From 51b4bb99132573fbdd1b0220735f642867517326 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Thu, 21 May 2009 08:21:48 +0200 Subject: * digital/io/src: - add trace for path computing. --- digital/avr/modules/flash/flash.avr.c | 2 +- digital/avr/modules/trace/trace.c | 4 ++-- digital/io/src/move_cb.c | 3 +++ digital/io/src/trace.trc | 1 + 4 files changed, 7 insertions(+), 3 deletions(-) (limited to 'digital') diff --git a/digital/avr/modules/flash/flash.avr.c b/digital/avr/modules/flash/flash.avr.c index 7b563bc6..872b727c 100644 --- a/digital/avr/modules/flash/flash.avr.c +++ b/digital/avr/modules/flash/flash.avr.c @@ -28,7 +28,7 @@ #include "modules/utils/utils.h" #define FLASH_LOG_PAGE_SIZE 0x80000 -#define FLASH_LOG_BUFFER_SIZE 128 +#define FLASH_LOG_BUFFER_SIZE 16 /** Flash access. * The flash contains an address of 21 bits in a range from 0x0-0x1fffff. diff --git a/digital/avr/modules/trace/trace.c b/digital/avr/modules/trace/trace.c index 37288ee1..9de43e35 100644 --- a/digital/avr/modules/trace/trace.c +++ b/digital/avr/modules/trace/trace.c @@ -42,7 +42,7 @@ struct trace_t /** Flash status. */ trace_status_t status; /** Flash start address */ - const uint32_t addr_start; + uint32_t addr_start; /** Flash address. */ uint32_t addr; }; @@ -122,7 +122,7 @@ trace_init (void) } new_trace_val ++; proto_send1b ('v', new_trace_val); - *((uint32_t*) &trace_global.addr_start) = new_trace_addr; + trace_global.addr_start = new_trace_addr; /* Store the trace val. */ flash_write (new_trace_addr, new_trace_val); diff --git a/digital/io/src/move_cb.c b/digital/io/src/move_cb.c index 03b32731..ae8b14ef 100644 --- a/digital/io/src/move_cb.c +++ b/digital/io/src/move_cb.c @@ -31,11 +31,13 @@ #include "move.h" #include "sharp.h" #include "aquajim.h" +#include "trace_event.h" #include "main.h" /* main_post_event_for_top_fsm */ #include "modules/math/fixed/fixed.h" /* fixed_* */ #include "modules/path/path.h" #include "modules/utils/utils.h" +#include "modules/trace/trace.h" #include "debug.host.h" @@ -125,6 +127,7 @@ move_get_next_position (move_position_t *dst) /* Give the current position of the bot to the path module */ path_endpoints (current_pos.x, current_pos.y, move_data.final.x, move_data.final.y); + TRACE (TRACE_MOVE__PATH_UPDATE); /* Update the path module */ path_update (); diff --git a/digital/io/src/trace.trc b/digital/io/src/trace.trc index f1f8753b..aa556602 100644 --- a/digital/io/src/trace.trc +++ b/digital/io/src/trace.trc @@ -4,3 +4,4 @@ EVENT asserv__last_status_ack seq 1 status 1 "Asserv[0x%02x]: status: %x." EVENT main_timer__late "MainTimer: we are late." EVENT fsm__handle_event fsm 1 event 1 "FSM[%c]: handle event %i." EVENT fsm__handle_timeout fsm 1 "FSM[%c]: handle timeout." +EVENT move__path_update "Path: update." -- cgit v1.2.3