debug.h

/*
 * This file is part of Cleanflight.
 *
 * Cleanflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Cleanflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>

#include "platform.h"

#define DEBUG32_VALUE_COUNT 8
extern int32_t debug[DEBUG32_VALUE_COUNT];
extern uint8_t debugMode;

#define DEBUG_SET(mode, index, value) {if (debugMode == (mode)) {debug[(index)] = (value);}}

#define DEBUG_SECTION_TIMES

#ifdef DEBUG_SECTION_TIMES
#include "common/time.h"
extern timeUs_t sectionTimes[2][4];

#define TIME_SECTION_BEGIN(index) { \
    extern timeUs_t sectionTimes[2][4]; \
    sectionTimes[0][index] = micros(); \
}

#define TIME_SECTION_END(index) { \
    extern timeUs_t sectionTimes[2][4]; \
    sectionTimes[1][index] = micros(); \
    debug[index] = sectionTimes[1][index] - sectionTimes[0][index]; \
}
#else

#define TIME_SECTION_BEGIN(index) {}
#define TIME_SECTION_END(index) {}

#endif

typedef enum {
    DEBUG_NONE,
    DEBUG_AGL,
    DEBUG_FLOW_RAW,
    DEBUG_FLOW,
    DEBUG_ALWAYS,
    DEBUG_SAG_COMP_VOLTAGE,
    DEBUG_VIBE,
    DEBUG_CRUISE,
    DEBUG_REM_FLIGHT_TIME,
    DEBUG_SMARTAUDIO,
    DEBUG_ACC,
    DEBUG_NAV_YAW,
    DEBUG_PCF8574,
    DEBUG_DYNAMIC_GYRO_LPF,
    DEBUG_AUTOLEVEL,
    DEBUG_ALTITUDE,
    DEBUG_AUTOTRIM,
    DEBUG_AUTOTUNE,
    DEBUG_RATE_DYNAMICS,
    DEBUG_LANDING,
    DEBUG_POS_EST,
    DEBUG_ADAPTIVE_FILTER,
    DEBUG_HEADTRACKING,
    DEBUG_GPS,
    DEBUG_LULU,
    DEBUG_SBUS2,
    DEBUG_AOA,
    DEBUG_COUNT // also update debugModeNames in cli.c
} debugType_e;

#ifdef SITL_BUILD
#define SD(X) (X)
#else
#define SD(X)
#endif