dshot: add driver stats to dshot status command

PX4 · Mar 12, 2023 · f31898e · f31898e
1 parent 3247fd9
commit f31898e
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Showing 3 changed files with 10 additions and 0 deletions.
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
@@ -40,6 +40,7 @@
 
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/micro_hal.h>
+#include <px4_platform_common/log.h>
 #include <stm32_dma.h>
 #include <stm32_tim.h>
 #include <px4_arch/dshot.h>
@@ -567,4 +568,10 @@ void up_dshot_set_erpm_callback(void(*callback)(uint32_t[], size_t, void *), voi
 	_erpm_callback_context = context;
 }
 
+void print_driver_stats()
+{
+	PX4_INFO("dshot driver stats: %lu read, %lu failed nibble, %lu failed CRC, %lu invalid/zero",
+		 read_ok, read_fail_nibble, read_fail_crc, read_fail_zero);
+}
+
 #endif
diff --git a/src/drivers/drv_dshot.h b/src/drivers/drv_dshot.h
@@ -141,4 +141,6 @@ __EXPORT extern bool up_dshot_get_periods(uint32_t periods[], size_t num_periods
 
 __EXPORT extern void up_dshot_set_erpm_callback(void(*callback)(uint32_t[], size_t, void *), void *context);
 
+__EXPORT extern void print_driver_stats(void);
+
 __END_DECLS
diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp
@@ -738,6 +738,7 @@ int DShot::print_status()
 	PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
 	perf_print_counter(_cycle_perf);
 	_mixing_output.printStatus();
+	print_driver_stats();
 
 	if (_telemetry) {
 		PX4_INFO("telemetry on: %s", _telemetry_device);
Original file line number	Diff line number	Diff line change
Expand Up		@@ -141,4 +141,6 @@ __EXPORT extern bool up_dshot_get_periods(uint32_t periods[], size_t num_periods

		__EXPORT extern void up_dshot_set_erpm_callback(void(callback)(uint32_t[], size_t, void ), void *context);

		__EXPORT extern void print_driver_stats(void);

		__END_DECLS