AP_InertialSensor: Console output can be disabled

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -1166,7 +1166,7 @@ AP_InertialSensor::detect_backends(void)
         #if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
         ADD_BACKEND(AP_InertialSensor_NONE::detect(*this, INS_NONE_SENSOR_A));
         #else
-        hal.console->printf("INS: unable to initialise driver\n");
+        DEV_PRINTF("INS: unable to initialise driver\n");
         GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "INS: unable to initialise driver");
         AP_BoardConfig::config_error("INS: unable to initialise driver");
         #endif
@@ -1446,7 +1446,7 @@ AP_InertialSensor::_init_gyro()
     AP_Notify::flags.initialising = true;
 
     // cold start
-    hal.console->printf("Init Gyro");
+    DEV_PRINTF("Init Gyro");
 
     /*
       we do the gyro calibration with no board rotation. This avoids
@@ -1497,7 +1497,7 @@ AP_InertialSensor::_init_gyro()
 
         memset(diff_norm, 0, sizeof(diff_norm));
 
-        hal.console->printf("*");
+        DEV_PRINTF("*");
 
         for (uint8_t k=0; k<num_gyros; k++) {
             gyro_sum[k].zero();
@@ -1550,10 +1550,10 @@ AP_InertialSensor::_init_gyro()
 
     // we've kept the user waiting long enough - use the best pair we
     // found so far
-    hal.console->printf("\n");
+    DEV_PRINTF("\n");
     for (uint8_t k=0; k<num_gyros; k++) {
         if (!converged[k]) {
-            hal.console->printf("gyro[%u] did not converge: diff=%f dps (expected < %f)\n",
+            DEV_PRINTF("gyro[%u] did not converge: diff=%f dps (expected < %f)\n",
                                 (unsigned)k,
                                 (double)ToDeg(best_diff[k]),
                                 (double)GYRO_INIT_MAX_DIFF_DPS);
@@ -2164,7 +2164,7 @@ void AP_InertialSensor::_acal_save_calibrations()
     if (fabsf(_trim_rad.x) > radians(HAL_INS_TRIM_LIMIT_DEG) ||
         fabsf(_trim_rad.y) > radians(HAL_INS_TRIM_LIMIT_DEG) ||
         fabsf(_trim_rad.z) > radians(HAL_INS_TRIM_LIMIT_DEG)) {
-        hal.console->printf("ERR: Trim over maximum of %.1f degrees!!", float(HAL_INS_TRIM_LIMIT_DEG));
+        DEV_PRINTF("ERR: Trim over maximum of %.1f degrees!!", float(HAL_INS_TRIM_LIMIT_DEG));
         _new_trim = false;  //we have either got faulty level during acal or highly misaligned accelerometers
     }
 
@@ -2302,7 +2302,7 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
 
         memset(diff_norm, 0, sizeof(diff_norm));
 
-        hal.console->printf("*");
+        DEV_PRINTF("*");
 
         for (uint8_t k=0; k<num_accels; k++) {
             accel_sum[k].zero();
@@ -2350,7 +2350,7 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
     _board_orientation = saved_orientation;
 
     if (result == MAV_RESULT_ACCEPTED) {
-        hal.console->printf("\nPASSED\n");
+        DEV_PRINTF("\nPASSED\n");
         for (uint8_t k=0; k<num_accels; k++) {
             // remove rotated gravity
             new_accel_offset[k] -= rotated_gravity;
@@ -2366,7 +2366,7 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
         // force trim to zero
         AP::ahrs().set_trim(Vector3f(0, 0, 0));
     } else {
-        hal.console->printf("\nFAILED\n");
+        DEV_PRINTF("\nFAILED\n");
         // restore old values
         for (uint8_t k=0; k<num_accels; k++) {
             _accel_offset[k] = saved_offsets[k];

libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp

@@ -161,7 +161,7 @@ bool AP_InertialSensor_BMI055::accel_init()
         goto failed;
     }
 
-    hal.console->printf("BMI055: found accel\n");
+    DEV_PRINTF("BMI055: found accel\n");
 
     dev_accel->get_semaphore()->give();
     return true;
@@ -215,7 +215,7 @@ bool AP_InertialSensor_BMI055::gyro_init()
         goto failed;
     }
 
