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Refactored debug() and log() in CDev 

These functions used vprintf which is not available on all platforms.
They also do not enable line and file debug output.

Changed to macros that preserve the output format.  Uses new macro that
can be used to implement per object, runtime selectable logging

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-08-11 12:07:06 -07:00
parent be58c6abd3
commit a589d15c52
47 changed files with 202 additions and 261 deletions
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0
readme.md Normal file
View File

2
src/drivers/blinkm/blinkm.cpp
View File

@ -356,7 +356,7 @@ BlinkM::probe()
ret = get_firmware_version(version); ret = get_firmware_version(version);
if (ret == OK) if (ret == OK)
log("found BlinkM firmware version %c%c", version[1], version[0]); DEVICE_DEBUG("found BlinkM firmware version %c%c", version[1], version[0]);
return ret; return ret;
} }

29
src/drivers/device/device_nuttx.cpp
View File

@ -38,6 +38,7 @@
*/ */
#include "device.h" #include "device.h"
#include "px4_log.h"
#include <nuttx/arch.h> #include <nuttx/arch.h>
#include <stdio.h> #include <stdio.h>
@ -156,34 +157,6 @@ Device::interrupt(void *context)
interrupt_disable(); interrupt_disable();
} }
void
Device::log(const char *fmt, ...)
{
va_list ap;
printf("[%s] ", _name);
va_start(ap, fmt);
vprintf(fmt, ap);
va_end(ap);
printf("\n");
fflush(stdout);
}
void
Device::debug(const char *fmt, ...)
{
va_list ap;
if (_debug_enabled) {
printf("<%s> ", _name);
va_start(ap, fmt);
vprintf(fmt, ap);
va_end(ap);
printf("\n");
fflush(stdout);
}
}
static int static int
register_interrupt(int irq, Device *owner) register_interrupt(int irq, Device *owner)
{ {

19
src/drivers/device/device_nuttx.h
View File

@ -54,6 +54,9 @@
#include <nuttx/fs/fs.h> #include <nuttx/fs/fs.h>
#define DEVICE_LOG(FMT, ...) PX4_LOG_NAMED(_name, FMT, ##__VA_ARGS__)
#define DEVICE_DEBUG(FMT, ...) PX4_LOG_NAMED_COND(_name, _debug_enabled, FMT, ##__VA_ARGS__)
/** /**
* Namespace encapsulating all device framework classes, functions and data. * Namespace encapsulating all device framework classes, functions and data.
*/ */
@ -197,22 +200,6 @@ protected:
sem_post(&_lock); sem_post(&_lock);
} }
/**
* Log a message.
*
* The message is prefixed with the driver name, and followed
* by a newline.
*/
void log(const char *fmt, ...);
/**
* Print a debug message.
*
* The message is prefixed with the driver name, and followed
* by a newline.
*/
void debug(const char *fmt, ...);
private: private:
int _irq; int _irq;
bool _irq_attached; bool _irq_attached;

28
src/drivers/device/device_posix.cpp
View File

@ -78,34 +78,6 @@ Device::init()
return ret; return ret;
} }
void
Device::log(const char *fmt, ...)
{
va_list ap;
PX4_INFO("[%s] ", _name);
va_start(ap, fmt);
vprintf(fmt, ap);
va_end(ap);
printf("\n");
fflush(stdout);
}
void
Device::debug(const char *fmt, ...)
{
va_list ap;
if (_debug_enabled) {
printf("<%s> ", _name);
va_start(ap, fmt);
vprintf(fmt, ap);
va_end(ap);
printf("\n");
fflush(stdout);
}
}
int int
Device::dev_read(unsigned offset, void *data, unsigned count) Device::dev_read(unsigned offset, void *data, unsigned count)
{ {

14
src/drivers/device/i2c_nuttx.cpp
View File

@ -90,7 +90,7 @@ I2C::set_bus_clock(unsigned bus, unsigned clock_hz)
} }
if (_bus_clocks[index] > 0) { if (_bus_clocks[index] > 0) {
// debug("overriding clock of %u with %u Hz\n", _bus_clocks[index], clock_hz); // DEVICE_DEBUG("overriding clock of %u with %u Hz\n", _bus_clocks[index], clock_hz);
} }
_bus_clocks[index] = clock_hz; _bus_clocks[index] = clock_hz;
@ -107,7 +107,7 @@ I2C::init()
_dev = up_i2cinitialize(_bus); _dev = up_i2cinitialize(_bus);
if (_dev == nullptr) { if (_dev == nullptr) {
debug("failed to init I2C"); DEVICE_DEBUG("failed to init I2C");
ret = -ENOENT; ret = -ENOENT;
goto out; goto out;
} }
@ -121,7 +121,7 @@ I2C::init()
if (_bus_clocks[bus_index] > _frequency) { if (_bus_clocks[bus_index] > _frequency) {
(void)up_i2cuninitialize(_dev); (void)up_i2cuninitialize(_dev);
_dev = nullptr; _dev = nullptr;
log("FAIL: too slow for bus #%u: %u KHz, device max: %u KHz)", DEVICE_LOG("FAIL: too slow for bus #%u: %u KHz, device max: %u KHz)",
_bus, _bus_clocks[bus_index] / 1000, _frequency / 1000); _bus, _bus_clocks[bus_index] / 1000, _frequency / 1000);
ret = -EINVAL; ret = -EINVAL;
goto out; goto out;
@ -148,7 +148,7 @@ I2C::init()
ret = probe(); ret = probe();
if (ret != OK) { if (ret != OK) {
debug("probe failed"); DEVICE_DEBUG("probe failed");
goto out; goto out;
} }
@ -156,12 +156,12 @@ I2C::init()
ret = CDev::init(); ret = CDev::init();
if (ret != OK) { if (ret != OK) {
debug("cdev init failed"); DEVICE_DEBUG("cdev init failed");
goto out; goto out;
} }
// tell the world where we are // tell the world where we are
log("on I2C bus %d at 0x%02x (bus: %u KHz, max: %u KHz)", DEVICE_LOG("on I2C bus %d at 0x%02x (bus: %u KHz, max: %u KHz)",
_bus, _address, _bus_clocks[bus_index] / 1000, _frequency / 1000); _bus, _address, _bus_clocks[bus_index] / 1000, _frequency / 1000);
out: out:
@ -188,7 +188,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
unsigned retry_count = 0; unsigned retry_count = 0;
do { do {
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len); // DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0; msgs = 0;

6
src/drivers/device/i2c_posix.cpp
View File

@ -100,13 +100,13 @@ I2C::init()
ret = VDev::init(); ret = VDev::init();
if (ret != PX4_OK) { if (ret != PX4_OK) {
debug("VDev::init failed"); DEVICE_DEBUG("VDev::init failed");
return ret; return ret;
} }
_fd = px4_open(get_devname(), PX4_F_RDONLY | PX4_F_WRONLY); _fd = px4_open(get_devname(), PX4_F_RDONLY | PX4_F_WRONLY);
if (_fd < 0) { if (_fd < 0) {
debug("px4_open failed of device %s", get_devname()); DEVICE_DEBUG("px4_open failed of device %s", get_devname());
return PX4_ERROR; return PX4_ERROR;
} }
@ -150,7 +150,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
} }
do { do {
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len); // DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0; msgs = 0;
if (send_len > 0) { if (send_len > 0) {

8
src/drivers/device/spi.cpp
View File

@ -98,7 +98,7 @@ SPI::init()
_dev = up_spiinitialize(_bus); _dev = up_spiinitialize(_bus);
if (_dev == nullptr) { if (_dev == nullptr) {
debug("failed to init SPI"); DEVICE_DEBUG("failed to init SPI");
ret = -ENOENT; ret = -ENOENT;
goto out; goto out;
} }
@ -110,7 +110,7 @@ SPI::init()
ret = probe(); ret = probe();
if (ret != OK) { if (ret != OK) {
debug("probe failed"); DEVICE_DEBUG("probe failed");
goto out; goto out;
} }
@ -118,12 +118,12 @@ SPI::init()
ret = CDev::init(); ret = CDev::init();
if (ret != OK) { if (ret != OK) {
debug("cdev init failed"); DEVICE_DEBUG("cdev init failed");
goto out; goto out;
} }
/* tell the workd where we are */ /* tell the workd where we are */
log("on SPI bus %d at %d (%u KHz)", _bus, _device, _frequency / 1000); DEVICE_LOG("on SPI bus %d at %d (%u KHz)", _bus, _device, _frequency / 1000);
out: out:
return ret; return ret;

