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Rover: add I2C error count to PM message

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This commit is contained in:
Randy Mackay 2013-04-26 22:40:09 +09:00
parent f47a2e951a
commit 95e83314ac
1 changed files with 4 additions and 2 deletions
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6
APMrover2/Log.pde
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@ -171,6 +171,7 @@ struct PACKED log_Performance {
int16_t gyro_drift_y;
int16_t gyro_drift_z;
int16_t pm_test;
uint8_t i2c_lockup_count;
};
// Write a performance monitoring packet. Total length : 19 bytes
@ -188,7 +189,8 @@ static void Log_Write_Performance()
gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
pm_test : pmTest1
pm_test : pmTest1,
i2c_lockup_count: hal.i2c->lockup_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -429,7 +431,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "ccC", "Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHhBBBhhhh", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,PMT" },
"PM", "IHhBBBhhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,PMT,I2CErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),