Log System

[jia-xie]

Add customized log logic. Possible interface could be:

Log_Info("msg");
Log_Error("msg");
Log_Warning("msg");

The log system gives detialed runtime information and therefore with help with debug. Some examples:

Consider a logic that waits for CAN bus mailbox availability, if the wait time exceeds threshold, it means something goes wrong. The only noticeable behavior in such case might just be a non-working motor. However given only the external behavior would be hard to precisely and efficiently locate the issue.

This is how it used to be like

while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan2) == 0);

possible implementation of logging system

while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan2) == 0) {
    Log_Warning("[can bsp] can mailbox full. CAN send data pending.");
    if (pending_time > PENDING_ERROR_THRESHOLD_TIME) {
        Log_Error("[can bsp] can mailbox is really unhappy for %f s.", pending_time);
    }
}

another example would be receiving CAN frame with unregistered CAN id