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drivers/imu: Invensense & Bosch remove transfer perf counters

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- we already have nearly equivalent data in every sensor publication with the (publication) timestamp and timestamp_sample
This commit is contained in:
Daniel Agar
2020-07-09 10:12:37 -04:00
committed by GitHub
parent 6bc1af7680
commit 194029d010
32 changed files with 0 additions and 101 deletions
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src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
-7
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@@ -54,7 +54,6 @@ BMI055_Accelerometer::BMI055_Accelerometer(I2CSPIBusOption bus_option, int bus,
BMI055_Accelerometer::~BMI055_Accelerometer()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -75,7 +74,6 @@ void BMI055_Accelerometer::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -392,16 +390,11 @@ bool BMI055_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
perf_begin(_transfer_perf);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.samples = samples;
src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.hpp
-1
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@@ -100,7 +100,6 @@ private:
PX4Accelerometer _px4_accel;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_accel: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO empty")};
src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp
-7
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@@ -54,7 +54,6 @@ BMI055_Gyroscope::BMI055_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t
BMI055_Gyroscope::~BMI055_Gyroscope()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -75,7 +74,6 @@ void BMI055_Gyroscope::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -397,16 +395,11 @@ bool BMI055_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t sam
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
perf_begin(_transfer_perf);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.hpp
-1
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@@ -98,7 +98,6 @@ private:
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_gyro: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO empty")};
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
-6
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@@ -54,7 +54,6 @@ BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus,
BMI088_Accelerometer::~BMI088_Accelerometer()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -75,7 +74,6 @@ void BMI088_Accelerometer::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -454,15 +452,11 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
perf_begin(_transfer_perf);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.hpp
-1
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@@ -104,7 +104,6 @@ private:
PX4Accelerometer _px4_accel;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_accel: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO empty")};
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp
-7
View File
@@ -54,7 +54,6 @@ BMI088_Gyroscope::BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t
BMI088_Gyroscope::~BMI088_Gyroscope()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -75,7 +74,6 @@ void BMI088_Gyroscope::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -398,16 +396,11 @@ bool BMI088_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t sam
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
perf_begin(_transfer_perf);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.hpp
-1
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@@ -98,7 +98,6 @@ private:
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_gyro: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO empty")};