23
src/drivers/device/vdev.h
View File

@ -51,6 +51,9 @@
#include <stdint.h> #include <stdint.h>
#include <semaphore.h> #include <semaphore.h>
#define DEVICE_LOG(FMT, ...) PX4_LOG_NAMED(_name, FMT, ##__VA_ARGS__)
#define DEVICE_DEBUG(FMT, ...) PX4_LOG_NAMED_COND(_name, _debug_enabled, FMT, ##__VA_ARGS__)
/** /**
* Namespace encapsulating all device framework classes, functions and data. * Namespace encapsulating all device framework classes, functions and data.
*/ */
@ -176,7 +179,7 @@ protected:
* Note that we must loop as the wait may be interrupted by a signal. * Note that we must loop as the wait may be interrupted by a signal.
*/ */
void lock() { void lock() {
debug("lock"); DEVICE_DEBUG("lock");
do {} while (sem_wait(&_lock) != 0); do {} while (sem_wait(&_lock) != 0);
} }
@ -184,26 +187,10 @@ protected:
* Release the driver lock. * Release the driver lock.
*/ */
void unlock() { void unlock() {
debug("unlock"); DEVICE_DEBUG("unlock");
sem_post(&_lock); sem_post(&_lock);
} }
/**
* Log a message.
*
* The message is prefixed with the driver name, and followed
* by a newline.
*/
void log(const char *fmt, ...);
/**
* Print a debug message.
*
* The message is prefixed with the driver name, and followed
* by a newline.
*/
void debug(const char *fmt, ...);
private: private:
sem_t _lock; sem_t _lock;

4
src/drivers/ets_airspeed/ets_airspeed.cpp
View File

@ -161,7 +161,7 @@ ETSAirspeed::collect()
// caller could end up using this value as part of an // caller could end up using this value as part of an
// average // average
perf_count(_comms_errors); perf_count(_comms_errors);
log("zero value from sensor"); DEVICE_LOG("zero value from sensor");
return -1; return -1;
} }
@ -240,7 +240,7 @@ ETSAirspeed::cycle()
/* measurement phase */ /* measurement phase */
ret = measure(); ret = measure();
if (OK != ret) { if (OK != ret) {
debug("measure error"); DEVICE_DEBUG("measure error");
} }
_sensor_ok = (ret == OK); _sensor_ok = (ret == OK);

4
src/drivers/gimbal/gimbal.cpp
View File

@ -358,7 +358,7 @@ Gimbal::cycle()
if (_control_cmd_set) { if (_control_cmd_set) {
unsigned mountMode = _control_cmd.param7; unsigned mountMode = _control_cmd.param7;
debug("control_cmd: %d, mountMode %d | param1: %8.4f param2: %8.4f", _control_cmd.command, mountMode, (double)_control_cmd.param1, (double)_control_cmd.param2); DEVICE_DEBUG("control_cmd: %d, mountMode %d | param1: %8.4f param2: %8.4f", _control_cmd.command, mountMode, (double)_control_cmd.param1, (double)_control_cmd.param2);
if (_control_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL && if (_control_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL &&
mountMode == vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) { mountMode == vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
@ -388,7 +388,7 @@ Gimbal::cycle()
struct actuator_controls_s controls; struct actuator_controls_s controls;
// debug("publishing | roll: %8.4f pitch: %8.4f yaw: %8.4f", (double)roll, (double)pitch, (double)yaw); // DEVICE_DEBUG("publishing | roll: %8.4f pitch: %8.4f yaw: %8.4f", (double)roll, (double)pitch, (double)yaw);
/* fill in the final control values */ /* fill in the final control values */
controls.timestamp = hrt_absolute_time(); controls.timestamp = hrt_absolute_time();

2
src/drivers/gps/gps.cpp
View File

@ -279,7 +279,7 @@ GPS::task_main()
_serial_fd = ::open(_port, O_RDWR); _serial_fd = ::open(_port, O_RDWR);
if (_serial_fd < 0) { if (_serial_fd < 0) {
log("failed to open serial port: %s err: %d", _port, errno); DEVICE_LOG("failed to open serial port: %s err: %d", _port, errno);
/* tell the dtor that we are exiting, set error code */ /* tell the dtor that we are exiting, set error code */
_task = -1; _task = -1;
_exit(1); _exit(1);

24
src/drivers/hil/hil.cpp
View File

@ -237,7 +237,7 @@ HIL::init()
///* try to claim the generic PWM output device node as well - it's OK if we fail at this */ ///* try to claim the generic PWM output device node as well - it's OK if we fail at this */
//ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); //ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) { if (ret == OK) {
log("default PWM output device"); DEVICE_LOG("default PWM output device");
_primary_pwm_device = true; _primary_pwm_device = true;
} }
@ -253,7 +253,7 @@ HIL::init()
nullptr); nullptr);
if (_task < 0) { if (_task < 0) {
debug("task start failed: %d", errno); DEVICE_DEBUG("task start failed: %d", errno);
return -errno; return -errno;
} }
@ -278,42 +278,42 @@ HIL::set_mode(Mode mode)
*/ */
switch (mode) { switch (mode) {
case MODE_2PWM: case MODE_2PWM:
debug("MODE_2PWM"); DEVICE_DEBUG("MODE_2PWM");
/* multi-port with flow control lines as PWM */ /* multi-port with flow control lines as PWM */
_update_rate = 50; /* default output rate */ _update_rate = 50; /* default output rate */
_num_outputs = 2; _num_outputs = 2;
break; break;
case MODE_4PWM: case MODE_4PWM:
debug("MODE_4PWM"); DEVICE_DEBUG("MODE_4PWM");
/* multi-port as 4 PWM outs */ /* multi-port as 4 PWM outs */
_update_rate = 50; /* default output rate */ _update_rate = 50; /* default output rate */
_num_outputs = 4; _num_outputs = 4;
break; break;
case MODE_8PWM: case MODE_8PWM:
debug("MODE_8PWM"); DEVICE_DEBUG("MODE_8PWM");
/* multi-port as 8 PWM outs */ /* multi-port as 8 PWM outs */
_update_rate = 50; /* default output rate */ _update_rate = 50; /* default output rate */
_num_outputs = 8; _num_outputs = 8;
break; break;
case MODE_12PWM: case MODE_12PWM:
debug("MODE_12PWM"); DEVICE_DEBUG("MODE_12PWM");
/* multi-port as 12 PWM outs */ /* multi-port as 12 PWM outs */
_update_rate = 50; /* default output rate */ _update_rate = 50; /* default output rate */
_num_outputs = 12; _num_outputs = 12;
break; break;
case MODE_16PWM: case MODE_16PWM:
debug("MODE_16PWM"); DEVICE_DEBUG("MODE_16PWM");
/* multi-port as 16 PWM outs */ /* multi-port as 16 PWM outs */
_update_rate = 50; /* default output rate */ _update_rate = 50; /* default output rate */
_num_outputs = 16; _num_outputs = 16;
break; break;
case MODE_NONE: case MODE_NONE:
debug("MODE_NONE"); DEVICE_DEBUG("MODE_NONE");
/* disable servo outputs and set a very low update rate */ /* disable servo outputs and set a very low update rate */
_update_rate = 10; _update_rate = 10;
_num_outputs = 0; _num_outputs = 0;
@ -389,7 +389,7 @@ HIL::task_main()
break; break;
} }
log("starting"); DEVICE_LOG("starting");
/* loop until killed */ /* loop until killed */
while (!_task_should_exit) { while (!_task_should_exit) {
@ -409,7 +409,7 @@ HIL::task_main()
/* this would be bad... */ /* this would be bad... */
if (ret < 0) { if (ret < 0) {
log("poll error %d", errno); DEVICE_LOG("poll error %d", errno);
continue; continue;
} }
@ -504,7 +504,7 @@ HIL::ioctl(device::file_t *filp, int cmd, unsigned long arg)
break; break;
default: default:
ret = -ENOTTY; ret = -ENOTTY;
debug("not in a PWM mode"); DEVICE_DEBUG("not in a PWM mode");
break; break;
} }
@ -712,7 +712,7 @@ HIL::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
ret = _mixers->load_from_buf(buf, buflen); ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) { if (ret != 0) {
debug("mixer load failed with %d", ret); DEVICE_DEBUG("mixer load failed with %d", ret);
delete _mixers; delete _mixers;
_mixers = nullptr; _mixers = nullptr;
ret = -EINVAL; ret = -EINVAL;

