drivers: add perf counters and documentation to ads7953

docs/en/SUMMARY.md

@@ -765,6 +765,7 @@
       - [Rpm Sensor](modules/modules_driver_rpm_sensor.md)
       - [Radio Control](modules/modules_driver_radio_control.md)
       - [Transponder](modules/modules_driver_transponder.md)
+      - [adc](modules/modules_driver_adc.md)
     - [Estimators](modules/modules_estimator.md)
     - [Simulations](modules/modules_simulation.md)
     - [System](modules/modules_system.md)

src/drivers/adc/ads1115/ads1115_main.cpp

@@ -154,6 +154,7 @@ If enabled, internal ADCs are not used.
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("ads1115", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("adc");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x48);

src/drivers/adc/ads7953/ADS7953.cpp

@@ -8,11 +8,20 @@
 ADS7953::ADS7953(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
-	ModuleParams(nullptr)
+	ModuleParams(nullptr),
+	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
 {
 	static_assert(arraySize(adc_report_s::channel_id) >= NUM_CHANNELS, "ADS7953 reports 16 channels");
 }
 
+ADS7953::~ADS7953()
+{
+	ScheduleClear();
+	perf_free(_cycle_perf);
+	perf_free(_comms_errors);
+}
+
 int ADS7953::init()
 {
 	int ret = SPI::init();
@@ -30,7 +39,7 @@ int ADS7953::init()
 		_adc_report.channel_id[i] = -1;
 	}
 
-	ScheduleOnInterval(10_ms);
+	ScheduleOnInterval(SAMPLE_INTERVAL, SAMPLE_INTERVAL);
 	return PX4_OK;
 }
 
@@ -56,7 +65,6 @@ int ADS7953::probe()
 		return PX4_ERROR;
 	}
 
-	PX4_INFO("ADS7953 was found");
 	return PX4_OK;
 }
 
@@ -94,6 +102,9 @@ int ADS7953::get_measurements()
 				_adc_report.channel_id[ch_id] = ch_id;
 				_adc_report.raw_data[ch_id] = ((((uint16_t) recv_data[0]) & 0x0F) << 8) | recv_data[1];
 			}
+
+		} else {
+			perf_count(_comms_errors);
 		}
 
 		// Find index to measure next
@@ -112,9 +123,11 @@ int ADS7953::get_measurements()
 
 void ADS7953::RunImpl()
 {
+	perf_begin(_cycle_perf);
 	get_measurements();
 	_adc_report.timestamp = hrt_absolute_time();
 	_adc_report_pub.publish(_adc_report);
+	perf_end(_cycle_perf);
 
 	for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
 		_adc_report.channel_id[i] = -1;

src/drivers/adc/ads7953/ADS7953.h

@@ -19,7 +19,7 @@ class ADS7953 : public device::SPI, public I2CSPIDriver<ADS7953>, public ModuleP
 {
 public:
 	ADS7953(const I2CSPIDriverConfig &config);
-	virtual ~ADS7953() = default;
+	~ADS7953() override;
 	static void print_usage();
 
 	int init() override;
@@ -31,7 +31,9 @@ private:
 	static constexpr int NUM_CHANNELS = 16;
 	uORB::PublicationMulti<adc_report_s> _adc_report_pub{ORB_ID(adc_report)};
 
-	static const hrt_abstime SAMPLE_INTERVAL{50_ms};
+	static const hrt_abstime SAMPLE_INTERVAL{10_ms};
+	perf_counter_t _cycle_perf;
+	perf_counter_t _comms_errors;
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::ADC_ADS7953_REFV>) _adc_ads7953_refv

src/drivers/adc/board_adc/ADC.cpp

@@ -410,6 +410,7 @@ ADC driver.
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("adc", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("adc");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_COMMAND("test");
 	PRINT_MODULE_USAGE_PARAM_FLAG('n', "Do not publish ADC report, only system power", true);