AP_Periph: node stats

- Added new config parameter object - STAT
 - init and update statistics

Tools/AP_Periph/AP_Periph.cpp

@@ -142,6 +142,10 @@ void AP_Periph_FW::init()
         printf("Reboot after watchdog reset\n");
     }
 
+#if AP_STATS_ENABLED
+    node_stats.init();
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_GPS
     if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && g.gps_port >= 0) {
         serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
@@ -331,6 +335,10 @@ void AP_Periph_FW::show_stack_free()
 
 void AP_Periph_FW::update()
 {
+#if AP_STATS_ENABLED
+    node_stats.update();
+#endif
+
     static uint32_t last_led_ms;
     uint32_t now = AP_HAL::native_millis();
     if (now - last_led_ms > 1000) {

Tools/AP_Periph/AP_Periph.h

@@ -18,6 +18,7 @@
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_Scripting/AP_Scripting.h>
 #include <AP_HAL/CANIface.h>
+#include <AP_Stats/AP_Stats.h>
 
 #if HAL_GCS_ENABLED
 #include "GCS_MAVLink.h"
@@ -103,6 +104,10 @@ public:
 
     AP_SerialManager serial_manager;
 
+#if AP_STATS_ENABLED
+    AP_Stats node_stats;
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_GPS
     AP_GPS gps;
 #if HAL_NUM_CAN_IFACES >= 2

Tools/AP_Periph/Parameters.cpp

@@ -403,6 +403,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(scripting, "SCR_", AP_Scripting),
 #endif
 
+#if AP_STATS_ENABLED
+    // @Group: Node
+    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
+    GOBJECT(node_stats, "STAT", AP_Stats),
+#endif
+
     AP_VAREND
 };
 

Tools/AP_Periph/Parameters.h

@@ -54,6 +54,7 @@ public:
         k_param_can_fdmode,
         k_param_can_fdbaudrate0,
         k_param_can_fdbaudrate1,
+        k_param_node_stats,
     };
 
     AP_Int16 format_version;