14
src/drivers/hmc5883/hmc5883.cpp
View File

@ -418,7 +418,7 @@ HMC5883::init()
ret = CDev::init(); ret = CDev::init();
if (ret != OK) { if (ret != OK) {
debug("CDev init failed"); DEVICE_DEBUG("CDev init failed");
goto out; goto out;
} }
@ -734,7 +734,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
return check_calibration(); return check_calibration();
case MAGIOCGEXTERNAL: case MAGIOCGEXTERNAL:
debug("MAGIOCGEXTERNAL in main driver"); DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
return _interface->ioctl(cmd, dummy); return _interface->ioctl(cmd, dummy);
case MAGIOCSTEMPCOMP: case MAGIOCSTEMPCOMP:
@ -789,7 +789,7 @@ HMC5883::cycle()
/* perform collection */ /* perform collection */
if (OK != collect()) { if (OK != collect()) {
debug("collection error"); DEVICE_DEBUG("collection error");
/* restart the measurement state machine */ /* restart the measurement state machine */
start(); start();
return; return;
@ -816,7 +816,7 @@ HMC5883::cycle()
/* measurement phase */ /* measurement phase */
if (OK != measure()) if (OK != measure())
debug("measure error"); DEVICE_DEBUG("measure error");
/* next phase is collection */ /* next phase is collection */
_collect_phase = true; _collect_phase = true;
@ -886,7 +886,7 @@ HMC5883::collect()
if (ret != OK) { if (ret != OK) {
perf_count(_comms_errors); perf_count(_comms_errors);
debug("data/status read error"); DEVICE_DEBUG("data/status read error");
goto out; goto out;
} }
@ -936,7 +936,7 @@ HMC5883::collect()
and can't do temperature. Disable it and can't do temperature. Disable it
*/ */
_temperature_error_count = 0; _temperature_error_count = 0;
debug("disabling temperature compensation"); DEVICE_DEBUG("disabling temperature compensation");
set_temperature_compensation(0); set_temperature_compensation(0);
} }
} }
@ -994,7 +994,7 @@ HMC5883::collect()
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX); &_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_mag_topic == nullptr) if (_mag_topic == nullptr)
debug("ADVERT FAIL"); DEVICE_DEBUG("ADVERT FAIL");
} }
} }

4
src/drivers/hmc5883/hmc5883_i2c.cpp
View File

@ -145,7 +145,7 @@ HMC5883_I2C::probe()
if (read(ADDR_ID_A, &data[0], 1) || if (read(ADDR_ID_A, &data[0], 1) ||
read(ADDR_ID_B, &data[1], 1) || read(ADDR_ID_B, &data[1], 1) ||
read(ADDR_ID_C, &data[2], 1)) { read(ADDR_ID_C, &data[2], 1)) {
debug("read_reg fail"); DEVICE_DEBUG("read_reg fail");
return -EIO; return -EIO;
} }
@ -154,7 +154,7 @@ HMC5883_I2C::probe()
if ((data[0] != ID_A_WHO_AM_I) || if ((data[0] != ID_A_WHO_AM_I) ||
(data[1] != ID_B_WHO_AM_I) || (data[1] != ID_B_WHO_AM_I) ||
(data[2] != ID_C_WHO_AM_I)) { (data[2] != ID_C_WHO_AM_I)) {
debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]); DEVICE_DEBUG("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]);
return -EIO; return -EIO;
} }

6
src/drivers/hmc5883/hmc5883_spi.cpp
View File

@ -107,7 +107,7 @@ HMC5883_SPI::init()
ret = SPI::init(); ret = SPI::init();
if (ret != OK) { if (ret != OK) {
debug("SPI init failed"); DEVICE_DEBUG("SPI init failed");
return -EIO; return -EIO;
} }
@ -117,13 +117,13 @@ HMC5883_SPI::init()
if (read(ADDR_ID_A, &data[0], 1) || if (read(ADDR_ID_A, &data[0], 1) ||
read(ADDR_ID_B, &data[1], 1) || read(ADDR_ID_B, &data[1], 1) ||
read(ADDR_ID_C, &data[2], 1)) { read(ADDR_ID_C, &data[2], 1)) {
debug("read_reg fail"); DEVICE_DEBUG("read_reg fail");
} }
if ((data[0] != ID_A_WHO_AM_I) || if ((data[0] != ID_A_WHO_AM_I) ||
(data[1] != ID_B_WHO_AM_I) || (data[1] != ID_B_WHO_AM_I) ||
(data[2] != ID_C_WHO_AM_I)) { (data[2] != ID_C_WHO_AM_I)) {
debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]); DEVICE_DEBUG("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]);
return -EIO; return -EIO;
} }

4
src/drivers/l3gd20/l3gd20.cpp
View File

@ -493,7 +493,7 @@ L3GD20::init()
&_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT); &_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
if (_gyro_topic == nullptr) { if (_gyro_topic == nullptr) {
debug("failed to create sensor_gyro publication"); DEVICE_DEBUG("failed to create sensor_gyro publication");
} }
ret = OK; ret = OK;
@ -875,7 +875,7 @@ L3GD20::disable_i2c(void)
return; return;
} }
} }
debug("FAILED TO DISABLE I2C"); DEVICE_DEBUG("FAILED TO DISABLE I2C");
} }
void void

2
src/drivers/led/led.cpp
View File

@ -89,7 +89,7 @@ LED::~LED()
int int
LED::init() LED::init()
{ {
debug("LED::init"); DEVICE_DEBUG("LED::init");
#ifdef __PX4_NUTTX #ifdef __PX4_NUTTX
CDev::init(); CDev::init();
#else #else

12
src/drivers/ll40ls/LidarLiteI2C.cpp
View File

@ -133,7 +133,7 @@ int LidarLiteI2C::init()
&_orb_class_instance, ORB_PRIO_LOW); &_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) { if (_distance_sensor_topic == nullptr) {
debug("failed to create distance_sensor object. Did you start uOrb?"); DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
} }
} }
@ -177,7 +177,7 @@ int LidarLiteI2C::probe()
goto ok; goto ok;
} }
debug("probe failed reg11=0x%02x reg2=0x%02x\n", DEVICE_DEBUG("probe failed reg11=0x%02x reg2=0x%02x\n",
(unsigned)who_am_i, (unsigned)who_am_i,
(unsigned)max_acq_count); (unsigned)max_acq_count);
} }
@ -307,7 +307,7 @@ int LidarLiteI2C::measure()
if (OK != ret) { if (OK != ret) {
perf_count(_comms_errors); perf_count(_comms_errors);
debug("i2c::transfer returned %d", ret); DEVICE_DEBUG("i2c::transfer returned %d", ret);
// if we are getting lots of I2C transfer errors try // if we are getting lots of I2C transfer errors try
// resetting the sensor // resetting the sensor
@ -387,7 +387,7 @@ int LidarLiteI2C::collect()
read before it is ready, so only consider it read before it is ready, so only consider it
an error if more than 100ms has elapsed. an error if more than 100ms has elapsed.
*/ */
debug("error reading from sensor: %d", ret); DEVICE_DEBUG("error reading from sensor: %d", ret);
perf_count(_comms_errors); perf_count(_comms_errors);
if (perf_event_count(_comms_errors) % 10 == 0) { if (perf_event_count(_comms_errors) % 10 == 0) {
@ -488,7 +488,7 @@ void LidarLiteI2C::cycle()
/* try a collection */ /* try a collection */
if (OK != collect()) { if (OK != collect()) {
debug("collection error"); DEVICE_DEBUG("collection error");
/* if we've been waiting more than 200ms then /* if we've been waiting more than 200ms then
send a new acquire */ send a new acquire */
@ -520,7 +520,7 @@ void LidarLiteI2C::cycle()
if (_collect_phase == false) { if (_collect_phase == false) {
/* measurement phase */ /* measurement phase */
if (OK != measure()) { if (OK != measure()) {
debug("measure error"); DEVICE_DEBUG("measure error");
} else { } else {
/* next phase is collection. Don't switch to /* next phase is collection. Don't switch to

4
src/drivers/ll40ls/LidarLitePWM.cpp
View File

@ -117,7 +117,7 @@ int LidarLitePWM::init()
&_orb_class_instance, ORB_PRIO_LOW); &_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) { if (_distance_sensor_topic == nullptr) {
debug("failed to create distance_sensor object. Did you start uOrb?"); DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
} }
} }
@ -175,7 +175,7 @@ int LidarLitePWM::measure()
perf_begin(_sample_perf); perf_begin(_sample_perf);
if (OK != collect()) { if (OK != collect()) {
debug("collection error"); DEVICE_DEBUG("collection error");
perf_count(_read_errors); perf_count(_read_errors);
perf_end(_sample_perf); perf_end(_sample_perf);
return ERROR; return ERROR;

