Debug 8 columns (betaflight#12445)

davidbitton · Feb 5, 2024 · 3d4b2af · 3d4b2af
1 parent e4ce8e0
commit 3d4b2af
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Showing 3 changed files with 9 additions and 4 deletions.
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -231,6 +231,10 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"debug",       1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
     {"debug",       2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
     {"debug",       3, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
+    {"debug",       4, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
+    {"debug",       5, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
+    {"debug",       6, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
+    {"debug",       7, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG_LOG)},
     /* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
     {"motor",       0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
     /* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
@@ -1558,7 +1562,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_D, "%d",      gpsRescueConfig()->velD)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_YAW_P, "%d",           gpsRescueConfig()->yawP)
 
- 
+
 #ifdef USE_MAG
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_USE_MAG, "%d",         gpsRescueConfig()->useMag)
 #endif

diff --git a/src/main/build/debug.h b/src/main/build/debug.h
@@ -20,7 +20,7 @@
 
 #pragma once
 
-#define DEBUG16_VALUE_COUNT 4
+#define DEBUG16_VALUE_COUNT 8
 extern int16_t debug[DEBUG16_VALUE_COUNT];
 extern uint8_t debugMode;
 

diff --git a/src/main/drivers/dshot.c b/src/main/drivers/dshot.c
@@ -155,13 +155,14 @@ static uint32_t dshot_decode_eRPM_telemetry_value(uint16_t value)
 static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded, dshotTelemetryType_t *pType)
 {
     uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;
+    const unsigned motorCount = motorDeviceCount();
 
     if (dshotTelemetryState.motorState[motorIndex].telemetryTypes == DSHOT_NORMAL_TELEMETRY_MASK) {   /* Check DSHOT_TELEMETRY_TYPE_eRPM mask */
         // Decode eRPM telemetry
         *pDecoded = dshot_decode_eRPM_telemetry_value(value);
 
         // Update debug buffer
-        if (motorIndex < 4) {
+        if (motorIndex < motorCount && motorIndex < DEBUG16_VALUE_COUNT) {
             DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, *pDecoded);
         }
 
@@ -232,7 +233,7 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,
             *pDecoded = dshot_decode_eRPM_telemetry_value(value);
 
             // Update debug buffer
-            if (motorIndex < 4) {
+            if (motorIndex < motorCount && motorIndex < DEBUG16_VALUE_COUNT) {
                 DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, *pDecoded);
             }