Scrutiny Embedded

Scrutiny Debugger embedded C++ instrumentation library. This library must be linked against your C++ project and called periodically.

The library has 2 data streams going in and out. It is the responsability of the integrator to bring the data to and from a hardware communication device such as a Serial Port, a CAN bus, IP stack or any other.

For the integration guide, see : https://scrutinydebugger.com/guide-instrumentation.html

Troubleshooting

Refer to the troubleshooting guide online.

Example of integration

The following example is taken from the Arduino example and show how to initialize the library and how the glue code between Scrutiny Embedded Lib and a serial port can be written.

#include <stdint.h>
#include "scrutiny.hpp"

scrutiny::MainHandler scrutiny_handler; // Main scrutiny handler

uint8_t scrutiny_rx_buffer[32];   // Receive buffer - Keep global
uint8_t scrutiny_tx_buffer[48];   // Transmit buffer - Keep global

void process_scrutiny_loop()
{
    static uint32_t last_call_us = 0;
  
    // Compute time difference
    uint32_t current_us = micros(); // Reads microseconds
    uint32_t timestep_us = current_us - last_call_us;
    
    // Receive data
    int16_t c = Serial.read();
    if (c != -1)
    {
        uint8_t uc = static_cast<uint8_t>(c);
        scrutiny_handler.receive_data(&uc, 1);  // Data from Serial port pushed into scrutiny-embedded lib
    }
    
    scrutiny_handler.process(timestep_us * 10); // Timesteps are counted in multiple of 100ns
    
    // Sends data
    uint8_t buffer[16];
    if (scrutiny_handler.data_to_send() > 0)
    {
        uint16_t nread = scrutiny_handler.pop_data(buffer, sizeof(buffer));  // Reads data from scrutiny lib
        Serial.write(buffer, nread);                         // Sends data to the serial port
    }


    last_call_us = current_us;  
}


void scrutiny_configure()
{
  scrutiny::Config scrutiny_config;   // Scrutiny runtime configuration. Can be local, will be copied

  // Only required configuration is the comm buffers
  config.set_buffers(scrutiny_rx_buffer, sizeof(scrutiny_rx_buffer), scrutiny_tx_buffer, sizeof(scrutiny_tx_buffer));

  config.max_bitrate = 100000;      // Optional bitrate limit
  config.display_name = "MyDevice"; // Optional name for broadcasting
  /* 
    Multiple additional configurations to control:
    - Memory regions access (forbidden and read-only)
    - Configure datalogging
    - Declare some Runtime Published Values (values identified by a unique ID handled by the app without debug symbols)
    - Configure User Command service
    - etc.
  */
  scrutiny_handler.init(&config);
}


void main()
{
  scrutiny_configure();
  // Rest of Application init code
  while (true)
  {
    process_scrutiny_loop();
    // Rest of Application loop code
  }
}