16
src/drivers/mb12xx/mb12xx.cpp
View File

@ -277,7 +277,7 @@ MB12XX::init()
&_orb_class_instance, ORB_PRIO_LOW); &_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) { if (_distance_sensor_topic == nullptr) {
log("failed to create distance_sensor object. Did you start uOrb?"); DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
} }
} }
@ -294,7 +294,7 @@ MB12XX::init()
if (ret2 == 0) { /* sonar is present -> store address_index in array */ if (ret2 == 0) { /* sonar is present -> store address_index in array */
addr_ind.push_back(_index_counter); addr_ind.push_back(_index_counter);
debug("sonar added"); DEVICE_DEBUG("sonar added");
_latest_sonar_measurements.push_back(200); _latest_sonar_measurements.push_back(200);
} }
} }
@ -312,10 +312,10 @@ MB12XX::init()
/* show the connected sonars in terminal */ /* show the connected sonars in terminal */
for (unsigned i = 0; i < addr_ind.size(); i++) { for (unsigned i = 0; i < addr_ind.size(); i++) {
log("sonar %d with address %d added", (i + 1), addr_ind[i]); DEVICE_LOG("sonar %d with address %d added", (i + 1), addr_ind[i]);
} }
debug("Number of sonars connected: %d", addr_ind.size()); DEVICE_DEBUG("Number of sonars connected: %d", addr_ind.size());
ret = OK; ret = OK;
/* sensor is ok, but we don't really know if it is within range */ /* sensor is ok, but we don't really know if it is within range */
@ -545,7 +545,7 @@ MB12XX::measure()
if (OK != ret) { if (OK != ret) {
perf_count(_comms_errors); perf_count(_comms_errors);
debug("i2c::transfer returned %d", ret); DEVICE_DEBUG("i2c::transfer returned %d", ret);
return ret; return ret;
} }
@ -567,7 +567,7 @@ MB12XX::collect()
ret = transfer(nullptr, 0, &val[0], 2); ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0) { if (ret < 0) {
debug("error reading from sensor: %d", ret); DEVICE_DEBUG("error reading from sensor: %d", ret);
perf_count(_comms_errors); perf_count(_comms_errors);
perf_end(_sample_perf); perf_end(_sample_perf);
return ret; return ret;
@ -660,7 +660,7 @@ MB12XX::cycle()
/* perform collection */ /* perform collection */
if (OK != collect()) { if (OK != collect()) {
debug("collection error"); DEVICE_DEBUG("collection error");
/* if error restart the measurement state machine */ /* if error restart the measurement state machine */
start(); start();
return; return;
@ -699,7 +699,7 @@ MB12XX::cycle()
/* Perform measurement */ /* Perform measurement */
if (OK != measure()) { if (OK != measure()) {
debug("measure error sonar adress %d", _index_counter); DEVICE_DEBUG("measure error sonar adress %d", _index_counter);
} }
/* next phase is collection */ /* next phase is collection */

2
src/drivers/meas_airspeed/meas_airspeed.cpp
View File

@ -305,7 +305,7 @@ MEASAirspeed::cycle()
/* measurement phase */ /* measurement phase */
ret = measure(); ret = measure();
if (OK != ret) { if (OK != ret) {
debug("measure error"); DEVICE_DEBUG("measure error");
} }
_sensor_ok = (ret == OK); _sensor_ok = (ret == OK);

12
src/drivers/mkblctrl/mkblctrl.cpp
View File

@ -295,7 +295,7 @@ MK::init(unsigned motors)
ret = register_driver(_device, &fops, 0666, (void *)this); ret = register_driver(_device, &fops, 0666, (void *)this);
if (ret == OK) { if (ret == OK) {
log("creating alternate output device"); DEVICE_LOG("creating alternate output device");
_primary_pwm_device = true; _primary_pwm_device = true;
} }
@ -311,7 +311,7 @@ MK::init(unsigned motors)
if (_task < 0) { if (_task < 0) {
debug("task start failed: %d", errno); DEVICE_DEBUG("task start failed: %d", errno);
return -errno; return -errno;
} }
@ -499,7 +499,7 @@ MK::task_main()
up_pwm_servo_set_rate(_update_rate); /* unnecessary ? */ up_pwm_servo_set_rate(_update_rate); /* unnecessary ? */
log("starting"); DEVICE_LOG("starting");
/* loop until killed */ /* loop until killed */
while (!_task_should_exit) { while (!_task_should_exit) {
@ -516,7 +516,7 @@ MK::task_main()
/* this would be bad... */ /* this would be bad... */
if (ret < 0) { if (ret < 0) {
log("poll error %d", errno); DEVICE_LOG("poll error %d", errno);
usleep(1000000); usleep(1000000);
continue; continue;
} }
@ -648,7 +648,7 @@ MK::task_main()
/* make sure servos are off */ /* make sure servos are off */
up_pwm_servo_deinit(); up_pwm_servo_deinit();
log("stopping"); DEVICE_LOG("stopping");
/* note - someone else is responsible for restoring the GPIO config */ /* note - someone else is responsible for restoring the GPIO config */
@ -1075,7 +1075,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = _mixers->load_from_buf(buf, buflen); ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) { if (ret != 0) {
debug("mixer load failed with %d", ret); DEVICE_DEBUG("mixer load failed with %d", ret);
delete _mixers; delete _mixers;
_mixers = nullptr; _mixers = nullptr;
ret = -EINVAL; ret = -EINVAL;

10
src/drivers/mpu6000/mpu6000.cpp
View File

@ -606,7 +606,7 @@ MPU6000::init()
/* if probe/setup failed, bail now */ /* if probe/setup failed, bail now */
if (ret != OK) { if (ret != OK) {
debug("SPI setup failed"); DEVICE_DEBUG("SPI setup failed");
return ret; return ret;
} }
@ -642,7 +642,7 @@ MPU6000::init()
ret = _gyro->init(); ret = _gyro->init();
/* if probe/setup failed, bail now */ /* if probe/setup failed, bail now */
if (ret != OK) { if (ret != OK) {
debug("gyro init failed"); DEVICE_DEBUG("gyro init failed");
return ret; return ret;
} }
@ -773,12 +773,12 @@ MPU6000::probe()
case MPU6000_REV_D8: case MPU6000_REV_D8:
case MPU6000_REV_D9: case MPU6000_REV_D9:
case MPU6000_REV_D10: case MPU6000_REV_D10:
debug("ID 0x%02x", _product); DEVICE_DEBUG("ID 0x%02x", _product);
_checked_values[0] = _product; _checked_values[0] = _product;
return OK; return OK;
} }
debug("unexpected ID 0x%02x", _product); DEVICE_DEBUG("unexpected ID 0x%02x", _product);
return -EIO; return -EIO;
} }
@ -1873,7 +1873,7 @@ MPU6000_gyro::init()
/* if probe/setup failed, bail now */ /* if probe/setup failed, bail now */
if (ret != OK) { if (ret != OK) {
debug("gyro init failed"); DEVICE_DEBUG("gyro init failed");
return ret; return ret;
} }

6
src/drivers/ms5611/ms5611_nuttx.cpp
View File

@ -266,7 +266,7 @@ MS5611::init()
ret = CDev::init(); ret = CDev::init();
if (ret != OK) { if (ret != OK) {
debug("CDev init failed"); DEVICE_DEBUG("CDev init failed");
goto out; goto out;
} }
@ -274,7 +274,7 @@ MS5611::init()
_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report)); _reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
if (_reports == nullptr) { if (_reports == nullptr) {
debug("can't get memory for reports"); DEVICE_DEBUG("can't get memory for reports");
ret = -ENOMEM; ret = -ENOMEM;
goto out; goto out;
} }
@ -562,7 +562,7 @@ MS5611::cycle()
* spam the console with a message for this. * spam the console with a message for this.
*/ */
} else { } else {
//log("collection error %d", ret); //DEVICE_LOG("collection error %d", ret);
} }
/* issue a reset command to the sensor */ /* issue a reset command to the sensor */
_interface->ioctl(IOCTL_RESET, dummy); _interface->ioctl(IOCTL_RESET, dummy);

