debug system info

RoboMaster-Club · Apr 6, 2024 · ccdc1c9 · ccdc1c9
1 parent 488af43
commit ccdc1c9
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Showing 3 changed files with 27 additions and 4 deletions.
diff --git a/lib/typec-board-base b/lib/typec-board-base
diff --git a/src/app/inc/debug_task.h b/src/app/inc/debug_task.h
@@ -1,7 +1,7 @@
 #ifndef DEBUG_TASK_H
 #define DEBUG_TASK_H
 
-#define DEBUG_PERIOD (1)
+#define DEBUG_PERIOD (10)
 
 void Debug_Task_Init(void);
 void Debug_Task_Loop(void);

diff --git a/src/app/src/debug_task.c b/src/app/src/debug_task.c
@@ -19,14 +19,37 @@ extern Remote_t g_remote;
 extern Launch_Target_t g_launch_target;
 extern uint64_t t;
 extern Daemon_Instance_t *g_daemon_instances[3];
+extern Daemon_Instance_t *g_remote_daemon;
+#define PRINT_RUNTIME_STATS
+#ifdef PRINT_RUNTIME_STATS
+char g_debug_buffer[1024*2] = {0};
+#endif
+
+const char* top_border = "\r\n\r\n\r\n/***** System Info *****/\r\n";
+const char* bottom_border = "/***** End of Info *****/\r\n";
+
+#define DEBUG_ENABLED
 
 void Debug_Task_Loop(void)
 {
+#ifdef DEBUG_ENABLED
     static uint32_t counter = 0;
-    DEBUG_PRINTF(&huart6, "time=%.1f,a=%d,b=%d,c=%f,d=%d\r\n", (float) counter / 1000.0f * DEBUG_PERIOD, 
-                2, 12, g_imu.deg.roll, counter);
+    #ifdef PRINT_RUNTIME_STATS
+    if (counter % 100 == 0) // Print every 100 cycles
+    {
+        vTaskGetRunTimeStats(g_debug_buffer);
+        DEBUG_PRINTF(&huart6, "%s", top_border);
+        DEBUG_PRINTF(&huart6, "%s", g_debug_buffer);
+        DEBUG_PRINTF(&huart6, "%s", bottom_border);
+    }
+    #endif
+
+    DEBUG_PRINTF(&huart6, ">time:%.1f\n>yaw:%f\n>pitch:%f\n>roll:%f\n", (float) counter / 1000.0f * DEBUG_PERIOD, 
+                g_imu.deg.yaw, g_imu.deg.pitch, g_imu.deg.roll);
+    DEBUG_PRINTF(&huart6, ">remote_daemon:%d\n", g_remote_daemon->counter);
     counter++;
     if (counter > 0xFFFFFFFF) {
         counter = 0;
     }
+#endif
 }
+3 −0		.gitattributes
+14 −0		Core/Inc/FreeRTOSConfig.h
+3 −0		Core/Inc/tim.h
+18 −1		Core/Src/freertos.c
+1 −0		Core/Src/main.c
+65 −2		Core/Src/tim.c
+1 −1		Makefile
+24 −14		typec-board-base.ioc