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AP_Baro: create BARO_ICM20789_DEBUG and use it

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This commit is contained in:
Peter Barker 2018-01-02 11:22:15 +11:00 committed by Andrew Tridgell
parent 31d8b6ba64
commit ea83a487d4
1 changed files with 11 additions and 1 deletions
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12
libraries/AP_Baro/AP_Baro_ICM20789.cpp
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@ -52,7 +52,13 @@ extern const AP_HAL::HAL &hal;
#define CMD_SOFT_RESET 0x805D
#define CMD_READ_ID 0xEFC8
#define BARO_ICM20789_DEBUG 0
#if BARO_ICM20789_DEBUG
#define debug(fmt, args...) hal.console->printf(fmt, ##args)
#else
#define debug(fmt, args...)
#endif
/*
constructor
@ -247,10 +253,12 @@ float AP_Baro_ICM20789::get_pressure(uint32_t p_LSB, uint32_t T_LSB)
}
#if BARO_ICM20789_DEBUG
static struct {
uint32_t Praw, Traw;
float T, P;
} dd;
#endif
void AP_Baro_ICM20789::convert_data(uint32_t Praw, uint32_t Traw)
{
@ -266,10 +274,12 @@ void AP_Baro_ICM20789::convert_data(uint32_t Praw, uint32_t Traw)
}
if (_sem->take(0)) {
#if BARO_ICM20789_DEBUG
dd.Praw = Praw;
dd.Traw = Traw;
dd.P = P;
dd.T = T;
#endif
accum.psum += P;
accum.tsum += T;
@ -307,7 +317,7 @@ void AP_Baro_ICM20789::update()
accum.count = 0;
}
_sem->give();
#if 0
#if BARO_ICM20789_DEBUG
// useful for debugging
DataFlash_Class::instance()->Log_Write("ICMB", "TimeUS,Traw,Praw,P,T", "QIIff",
AP_HAL::micros64(),