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Merge remote-tracking branch 'upstream/master' into dev_ros

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Conflicts:
	.gitignore
	src/lib/uavcan
This commit is contained in:
Thomas Gubler
2014-12-25 09:48:15 +01:00
parent ad189cf7d6 9b535f6553
commit 25af4b266c
65 changed files with 21014 additions and 289 deletions
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src/drivers/mpu6000/mpu6000.cpp
+42 -2
View File
@@ -194,6 +194,8 @@ public:
*/
void print_info();
void print_registers();
protected:
virtual int probe();
@@ -1414,6 +1416,21 @@ MPU6000::print_info()
_gyro_reports->print_info("gyro queue");
}
void
MPU6000::print_registers()
{
printf("MPU6000 registers\n");
for (uint8_t reg=MPUREG_PRODUCT_ID; reg<=108; reg++) {
uint8_t v = read_reg(reg);
printf("%02x:%02x ",(unsigned)reg, (unsigned)v);
if ((reg - (MPUREG_PRODUCT_ID-1)) % 13 == 0) {
printf("\n");
}
}
printf("\n");
}
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
CDev("MPU6000_gyro", path),
_parent(parent),
@@ -1479,6 +1496,7 @@ void start(bool, enum Rotation);
void test(bool);
void reset(bool);
void info(bool);
void regdump(bool);
void usage();
/**
@@ -1654,10 +1672,26 @@ info(bool external_bus)
exit(0);
}
/**
* Dump the register information
*/
void
regdump(bool external_bus)
{
MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
if (*g_dev_ptr == nullptr)
errx(1, "driver not running");
printf("regdump @ %p\n", *g_dev_ptr);
(*g_dev_ptr)->print_registers();
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset'");
warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
@@ -1714,5 +1748,11 @@ mpu6000_main(int argc, char *argv[])
if (!strcmp(verb, "info"))
mpu6000::info(external_bus);
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
/*
* Print register information.
*/
if (!strcmp(verb, "regdump"))
mpu6000::regdump(external_bus);
errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'");
}
src/drivers/stm32/drv_hrt.c
+5 -3
View File
@@ -253,9 +253,11 @@ static uint16_t latency_baseline;
static uint16_t latency_actual;
/* latency histogram */
#define LATENCY_BUCKET_COUNT 8
static const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
static uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
#define LATENCY_BUCKET_COUNT 8
__EXPORT const uint16_t latency_bucket_count = LATENCY_BUCKET_COUNT;
__EXPORT const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
__EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
/* timer-specific functions */
static void hrt_tim_init(void);