8
src/drivers/ms5611/ms5611_posix.cpp
View File

@ -264,7 +264,7 @@ MS5611::init()
ret = VDev::init(); ret = VDev::init();
if (ret != OK) { if (ret != OK) {
debug("VDev init failed"); DEVICE_DEBUG("VDev init failed");
goto out; goto out;
} }
@ -272,7 +272,7 @@ MS5611::init()
_reports = new RingBuffer(2, sizeof(baro_report)); _reports = new RingBuffer(2, sizeof(baro_report));
if (_reports == nullptr) { if (_reports == nullptr) {
debug("can't get memory for reports"); DEVICE_DEBUG("can't get memory for reports");
ret = -ENOMEM; ret = -ENOMEM;
goto out; goto out;
} }
@ -561,7 +561,7 @@ MS5611::cycle()
* spam the console with a message for this. * spam the console with a message for this.
*/ */
} else { } else {
//log("collection error %d", ret); //DEVICE_LOG("collection error %d", ret);
} }
/* issue a reset command to the sensor */ /* issue a reset command to the sensor */
_interface->dev_ioctl(IOCTL_RESET, dummy); _interface->dev_ioctl(IOCTL_RESET, dummy);
@ -595,7 +595,7 @@ MS5611::cycle()
/* measurement phase */ /* measurement phase */
ret = measure(); ret = measure();
if (ret != OK) { if (ret != OK) {
//log("measure error %d", ret); //DEVICE_LOG("measure error %d", ret);
/* issue a reset command to the sensor */ /* issue a reset command to the sensor */
_interface->dev_ioctl(IOCTL_RESET, dummy); _interface->dev_ioctl(IOCTL_RESET, dummy);
/* reset the collection state machine and try again */ /* reset the collection state machine and try again */

13
src/drivers/ms5611/ms5611_spi.cpp
View File

@ -44,7 +44,6 @@
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#include <assert.h> #include <assert.h>
//#include <debug.h>
#include <errno.h> #include <errno.h>
#include <unistd.h> #include <unistd.h>
@ -146,21 +145,21 @@ MS5611_SPI::init()
ret = SPI::init(); ret = SPI::init();
if (ret != OK) { if (ret != OK) {
debug("SPI init failed"); DEVICE_DEBUG("SPI init failed");
goto out; goto out;
} }
/* send reset command */ /* send reset command */
ret = _reset(); ret = _reset();
if (ret != OK) { if (ret != OK) {
debug("reset failed"); DEVICE_DEBUG("reset failed");
goto out; goto out;
} }
/* read PROM */ /* read PROM */
ret = _read_prom(); ret = _read_prom();
if (ret != OK) { if (ret != OK) {
debug("prom readout failed"); DEVICE_DEBUG("prom readout failed");
goto out; goto out;
} }
@ -251,16 +250,16 @@ MS5611_SPI::_read_prom()
_prom.c[i] = _reg16(cmd); _prom.c[i] = _reg16(cmd);
if (_prom.c[i] != 0) if (_prom.c[i] != 0)
all_zero = false; all_zero = false;
//debug("prom[%u]=0x%x", (unsigned)i, (unsigned)_prom.c[i]); //DEVICE_DEBUG("prom[%u]=0x%x", (unsigned)i, (unsigned)_prom.c[i]);
} }
/* calculate CRC and return success/failure accordingly */ /* calculate CRC and return success/failure accordingly */
int ret = ms5611::crc4(&_prom.c[0]) ? OK : -EIO; int ret = ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
if (ret != OK) { if (ret != OK) {
debug("crc failed"); DEVICE_DEBUG("crc failed");
} }
if (all_zero) { if (all_zero) {
debug("prom all zero"); DEVICE_DEBUG("prom all zero");
ret = -EIO; ret = -EIO;
} }
return ret; return ret;

4
src/drivers/oreoled/oreoled.cpp
View File

@ -202,10 +202,10 @@ OREOLED::info()
/* print health info on each LED */ /* print health info on each LED */
for (uint8_t i = 0; i < OREOLED_NUM_LEDS; i++) { for (uint8_t i = 0; i < OREOLED_NUM_LEDS; i++) {
if (!_healthy[i]) { if (!_healthy[i]) {
log("oreo %u: BAD", (int)i); DEVICE_LOG("oreo %u: BAD", (int)i);
} else { } else {
log("oreo %u: OK", (int)i); DEVICE_LOG("oreo %u: OK", (int)i);
} }
} }

8
src/drivers/pca9685/pca9685.cpp
View File

@ -326,7 +326,7 @@ PCA9685::i2cpwm()
* the control[i] values are on the range -1 ... 1 */ * the control[i] values are on the range -1 ... 1 */
uint16_t new_value = PCA9685_PWMCENTER + uint16_t new_value = PCA9685_PWMCENTER +
(_actuator_controls.control[i] * M_PI_F * PCA9685_SCALE); (_actuator_controls.control[i] * M_PI_F * PCA9685_SCALE);
debug("%d: current: %u, new %u, control %.2f", i, _current_values[i], new_value, DEVICE_DEBUG("%d: current: %u, new %u, control %.2f", i, _current_values[i], new_value,
(double)_actuator_controls.control[i]); (double)_actuator_controls.control[i]);
if (new_value != _current_values[i] && if (new_value != _current_values[i] &&
isfinite(new_value) && isfinite(new_value) &&
@ -368,7 +368,7 @@ PCA9685::setPWM(uint8_t num, uint16_t on, uint16_t off)
if (OK != ret) { if (OK != ret) {
perf_count(_comms_errors); perf_count(_comms_errors);
log("i2c::transfer returned %d", ret); DEVICE_LOG("i2c::transfer returned %d", ret);
} }
return ret; return ret;
@ -469,7 +469,7 @@ PCA9685::read8(uint8_t addr, uint8_t &value)
fail_read: fail_read:
perf_count(_comms_errors); perf_count(_comms_errors);
log("i2c::transfer returned %d", ret); DEVICE_LOG("i2c::transfer returned %d", ret);
return ret; return ret;
} }
@ -489,7 +489,7 @@ PCA9685::write8(uint8_t addr, uint8_t value) {
ret = transfer(_msg, 2, nullptr, 0); ret = transfer(_msg, 2, nullptr, 0);
if (ret != OK) { if (ret != OK) {
perf_count(_comms_errors); perf_count(_comms_errors);
log("i2c::transfer returned %d", ret); DEVICE_LOG("i2c::transfer returned %d", ret);
} }
return ret; return ret;
} }

10
src/drivers/px4flow/px4flow.cpp
View File

@ -245,7 +245,7 @@ PX4FLOW::init()
&_orb_class_instance, ORB_PRIO_HIGH); &_orb_class_instance, ORB_PRIO_HIGH);
if (_distance_sensor_topic == nullptr) { if (_distance_sensor_topic == nullptr) {
log("failed to create distance_sensor object. Did you start uOrb?"); DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
} }
} }
@ -452,7 +452,7 @@ PX4FLOW::measure()
if (OK != ret) { if (OK != ret) {
perf_count(_comms_errors); perf_count(_comms_errors);
debug("i2c::transfer returned %d", ret); DEVICE_DEBUG("i2c::transfer returned %d", ret);
return ret; return ret;
} }
@ -480,7 +480,7 @@ PX4FLOW::collect()
} }
if (ret < 0) { if (ret < 0) {
debug("error reading from sensor: %d", ret); DEVICE_DEBUG("error reading from sensor: %d", ret);
perf_count(_comms_errors); perf_count(_comms_errors);
perf_end(_sample_perf); perf_end(_sample_perf);
return ret; return ret;
@ -598,12 +598,12 @@ void
PX4FLOW::cycle() PX4FLOW::cycle()
{ {
if (OK != measure()) { if (OK != measure()) {
debug("measure error"); DEVICE_DEBUG("measure error");
} }
/* perform collection */ /* perform collection */
if (OK != collect()) { if (OK != collect()) {
debug("collection error"); DEVICE_DEBUG("collection error");
/* restart the measurement state machine */ /* restart the measurement state machine */
start(); start();
return; return;

