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AP_Scheduler: log SPI and I2C counters in PM msg

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This commit is contained in:
Andrew Tridgell 2019-05-16 17:58:07 +10:00
parent 6b1374e55c
commit e801821f0c
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -290,6 +290,7 @@ void AP_Scheduler::update_logging()
// Write a performance monitoring packet
void AP_Scheduler::Log_Write_Performance()
{
const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : AP_HAL::micros64(),
@ -298,7 +299,9 @@ void AP_Scheduler::Log_Write_Performance()
max_time : perf_info.get_max_time(),
mem_avail : hal.util->available_memory(),
load : (uint16_t)(load_average() * 1000),
internal_errors : AP::internalerror().errors()
internal_errors : AP::internalerror().errors(),
spi_count : pd.spi_count,
i2c_count : pd.i2c_count,
};
AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
}