From 95e83314ac561087bd279e4e8166659cc2dbcbe4 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 26 Apr 2013 22:40:09 +0900 Subject: [PATCH] Rover: add I2C error count to PM message --- APMrover2/Log.pde | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde index 3ac0627c8a..26517b5eaf 100644 --- a/APMrover2/Log.pde +++ b/APMrover2/Log.pde @@ -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),