28
src/drivers/px4fmu/fmu.cpp
View File

@ -359,7 +359,7 @@ PX4FMU::init()
nullptr); nullptr);
if (_task < 0) { if (_task < 0) {
debug("task start failed: %d", errno); DEVICE_DEBUG("task start failed: %d", errno);
return -errno; return -errno;
} }
@ -384,7 +384,7 @@ PX4FMU::set_mode(Mode mode)
*/ */
switch (mode) { switch (mode) {
case MODE_2PWM: // v1 multi-port with flow control lines as PWM case MODE_2PWM: // v1 multi-port with flow control lines as PWM
debug("MODE_2PWM"); DEVICE_DEBUG("MODE_2PWM");
/* default output rates */ /* default output rates */
_pwm_default_rate = 50; _pwm_default_rate = 50;
@ -398,7 +398,7 @@ PX4FMU::set_mode(Mode mode)
break; break;
case MODE_4PWM: // v1 multi-port as 4 PWM outs case MODE_4PWM: // v1 multi-port as 4 PWM outs
debug("MODE_4PWM"); DEVICE_DEBUG("MODE_4PWM");
/* default output rates */ /* default output rates */
_pwm_default_rate = 50; _pwm_default_rate = 50;
@ -412,7 +412,7 @@ PX4FMU::set_mode(Mode mode)
break; break;
case MODE_6PWM: // v2 PWMs as 6 PWM outs case MODE_6PWM: // v2 PWMs as 6 PWM outs
debug("MODE_6PWM"); DEVICE_DEBUG("MODE_6PWM");
/* default output rates */ /* default output rates */
_pwm_default_rate = 50; _pwm_default_rate = 50;
@ -427,7 +427,7 @@ PX4FMU::set_mode(Mode mode)
#ifdef CONFIG_ARCH_BOARD_AEROCORE #ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
debug("MODE_8PWM"); DEVICE_DEBUG("MODE_8PWM");
/* default output rates */ /* default output rates */
_pwm_default_rate = 50; _pwm_default_rate = 50;
_pwm_alt_rate = 50; _pwm_alt_rate = 50;
@ -440,7 +440,7 @@ PX4FMU::set_mode(Mode mode)
#endif #endif
case MODE_NONE: case MODE_NONE:
debug("MODE_NONE"); DEVICE_DEBUG("MODE_NONE");
_pwm_default_rate = 10; /* artificially reduced output rate */ _pwm_default_rate = 10; /* artificially reduced output rate */
_pwm_alt_rate = 10; _pwm_alt_rate = 10;
@ -462,7 +462,7 @@ PX4FMU::set_mode(Mode mode)
int int
PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate) PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate)
{ {
debug("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate); DEVICE_DEBUG("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate);
for (unsigned pass = 0; pass < 2; pass++) { for (unsigned pass = 0; pass < 2; pass++) {
for (unsigned group = 0; group < _max_actuators; group++) { for (unsigned group = 0; group < _max_actuators; group++) {
@ -536,11 +536,11 @@ PX4FMU::subscribe()
_poll_fds_num = 0; _poll_fds_num = 0;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) { if (sub_groups & (1 << i)) {
debug("subscribe to actuator_controls_%d", i); DEVICE_DEBUG("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]); _control_subs[i] = orb_subscribe(_control_topics[i]);
} }
if (unsub_groups & (1 << i)) { if (unsub_groups & (1 << i)) {
debug("unsubscribe from actuator_controls_%d", i); DEVICE_DEBUG("unsubscribe from actuator_controls_%d", i);
::close(_control_subs[i]); ::close(_control_subs[i]);
_control_subs[i] = -1; _control_subs[i] = -1;
} }
@ -646,7 +646,7 @@ PX4FMU::task_main()
update_rate_in_ms = 100; update_rate_in_ms = 100;
} }
debug("adjusted actuator update interval to %ums", update_rate_in_ms); DEVICE_DEBUG("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) { if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms); orb_set_interval(_control_subs[i], update_rate_in_ms);
@ -663,7 +663,7 @@ PX4FMU::task_main()
/* this would be bad... */ /* this would be bad... */
if (ret < 0) { if (ret < 0) {
log("poll error %d", errno); DEVICE_LOG("poll error %d", errno);
continue; continue;
} else if (ret == 0) { } else if (ret == 0) {
@ -815,7 +815,7 @@ PX4FMU::task_main()
/* make sure servos are off */ /* make sure servos are off */
up_pwm_servo_deinit(); up_pwm_servo_deinit();
log("stopping"); DEVICE_LOG("stopping");
/* note - someone else is responsible for restoring the GPIO config */ /* note - someone else is responsible for restoring the GPIO config */
@ -888,7 +888,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
break; break;
default: default:
debug("not in a PWM mode"); DEVICE_DEBUG("not in a PWM mode");
break; break;
} }
@ -1309,7 +1309,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = _mixers->load_from_buf(buf, buflen); ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) { if (ret != 0) {
debug("mixer load failed with %d", ret); DEVICE_DEBUG("mixer load failed with %d", ret);
delete _mixers; delete _mixers;
_mixers = nullptr; _mixers = nullptr;
_groups_required = 0; _groups_required = 0;

36
src/drivers/px4io/px4io.cpp
View File

@ -592,10 +592,10 @@ PX4IO::detect()
if (protocol != PX4IO_PROTOCOL_VERSION) { if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) { if (protocol == _io_reg_get_error) {
log("IO not installed"); DEVICE_LOG("IO not installed");
} else { } else {
log("IO version error"); DEVICE_LOG("IO version error");
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!"); mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
} }
@ -603,7 +603,7 @@ PX4IO::detect()
} }
} }
log("IO found"); DEVICE_LOG("IO found");
return 0; return 0;
} }
@ -667,7 +667,7 @@ PX4IO::init()
(_max_transfer < 16) || (_max_transfer > 255) || (_max_transfer < 16) || (_max_transfer > 255) ||
(_max_rc_input < 1) || (_max_rc_input > 255)) { (_max_rc_input < 1) || (_max_rc_input > 255)) {
log("config read error"); DEVICE_LOG("config read error");
mavlink_log_emergency(_mavlink_fd, "[IO] config read fail, abort."); mavlink_log_emergency(_mavlink_fd, "[IO] config read fail, abort.");
return -1; return -1;
} }
@ -796,7 +796,7 @@ PX4IO::init()
/* re-send if necessary */ /* re-send if necessary */
if (!safety.armed) { if (!safety.armed) {
orb_publish(ORB_ID(vehicle_command), pub, &cmd); orb_publish(ORB_ID(vehicle_command), pub, &cmd);
log("re-sending arm cmd"); DEVICE_LOG("re-sending arm cmd");
} }
/* keep waiting for state change for 2 s */ /* keep waiting for state change for 2 s */
@ -822,7 +822,7 @@ PX4IO::init()
ret = io_disable_rc_handling(); ret = io_disable_rc_handling();
if (ret != OK) { if (ret != OK) {
log("failed disabling RC handling"); DEVICE_LOG("failed disabling RC handling");
return ret; return ret;
} }
@ -851,7 +851,7 @@ PX4IO::init()
ret = register_driver(PWM_OUTPUT0_DEVICE_PATH, &fops, 0666, (void *)this); ret = register_driver(PWM_OUTPUT0_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) { if (ret == OK) {
log("default PWM output device"); DEVICE_LOG("default PWM output device");
_primary_pwm_device = true; _primary_pwm_device = true;
} }
@ -864,7 +864,7 @@ PX4IO::init()
nullptr); nullptr);
if (_task < 0) { if (_task < 0) {
debug("task start failed: %d", errno); DEVICE_DEBUG("task start failed: %d", errno);
return -errno; return -errno;
} }
@ -1162,7 +1162,7 @@ PX4IO::task_main()
unlock(); unlock();
out: out:
debug("exiting"); DEVICE_DEBUG("exiting");
/* clean up the alternate device node */ /* clean up the alternate device node */
if (_primary_pwm_device) if (_primary_pwm_device)
@ -1473,7 +1473,7 @@ PX4IO::io_set_rc_config()
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE); ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
if (ret != OK) { if (ret != OK) {
log("rc config upload failed"); DEVICE_LOG("rc config upload failed");
break; break;
} }
@ -1851,14 +1851,14 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned
{ {
/* range check the transfer */ /* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) { if (num_values > ((_max_transfer) / sizeof(*values))) {
debug("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2); DEVICE_DEBUG("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL; return -EINVAL;
} }
int ret = _interface->write((page << 8) | offset, (void *)values, num_values); int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
if (ret != (int)num_values) { if (ret != (int)num_values) {
debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret); DEVICE_DEBUG("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret);
return -1; return -1;
} }
@ -1876,14 +1876,14 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v
{ {
/* range check the transfer */ /* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) { if (num_values > ((_max_transfer) / sizeof(*values))) {
debug("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2); DEVICE_DEBUG("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL; return -EINVAL;
} }
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values); int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
if (ret != (int)num_values) { if (ret != (int)num_values) {
debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret); DEVICE_DEBUG("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret);
return -1; return -1;
} }
@ -2030,7 +2030,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
} }
if (ret) { if (ret) {
log("mixer send error %d", ret); DEVICE_LOG("mixer send error %d", ret);
return ret; return ret;
} }
@ -2060,7 +2060,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
retries--; retries--;
log("mixer sent"); DEVICE_LOG("mixer sent");
} while (retries > 0 && (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK))); } while (retries > 0 && (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)));
@ -2070,7 +2070,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
return 0; return 0;
} }
log("mixer rejected by IO"); DEVICE_LOG("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail"); mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
/* load must have failed for some reason */ /* load must have failed for some reason */
@ -2702,7 +2702,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
if (ret != OK) if (ret != OK)
return ret; return ret;
if (io_crc != arg) { if (io_crc != arg) {
debug("crc mismatch 0x%08x 0x%08x", (unsigned)io_crc, arg); DEVICE_DEBUG("crc mismatch 0x%08x 0x%08x", (unsigned)io_crc, arg);
return -EINVAL; return -EINVAL;
} }
break; break;