-    hal.console->printf("BMI055: found gyro\n");    
+    DEV_PRINTF("BMI055: found gyro\n");    
 
     dev_gyro->get_semaphore()->give();
     return true;

libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp

@@ -184,7 +184,7 @@ bool AP_InertialSensor_BMI088::setup_accel_config(void)
         }
     }
     done_accel_config = true;
-    hal.console->printf("BMI088: accel config OK (%u tries)\n", (unsigned)accel_config_count);
+    DEV_PRINTF("BMI088: accel config OK (%u tries)\n", (unsigned)accel_config_count);
     return true;
 }
 
@@ -218,10 +218,10 @@ bool AP_InertialSensor_BMI088::accel_init()
     }
 
     if (!setup_accel_config()) {
-        hal.console->printf("BMI08x: delaying accel config\n");
+        DEV_PRINTF("BMI08x: delaying accel config\n");
     }
 
-    hal.console->printf("BMI08x: found accel\n");
+    DEV_PRINTF("BMI08x: found accel\n");
 
     return true;
 }
@@ -272,7 +272,7 @@ bool AP_InertialSensor_BMI088::gyro_init()
         return false;
     }
 
-    hal.console->printf("BMI088: found gyro\n");    
+    DEV_PRINTF("BMI088: found gyro\n");    
 
     return true;
 }

libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp

@@ -293,14 +293,14 @@ bool AP_InertialSensor_BMI160::_configure_int1_pin()
 
     r = _dev->write_register(BMI160_REG_INT_EN_1, BMI160_INT_FWM_EN);
     if (!r) {
-        hal.console->printf("BMI160: Unable to enable FIFO watermark interrupt engine\n");
+        DEV_PRINTF("BMI160: Unable to enable FIFO watermark interrupt engine\n");
         return false;
     }
     hal.scheduler->delay(1);
 
     r = _dev->write_register(BMI160_REG_INT_MAP_1, BMI160_INT_MAP_INT1_FWM);
     if (!r) {
-        hal.console->printf("BMI160: Unable to configure interrupt mapping\n");
+        DEV_PRINTF("BMI160: Unable to configure interrupt mapping\n");
         return false;
     }
     hal.scheduler->delay(1);
@@ -308,14 +308,14 @@ bool AP_InertialSensor_BMI160::_configure_int1_pin()
     r = _dev->write_register(BMI160_REG_INT_OUT_CTRL,
                              BMI160_INT1_OUTPUT_EN | BMI160_INT1_LVL);
     if (!r) {
-        hal.console->printf("BMI160: Unable to configure interrupt output\n");
+        DEV_PRINTF("BMI160: Unable to configure interrupt output\n");
         return false;
     }
     hal.scheduler->delay(1);
 
     _int1_pin = hal.gpio->channel(BMI160_INT1_GPIO);
     if (_int1_pin == nullptr) {
-        hal.console->printf("BMI160: Couldn't request data ready GPIO channel\n");
+        DEV_PRINTF("BMI160: Couldn't request data ready GPIO channel\n");
         return false;
     }
     _int1_pin->mode(HAL_GPIO_INPUT);
@@ -331,7 +331,7 @@ bool AP_InertialSensor_BMI160::_configure_fifo()
     r = _dev->write_register(BMI160_REG_FIFO_CONFIG_0,
                              sizeof(struct RawData) / 4);
     if (!r) {
-        hal.console->printf("BMI160: Unable to configure FIFO watermark level\n");
+        DEV_PRINTF("BMI160: Unable to configure FIFO watermark level\n");
         return false;
     }
     hal.scheduler->delay(1);
@@ -339,7 +339,7 @@ bool AP_InertialSensor_BMI160::_configure_fifo()
     r = _dev->write_register(BMI160_REG_FIFO_CONFIG_1,
                              BMI160_FIFO_ACC_EN | BMI160_FIFO_GYR_EN);
     if (!r) {
-        hal.console->printf("BMI160: Unable to enable FIFO\n");
+        DEV_PRINTF("BMI160: Unable to enable FIFO\n");
         return false;
     }
     hal.scheduler->delay(1);
@@ -348,7 +348,7 @@ bool AP_InertialSensor_BMI160::_configure_fifo()
 
     r = _dev->write_register(BMI160_REG_CMD, BMI160_CMD_FIFO_FLUSH);
     if (!r) {
-        hal.console->printf("BMI160: Unable to flush FIFO\n");
+        DEV_PRINTF("BMI160: Unable to flush FIFO\n");
         return false;
     }
 
