus_stats_t {
uint32_t num_events;
uint32_t ecr;
uint32_t fdf_tx_requests;
@ -239,6 +233,14 @@ public:
// fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
void get_stats(ExpandingString &str) override;
/*
return statistics structure
*/
const bus_stats_t *get_statistics(void) const override {
return &stats;
}
#endif
/************************************
* Methods used inside interrupt *

22
libraries/AP_HAL_ChibiOS/CANIface.h
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@ -141,17 +141,10 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
void initOnce(bool enable_irq);
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
struct {
uint32_t tx_requests;
uint32_t tx_rejected;
uint32_t tx_success;
uint32_t tx_timedout;
uint32_t tx_loopback;
uint32_t tx_abort;
uint32_t rx_received;
uint32_t rx_overflow;
uint32_t rx_errors;
uint32_t num_busoff_err;
/*
additional statistics
*/
struct bus_stats : public AP_HAL::CANIface::bus_stats_t {
uint32_t num_events;
uint32_t esr;
} stats;
@ -225,6 +218,13 @@ public:
// fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
void get_stats(ExpandingString &str) override;
/*
return statistics structure
*/
const bus_stats_t *get_statistics(void) const override {
return &stats;
}
#endif
/************************************
* Methods used inside interrupt *

1
libraries/AP_HAL_ChibiOS/CanIface.cpp
View File

@ -487,7 +487,6 @@ void CANIface::handleTxMailboxInterrupt(uint8_t mailbox_index, bool txok, const
rx_item.frame = txi.frame;
rx_item.timestamp_us = timestamp_us;
rx_item.flags = AP_HAL::CANIface::Loopback;
PERF_STATS(stats.tx_loopback);
add_to_rx_queue(rx_item);
}