4.8. Diagnostic Kernel¶

The diagnostic kernel allows real-time diagnostics and testing through interaction with an external host PC. At this time, two variants can be used:

X2C-Scope from the Linz Center of Mechatronics GmbH, for use with the X2C-Scope plugin for MPLAB^® X. This is the default variant.
RTDM from Microchip, for use with the MPLAB^® DMCI plugin. Please contact Microchip if you wish to use this variant instead.

Both variants are configured to sample data at the control ISR (nominally 20 kHz) and use a UART channel for communication with the host PC.

4.8.1. Implementation Notes¶

Module	Files	Description	Comments
`diagnostics`	`diagnostics.c` `diagnostics.h`	Top-level diagnostics
`rtdm`	`rtdm.c` `rtdm.h` `rtdm_hal_adapter.h` `rtdm_select_channels.c` `rtdm_select_channels.h`	RTDM testing and diagnostics