@@ -399,7 +399,7 @@ read_fifo_read_data:
 
     /* Read again just once */
     if (excess && num_samples) {
-        hal.console->printf("BMI160: dropping %u samples from fifo\n",
+        DEV_PRINTF("BMI160: dropping %u samples from fifo\n",
                             (uint8_t)(excess / sizeof(struct RawData)));
         _dev->write_register(BMI160_REG_CMD, BMI160_CMD_FIFO_FLUSH);
         excess = 0;
@@ -434,7 +434,7 @@ read_fifo_read_data:
 
 read_fifo_end:
     if (!r) {
-        hal.console->printf("BMI160: error on reading FIFO\n");
+        DEV_PRINTF("BMI160: error on reading FIFO\n");
     }
 }
 
@@ -510,7 +510,7 @@ bool AP_InertialSensor_BMI160::_init()
 
     ret = _hardware_init();
     if (!ret) {
-        hal.console->printf("BMI160: failed to init\n");
+        DEV_PRINTF("BMI160: failed to init\n");
     }
 
     return ret;

libraries/AP_InertialSensor/AP_InertialSensor_BMI270.cpp

@@ -533,7 +533,7 @@ bool AP_InertialSensor_BMI270::hardware_init()
 
         if ((status & 1) == 1) {
             ret = true;
-            hal.console->printf("BMI270 initialized after %d retries\n", i+1);
+            DEV_PRINTF("BMI270 initialized after %d retries\n", i+1);
             break;
         }
     }
@@ -551,7 +551,7 @@ bool AP_InertialSensor_BMI270::init()
 
     ret = hardware_init();
     if (!ret) {
-        hal.console->printf("BMI270: failed to init\n");
+        DEV_PRINTF("BMI270: failed to init\n");
     }
 
     return ret;

libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp

@@ -1004,7 +1004,7 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
     _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
 
     if (tries == 5) {
-        hal.console->printf("Failed to boot Invensense 5 times\n");
+        DEV_PRINTF("Failed to boot Invensense 5 times\n");
         return false;
     }
 
@@ -1055,7 +1055,7 @@ int AP_Invensense_AuxiliaryBusSlave::passthrough_read(uint8_t reg, uint8_t *buf,
                                                    uint8_t size)
 {
     if (_registered) {
-        hal.console->printf("Error: can't passthrough when slave is already configured\n");
+        DEV_PRINTF("Error: can't passthrough when slave is already configured\n");
         return -1;
     }
 
@@ -1081,7 +1081,7 @@ int AP_Invensense_AuxiliaryBusSlave::passthrough_read(uint8_t reg, uint8_t *buf,
 int AP_Invensense_AuxiliaryBusSlave::passthrough_write(uint8_t reg, uint8_t val)
 {
     if (_registered) {
-        hal.console->printf("Error: can't passthrough when slave is already configured\n");
+        DEV_PRINTF("Error: can't passthrough when slave is already configured\n");
         return -1;
     }
 
@@ -1104,7 +1104,7 @@ int AP_Invensense_AuxiliaryBusSlave::passthrough_write(uint8_t reg, uint8_t val)
 int AP_Invensense_AuxiliaryBusSlave::read(uint8_t *buf)
 {
     if (!_registered) {
-        hal.console->printf("Error: can't read before configuring slave\n");
+        DEV_PRINTF("Error: can't read before configuring slave\n");
         return -1;
     }
 

libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp

@@ -724,7 +724,7 @@ bool AP_InertialSensor_Invensensev2::_hardware_init(void)
     _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
 
     if (tries == 5) {
-        hal.console->printf("Failed to boot Invensense 5 times\n");
+        DEV_PRINTF("Failed to boot Invensense 5 times\n");
         return false;
     }
 
@@ -771,7 +771,7 @@ int AP_Invensensev2_AuxiliaryBusSlave::passthrough_read(uint8_t reg, uint8_t *bu
                                                    uint8_t size)
 {
     if (_registered) {
-        hal.console->printf("Error: can't passthrough when slave is already configured\n");
+        DEV_PRINTF("Error: can't passthrough when slave is already configured\n");
         return -1;
     }
 