4
src/drivers/rgbled/rgbled.cpp
View File

@ -212,8 +212,8 @@ RGBLED::info()
if (ret == OK) { if (ret == OK) {
/* we don't care about power-save mode */ /* we don't care about power-save mode */
log("state: %s", on ? "ON" : "OFF"); DEVICE_LOG("state: %s", on ? "ON" : "OFF");
log("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b); DEVICE_LOG("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b);
} else { } else {
warnx("failed to read led"); warnx("failed to read led");

12
src/drivers/sf0x/sf0x.cpp
View File

@ -301,7 +301,7 @@ SF0X::init()
&_orb_class_instance, ORB_PRIO_HIGH); &_orb_class_instance, ORB_PRIO_HIGH);
if (_distance_sensor_topic == nullptr) { if (_distance_sensor_topic == nullptr) {
log("failed to create distance_sensor object. Did you start uOrb?"); DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
} }
} }
@ -532,7 +532,7 @@ SF0X::measure()
if (ret != sizeof(cmd)) { if (ret != sizeof(cmd)) {
perf_count(_comms_errors); perf_count(_comms_errors);
log("write fail %d", ret); DEVICE_LOG("write fail %d", ret);
return ret; return ret;
} }
@ -559,7 +559,7 @@ SF0X::collect()
ret = ::read(_fd, &readbuf[0], readlen); ret = ::read(_fd, &readbuf[0], readlen);
if (ret < 0) { if (ret < 0) {
debug("read err: %d", ret); DEVICE_DEBUG("read err: %d", ret);
perf_count(_comms_errors); perf_count(_comms_errors);
perf_end(_sample_perf); perf_end(_sample_perf);
@ -589,7 +589,7 @@ SF0X::collect()
return -EAGAIN; return -EAGAIN;
} }
debug("val (float): %8.4f, raw: %s, valid: %s", (double)distance_m, _linebuf, ((valid) ? "OK" : "NO")); DEVICE_DEBUG("val (float): %8.4f, raw: %s, valid: %s", (double)distance_m, _linebuf, ((valid) ? "OK" : "NO"));
struct distance_sensor_s report; struct distance_sensor_s report;
@ -689,7 +689,7 @@ SF0X::cycle()
/* we know the sensor needs about four seconds to initialize */ /* we know the sensor needs about four seconds to initialize */
if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) { if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) {
log("collection error #%u", _consecutive_fail_count); DEVICE_LOG("collection error #%u", _consecutive_fail_count);
} }
_consecutive_fail_count++; _consecutive_fail_count++;
@ -722,7 +722,7 @@ SF0X::cycle()
/* measurement phase */ /* measurement phase */
if (OK != measure()) { if (OK != measure()) {
log("measure error"); DEVICE_LOG("measure error");
} }
/* next phase is collection */ /* next phase is collection */

6
src/drivers/stm32/adc/adc.cpp
View File

@ -233,13 +233,13 @@ ADC::init()
/* don't wait for more than 500us, since that means something broke - should reset here if we see this */ /* don't wait for more than 500us, since that means something broke - should reset here if we see this */
if ((hrt_absolute_time() - now) > 500) { if ((hrt_absolute_time() - now) > 500) {
log("sample timeout"); DEVICE_LOG("sample timeout");
return -1; return -1;
} }
} }
debug("init done"); DEVICE_DEBUG("init done");
/* create the device node */ /* create the device node */
return CDev::init(); return CDev::init();
@ -356,7 +356,7 @@ ADC::_sample(unsigned channel)
/* don't wait for more than 50us, since that means something broke - should reset here if we see this */ /* don't wait for more than 50us, since that means something broke - should reset here if we see this */
if ((hrt_absolute_time() - now) > 50) { if ((hrt_absolute_time() - now) > 50) {
log("sample timeout"); DEVICE_LOG("sample timeout");
return 0xffff; return 0xffff;
} }
} }

6
src/drivers/stm32/tone_alarm/tone_alarm.cpp
View File

@ -398,7 +398,7 @@ ToneAlarm::init()
/* make sure the timer is running */ /* make sure the timer is running */
rCR1 = GTIM_CR1_CEN; rCR1 = GTIM_CR1_CEN;
debug("ready"); DEVICE_DEBUG("ready");
return OK; return OK;
} }
@ -741,14 +741,14 @@ ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
{ {
int result = OK; int result = OK;
debug("ioctl %i %u", cmd, arg); DEVICE_DEBUG("ioctl %i %u", cmd, arg);
// irqstate_t flags = irqsave(); // irqstate_t flags = irqsave();
/* decide whether to increase the alarm level to cmd or leave it alone */ /* decide whether to increase the alarm level to cmd or leave it alone */
switch (cmd) { switch (cmd) {
case TONE_SET_ALARM: case TONE_SET_ALARM:
debug("TONE_SET_ALARM %u", arg); DEVICE_DEBUG("TONE_SET_ALARM %u", arg);
if (arg < TONE_NUMBER_OF_TUNES) { if (arg < TONE_NUMBER_OF_TUNES) {
if (arg == TONE_STOP_TUNE) { if (arg == TONE_STOP_TUNE) {

12
src/drivers/trone/trone.cpp
View File

@ -304,7 +304,7 @@ TRONE::init()
&_orb_class_instance, ORB_PRIO_LOW); &_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) { if (_distance_sensor_topic == nullptr) {
log("failed to create distance_sensor object. Did you start uOrb?"); DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
} }
} }
@ -332,7 +332,7 @@ TRONE::probe()
} }
} }
debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n", DEVICE_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
(unsigned)who_am_i, (unsigned)who_am_i,
TRONE_WHO_AM_I_REG_VAL); TRONE_WHO_AM_I_REG_VAL);
@ -551,7 +551,7 @@ TRONE::measure()
if (OK != ret) { if (OK != ret) {
perf_count(_comms_errors); perf_count(_comms_errors);
log("i2c::transfer returned %d", ret); DEVICE_LOG("i2c::transfer returned %d", ret);
return ret; return ret;
} }
@ -573,7 +573,7 @@ TRONE::collect()
ret = transfer(nullptr, 0, &val[0], 3); ret = transfer(nullptr, 0, &val[0], 3);
if (ret < 0) { if (ret < 0) {
log("error reading from sensor: %d", ret); DEVICE_LOG("error reading from sensor: %d", ret);
perf_count(_comms_errors); perf_count(_comms_errors);
perf_end(_sample_perf); perf_end(_sample_perf);
return ret; return ret;
@ -665,7 +665,7 @@ TRONE::cycle()
/* perform collection */ /* perform collection */
if (OK != collect()) { if (OK != collect()) {
log("collection error"); DEVICE_LOG("collection error");
/* restart the measurement state machine */ /* restart the measurement state machine */
start(); start();
return; return;
@ -691,7 +691,7 @@ TRONE::cycle()
/* measurement phase */ /* measurement phase */
if (OK != measure()) { if (OK != measure()) {
log("measure error"); DEVICE_LOG("measure error");
} }
/* next phase is collection */ /* next phase is collection */

6
src/modules/uavcan/sensors/baro.cpp
View File

@ -67,14 +67,14 @@ int UavcanBarometerBridge::init()
res = _sub_air_pressure_data.start(AirPressureCbBinder(this, &UavcanBarometerBridge::air_pressure_sub_cb)); res = _sub_air_pressure_data.start(AirPressureCbBinder(this, &UavcanBarometerBridge::air_pressure_sub_cb));
if (res < 0) { if (res < 0) {
log("failed to start uavcan sub: %d", res); DEVICE_LOG("failed to start uavcan sub: %d", res);
return res; return res;
} }
res = _sub_air_temperature_data.start(AirTemperatureCbBinder(this, &UavcanBarometerBridge::air_temperature_sub_cb)); res = _sub_air_temperature_data.start(AirTemperatureCbBinder(this, &UavcanBarometerBridge::air_temperature_sub_cb));
if (res < 0) { if (res < 0) {
log("failed to start uavcan sub: %d", res); DEVICE_LOG("failed to start uavcan sub: %d", res);
return res; return res;
} }
@ -111,7 +111,7 @@ int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL; return -EINVAL;
} else { } else {
log("new msl pressure %u", _msl_pressure); DEVICE_LOG("new msl pressure %u", _msl_pressure);
_msl_pressure = arg; _msl_pressure = arg;
return OK; return OK;
} }

