Debugging

Functions and definitions for debugging. More...

Macros
#define	DODEBUG   1
	Enable or disable debugging (1/0).
#define	HEADER   0xFF812345
	4-bytes header of data packet.
#define	TERMINATOR   0xFF8CABDE
	4-bytes terminator of data packet.
#define	DEBUG_SAMPLING_FAC   10
	Sampling factor of data streaming (expressed in units of SAMPLING_TIME).
#define	MAX_MISSING_READS   50
	Maximum consecutive missing readings.

Functions
void	start_debug (void)
	Initialize the debug.
void	do_debug (void)
	Stream and receive signals.

Detailed Description

Functions and definitions for debugging.

Definition of the debug functions, variables, and macros. This includes functions to initialize and run the debug. Debug consists of:

• streaming of singals to a possible host PC in real-time.
• receiving of signals from a possible host PC in real-time, in order to set the drivers manually.

The signal streaming and receiving is performed using the HostPort class via USB/serial, with a rate defined by DEBUG_SAMPLING_FAC. 4-bytes header and terminator, defined by HEADER and TERMINATOR, are used to indicate the begin and end of the data packet trasmitted or received. Trasmitted signals are those in the control input ctrl.controlModel_U and output ctrl.controlModel_Y. Received signals are the reference current and throttle, which are used to override the corresponding signals in ctrl.controlModel_Y and to set the drivers. If no signals are received for more that MAX_MISSING_READS times or NaN values are receive for a signal, the corresponding signal in ctrl.controlModel_Y is not overrided. Debug is not active in MTP mode.

See also

debug.h HostPort NAN_VAL MTP

Macro Definition Documentation

DEBUG_SAMPLING_FAC

#define DEBUG_SAMPLING_FAC   10

Sampling factor of data streaming (expressed in units of SAMPLING_TIME).

See also

SAMPLING_TIME

DODEBUG

#define DODEBUG   1

Enable or disable debugging (1/0).

HEADER

#define HEADER   0xFF812345

4-bytes header of data packet.

Current selected value is an ovf in float, and thus it is safe.

See also

HostPort

MAX_MISSING_READS

#define MAX_MISSING_READS   50

Maximum consecutive missing readings.

The maximum consecutive missing readings after which the overriding with received signals is disabled.

TERMINATOR

#define TERMINATOR   0xFF8CABDE

4-bytes terminator of data packet.

Current selected value is an ovf in float, and thus it is safe.

See also

HostPort

Function Documentation

do_debug()

void do_debug

(

void

)

Stream and receive signals.

Function to stream and receive signals at a sampling rate defined by DEBUG_SAMPLING_FAC. When signals are received, the corresponding signal in ctrl.controlModel_Y is overrided in order to set the driver manually. The function must be called continously at a sampling rate of SAMPLING_TIME.

See also

DEBUG_SAMPLING_FAC SAMPLING_TIME

start_debug()

void start_debug

(

void

)

Initialize the debug.

Function to initialize the HostPort. It also attaches to the HostPort the objects to trasmit and receive. Receive buffer is initialize with NaN values.

See also

HostPort NAN_VAL