@@ -797,7 +797,7 @@ int AP_Invensensev2_AuxiliaryBusSlave::passthrough_read(uint8_t reg, uint8_t *bu
 int AP_Invensensev2_AuxiliaryBusSlave::passthrough_write(uint8_t reg, uint8_t val)
 {
     if (_registered) {
-        hal.console->printf("Error: can't passthrough when slave is already configured\n");
+        DEV_PRINTF("Error: can't passthrough when slave is already configured\n");
         return -1;
     }
 
@@ -820,7 +820,7 @@ int AP_Invensensev2_AuxiliaryBusSlave::passthrough_write(uint8_t reg, uint8_t va
 int AP_Invensensev2_AuxiliaryBusSlave::read(uint8_t *buf)
 {
     if (!_registered) {
-        hal.console->printf("Error: can't read before configuring slave\n");
+        DEV_PRINTF("Error: can't read before configuring slave\n");
         return -1;
     }
 

libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp

@@ -492,7 +492,7 @@ bool AP_InertialSensor_LSM9DS0::_hardware_init()
 #endif
     }
     if (tries == 5) {
-        hal.console->printf("Failed to boot LSM9DS0 5 times\n\n");
+        DEV_PRINTF("Failed to boot LSM9DS0 5 times\n\n");
         goto fail_tries;
     }
 

libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp

@@ -255,7 +255,7 @@ bool AP_InertialSensor_LSM9DS1::_hardware_init()
 
     whoami = _register_read(LSM9DS1XG_WHO_AM_I);
     if (whoami != WHO_AM_I) {
-        hal.console->printf("LSM9DS1: unexpected acc/gyro WHOAMI 0x%x\n", whoami);
+        DEV_PRINTF("LSM9DS1: unexpected acc/gyro WHOAMI 0x%x\n", whoami);
         goto fail_whoami;
     }
 
@@ -284,7 +284,7 @@ bool AP_InertialSensor_LSM9DS1::_hardware_init()
 #endif
     }
     if (tries == 5) {
-        hal.console->printf("Failed to boot LSM9DS1 5 times\n\n");
+        DEV_PRINTF("Failed to boot LSM9DS1 5 times\n\n");
         goto fail_tries;
     }
 
@@ -448,7 +448,7 @@ void AP_InertialSensor_LSM9DS1::_read_data_transaction_x(uint16_t samples)
         struct sensor_raw_data raw_data_temp = { };
 
         if (!_dev->transfer(&_reg, 1, (uint8_t *) &raw_data_temp, sizeof(raw_data_temp))) {
-            hal.console->printf("LSM9DS1: error reading accelerometer\n");
+            DEV_PRINTF("LSM9DS1: error reading accelerometer\n");
             return;
         }
 
@@ -485,7 +485,7 @@ void AP_InertialSensor_LSM9DS1::_read_data_transaction_g(uint16_t samples)
         struct sensor_raw_data raw_data_temp = { };
 
         if (!_dev->transfer(&_reg, 1, (uint8_t *) &raw_data_temp, sizeof(raw_data_temp))) {
-            hal.console->printf("LSM9DS1: error reading gyroscope\n");
+            DEV_PRINTF("LSM9DS1: error reading gyroscope\n");
             return;
         }
 

libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp

@@ -261,7 +261,7 @@ void AP_InertialSensor_NONE::timer_update(void)
     static uint64_t last_msg_sent = 0;
     if (now > last_msg_sent + 2000000) { //2sec= 2000ms = 2000000us
         //gcs().send_text(MAV_SEVERITY_WARNING, "NO IMU FOUND");
-        hal.console->printf("INS: NO IMU FOUND\n");
+        DEV_PRINTF("INS: NO IMU FOUND\n");
         last_msg_sent = now;
     }
     if (now >= next_accel_sample) {

libraries/AP_InertialSensor/AP_InertialSensor_RST.cpp

@@ -291,7 +291,7 @@ bool AP_InertialSensor_RST::_init_accel(void)
 
     _dev_accel->read_registers(ACCEL_WHO_AM_I, &whoami, sizeof(whoami));
     if (whoami != ACCEL_WHO_I_AM) {
-        hal.console->printf("RST: unexpected accel WHOAMI 0x%x\n", (unsigned)whoami);
+        DEV_PRINTF("RST: unexpected accel WHOAMI 0x%x\n", (unsigned)whoami);
         printf("RST: unexpected accel WHOAMI 0x%x\n", (unsigned)whoami);
         goto fail_whoami;
     }