2
src/modules/uavcan/sensors/mag.cpp
View File

@ -61,7 +61,7 @@ int UavcanMagnetometerBridge::init()
res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb)); res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
if (res < 0) { if (res < 0) {
log("failed to start uavcan sub: %d", res); DEVICE_LOG("failed to start uavcan sub: %d", res);
return res; return res;
} }
return 0; return 0;

10
src/modules/uavcan/sensors/sensor_bridge.cpp
View File

@ -85,7 +85,7 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
return; // Give up immediately - saves some CPU time return; // Give up immediately - saves some CPU time
} }
log("adding channel %d...", node_id); DEVICE_LOG("adding channel %d...", node_id);
// Search for the first free channel // Search for the first free channel
for (unsigned i = 0; i < _max_channels; i++) { for (unsigned i = 0; i < _max_channels; i++) {
@ -98,7 +98,7 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
// No free channels left // No free channels left
if (channel == nullptr) { if (channel == nullptr) {
_out_of_channels = true; _out_of_channels = true;
log("out of channels"); DEVICE_LOG("out of channels");
return; return;
} }
@ -109,7 +109,7 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
const int class_instance = register_class_devname(_class_devname); const int class_instance = register_class_devname(_class_devname);
if (class_instance < 0 || class_instance >= int(_max_channels)) { if (class_instance < 0 || class_instance >= int(_max_channels)) {
_out_of_channels = true; _out_of_channels = true;
log("out of class instances"); DEVICE_LOG("out of class instances");
(void)unregister_class_devname(_class_devname, class_instance); (void)unregister_class_devname(_class_devname, class_instance);
return; return;
} }
@ -120,13 +120,13 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_HIGH); channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_HIGH);
if (channel->orb_advert == nullptr) { if (channel->orb_advert == nullptr) {
log("ADVERTISE FAILED"); DEVICE_LOG("ADVERTISE FAILED");
(void)unregister_class_devname(_class_devname, class_instance); (void)unregister_class_devname(_class_devname, class_instance);
*channel = Channel(); *channel = Channel();
return; return;
} }
log("channel %d class instance %d ok", channel->node_id, channel->class_instance); DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->class_instance);
} }
assert(channel != nullptr); assert(channel != nullptr);

2
src/modules/uavcan/uavcan_main.cpp
View File

@ -489,7 +489,7 @@ int UavcanNode::run()
// this would be bad... // this would be bad...
if (poll_ret < 0) { if (poll_ret < 0) {
log("poll error %d", errno); DEVICE_LOG("poll error %d", errno);
continue; continue;
} else { } else {

2
src/platforms/posix/drivers/adcsim/adcsim.cpp
View File

@ -150,7 +150,7 @@ ADCSIM::~ADCSIM()
int int
ADCSIM::init() ADCSIM::init()
{ {
debug("init done"); DEVICE_DEBUG("init done");
/* create the device node */ /* create the device node */
return VDev::init(); return VDev::init();

8
src/platforms/posix/drivers/barosim/baro.cpp
View File

@ -250,11 +250,11 @@ int
BAROSIM::init() BAROSIM::init()
{ {
int ret; int ret;
debug("BAROSIM::init"); DEVICE_DEBUG("BAROSIM::init");
ret = VDev::init(); ret = VDev::init();
if (ret != OK) { if (ret != OK) {
debug("VDev init failed"); DEVICE_DEBUG("VDev init failed");
goto out; goto out;
} }
@ -262,7 +262,7 @@ BAROSIM::init()
_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report)); _reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
if (_reports == nullptr) { if (_reports == nullptr) {
debug("can't get memory for reports"); DEVICE_DEBUG("can't get memory for reports");
ret = -ENOMEM; ret = -ENOMEM;
goto out; goto out;
} }
@ -576,7 +576,7 @@ BAROSIM::cycle()
/* measurement phase */ /* measurement phase */
ret = measure(); ret = measure();
if (ret != OK) { if (ret != OK) {
//log("measure error %d", ret); //DEVICE_LOG("measure error %d", ret);
/* issue a reset command to the sensor */ /* issue a reset command to the sensor */
_interface->dev_ioctl(IOCTL_RESET, dummy); _interface->dev_ioctl(IOCTL_RESET, dummy);
/* reset the collection state machine and try again */ /* reset the collection state machine and try again */

4
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
View File

@ -457,7 +457,7 @@ GYROSIM::init()
ret = _gyro->init(); ret = _gyro->init();
/* if probe/setup failed, bail now */ /* if probe/setup failed, bail now */
if (ret != OK) { if (ret != OK) {
debug("gyro init failed"); DEVICE_DEBUG("gyro init failed");
return ret; return ret;
} }
@ -1175,7 +1175,7 @@ GYROSIM_gyro::init()
/* if probe/setup failed, bail now */ /* if probe/setup failed, bail now */
if (ret != OK) { if (ret != OK) {
debug("gyro init failed"); DEVICE_DEBUG("gyro init failed");
return ret; return ret;
} }

4
src/platforms/posix/drivers/tonealrmsim/tone_alarm.cpp
View File

@ -260,7 +260,7 @@ ToneAlarm::init()
if (ret != OK) if (ret != OK)
return ret; return ret;
debug("ready"); DEVICE_DEBUG("ready");
return OK; return OK;
} }
@ -599,7 +599,7 @@ ToneAlarm::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{ {
int result = OK; int result = OK;
debug("ioctl %i %u", cmd, arg); DEVICE_DEBUG("ioctl %i %lu", cmd, arg);
// irqstate_t flags = irqsave(); // irqstate_t flags = irqsave();

19
src/platforms/px4_log.h
View File

@ -87,6 +87,7 @@ __EXPORT extern int __px4_log_level_current;
* Additional behavior can be added using "{\" for __px4__log_startline and * Additional behavior can be added using "{\" for __px4__log_startline and
* "}" for __px4__log_endline and any other required setup or teardown steps * "}" for __px4__log_endline and any other required setup or teardown steps
****************************************************************************/ ****************************************************************************/
#define __px4__log_startcond(cond) if (cond) printf(
#define __px4__log_startline(level) if (level <= __px4_log_level_current) printf( #define __px4__log_startline(level) if (level <= __px4_log_level_current) printf(
#define __px4__log_timestamp_fmt "%-10" PRIu64 " " #define __px4__log_timestamp_fmt "%-10" PRIu64 " "
@ -112,6 +113,22 @@ __EXPORT extern int __px4_log_level_current;
****************************************************************************/ ****************************************************************************/
#define __px4_log_omit(level, FMT, ...) do_nothing(level, ##__VA_ARGS__) #define __px4_log_omit(level, FMT, ...) do_nothing(level, ##__VA_ARGS__)
/****************************************************************************
* __px4_log_named_cond:
* Convert a message in the form:
* PX4_LOG_COND(__dbg_enabled, "val is %d", val);
* to
* printf("%-5s val is %d\n", "LOG", val);
* if the first arg/condition is true.
****************************************************************************/
#define __px4_log_named_cond(name, cond, FMT, ...) \
__px4__log_startcond(cond)\
"%s " \
FMT\
__px4__log_end_fmt \
,name, ##__VA_ARGS__\
__px4__log_endline
/**************************************************************************** /****************************************************************************
* __px4_log: * __px4_log:
* Convert a message in the form: * Convert a message in the form:
@ -305,5 +322,7 @@ __EXPORT extern int __px4_log_level_current;
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__) #define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#endif #endif
#define PX4_LOG_NAMED(name, FMT, ...) __px4_log_named_cond(name, true, FMT, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) __px4_log_named_cond(name, cond, FMT, ##__VA_ARGS__)
__END_DECLS __END_DECLS
#endif #endif

4
src/platforms/px4_workqueue.h
View File

@ -47,6 +47,10 @@
#include <queue.h> #include <queue.h>
#include <px4_platform_types.h> #include <px4_platform_types.h>
#ifdef __PX4_QURT
#include <dspal_types.h>
#endif
__BEGIN_DECLS __BEGIN_DECLS
#define HPWORK 0 #define HPWORK 0