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77 lines
2.6 KiB
77 lines
2.6 KiB
#pragma once |
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#include <AP_Logger/LogStructure.h> |
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#define LOG_IDS_FROM_HAL_CHIBIOS \ |
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LOG_MON_MSG, \ |
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LOG_WDOG_MSG |
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// @LoggerMessage: MON |
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// @Description: Main loop performance monitoring message. |
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// @Field: TimeUS: Time since system startup |
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// @Field: Dly: Loop delay so far |
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// @Field: Tsk: Current task |
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// @Field: IErr: Internal error mask |
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// @Field: IErrCnt: Count of internal error occurances |
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// @Field: IErrLn: Internal Error line |
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// @Field: MM: MAVLink message currently being processed |
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// @Field: MC: MAVLink command currently being processed |
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// @Field: SmLn: If semaphore taken, line of semaphore take call |
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// @Field: SPICnt: count of SPI transactions |
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// @Field: I2CCnt: count of i2c transactions |
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struct PACKED log_MON { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint32_t loop_delay; |
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int8_t current_task; |
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uint32_t internal_error_mask; |
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uint16_t internal_error_count; |
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uint16_t internal_error_line; |
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uint16_t mavmsg; |
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uint16_t mavcmd; |
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uint16_t semline; |
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uint32_t spicnt; |
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uint32_t i2ccnt; |
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}; |
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// @LoggerMessage: WDOG |
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// @Description: Watchdog diagnostics |
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// @Field: TimeUS: Time since system startup |
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// @Field: Tsk: current task number |
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// @Field: IE: internal error mast |
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// @Field: IEC: internal error count |
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// @Field: IEL: line internal error was raised on |
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// @Field: MvMsg: mavlink message being acted on |
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// @Field: MvCmd: mavlink command being acted on |
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// @Field: SmLn: line semaphore was taken on |
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// @Field: FL: fault_line |
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// @Field: FT: fault_type |
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// @Field: FA: fault address |
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// @Field: FP: fault thread priority |
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// @Field: ICSR: ICS regiuster |
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// @Field: LR: long return address |
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// @Field: TN: Thread name |
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struct PACKED log_WDOG { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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int8_t scheduler_task; |
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uint32_t internal_errors; |
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uint16_t internal_error_count; |
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uint16_t internal_error_last_line; |
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uint16_t last_mavlink_msgid; |
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uint16_t last_mavlink_cmd; |
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uint16_t semaphore_line; |
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uint16_t fault_line; |
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uint16_t fault_type; |
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uint32_t fault_addr; |
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uint8_t fault_thd_prio; |
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uint32_t fault_icsr; |
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uint32_t fault_lr; |
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char thread_name4[4]; |
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}; |
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#define LOG_STRUCTURE_FROM_HAL_CHIBIOS \ |
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{ LOG_MON_MSG, sizeof(log_MON), \ |
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"MON","QIbIHHHHHII","TimeUS,Dly,Tsk,IErr,IErrCnt,IErrLn,MM,MC,SmLn,SPICnt,I2CCnt", "s----------", "F----------", false }, \ |
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{ LOG_WDOG_MSG, sizeof(log_WDOG), \ |
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"WDOG","QbIHHHHHHHIBIIn","TimeUS,Tsk,IE,IEC,IEL,MvMsg,MvCmd,SmLn,FL,FT,FA,FP,ICSR,LR,TN", "s--------------", "F--------------", false },
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