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px4_work_queue: command line status output and shutdown empty queues

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* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
 * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
This commit is contained in:
Daniel Agar
2019-10-02 12:23:17 -04:00
committed by GitHub
parent cc1d86bc0b
commit 26364d44c9
167 changed files with 582 additions and 274 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/adis16448/ADIS16448.cpp
+1 -5
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@@ -39,7 +39,7 @@
ADIS16448::ADIS16448(int bus, uint32_t device, enum Rotation rotation) :
SPI("ADIS16448", nullptr, bus, device, SPIDEV_MODE3, 1000000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_baro(get_device_id(), ORB_PRIO_MAX),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
@@ -64,7 +64,6 @@ ADIS16448::~ADIS16448()
// Delete the perf counter.
perf_free(_perf_read);
perf_free(_perf_read_interval);
perf_free(_perf_transfer);
perf_free(_perf_bad_transfer);
perf_free(_perf_crc_bad);
@@ -314,7 +313,6 @@ void
ADIS16448::print_info()
{
perf_print_counter(_perf_read);
perf_print_counter(_perf_read_interval);
perf_print_counter(_perf_transfer);
perf_print_counter(_perf_bad_transfer);
perf_print_counter(_perf_crc_bad);
@@ -444,8 +442,6 @@ convert12BitToINT16(uint16_t word)
int
ADIS16448::measure()
{
perf_count(_perf_read_interval);
// Start measuring.
perf_begin(_perf_read);
src/drivers/imu/adis16448/ADIS16448.h
-1
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@@ -211,7 +211,6 @@ private:
static constexpr float _sample_rate{ADIS16448_ACCEL_GYRO_UPDATE_RATE};
perf_counter_t _perf_read{perf_counter_t(perf_alloc(PC_ELAPSED, "ADIS16448: read"))};
perf_counter_t _perf_read_interval{perf_alloc(PC_INTERVAL, "ADIS16448: read interval")};
perf_counter_t _perf_transfer{perf_counter_t(perf_alloc(PC_ELAPSED, "ADIS16448: transfer"))};
perf_counter_t _perf_bad_transfer{perf_counter_t(perf_alloc(PC_COUNT, "ADIS16448: bad transfers"))};
perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, "ADIS16448: CRC16 bad"))};
src/drivers/imu/adis16477/ADIS16477.cpp
+1 -5
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@@ -55,10 +55,9 @@ using namespace time_literals;
ADIS16477::ADIS16477(int bus, uint32_t device, enum Rotation rotation) :
SPI("ADIS16477", nullptr, bus, device, SPIDEV_MODE3, 1000000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_sample_interval_perf(perf_alloc(PC_INTERVAL, "adis16477: read interval")),
_sample_perf(perf_alloc(PC_ELAPSED, "adis16477: read")),
_bad_transfers(perf_alloc(PC_COUNT, "adis16477: bad transfers"))
{
@@ -82,7 +81,6 @@ ADIS16477::~ADIS16477()
stop();
// delete the perf counters
perf_free(_sample_interval_perf);
perf_free(_sample_perf);
perf_free(_bad_transfers);
}
@@ -321,7 +319,6 @@ ADIS16477::Run()
int
ADIS16477::measure()
{
perf_count(_sample_interval_perf);
perf_begin(_sample_perf);
// Fetch the full set of measurements from the ADIS16477 in one pass (burst read).
@@ -391,7 +388,6 @@ ADIS16477::measure()
void
ADIS16477::print_info()
{
perf_print_counter(_sample_interval_perf);
perf_print_counter(_sample_perf);
perf_print_counter(_bad_transfers);
src/drivers/imu/adis16477/ADIS16477.hpp
-1
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@@ -65,7 +65,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _sample_interval_perf;
perf_counter_t _sample_perf;
perf_counter_t _bad_transfers;
src/drivers/imu/adis16497/ADIS16497.cpp
+1 -5
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@@ -68,10 +68,9 @@ using namespace time_literals;
ADIS16497::ADIS16497(int bus, uint32_t device, enum Rotation rotation) :
SPI("ADIS16497", nullptr, bus, device, SPIDEV_MODE3, 5000000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_sample_interval_perf(perf_alloc(PC_INTERVAL, "adis16497: read interval")),
_sample_perf(perf_alloc(PC_ELAPSED, "adis16497: read")),
_bad_transfers(perf_alloc(PC_COUNT, "adis16497: bad transfers"))
{
@@ -95,7 +94,6 @@ ADIS16497::~ADIS16497()
stop();
// delete the perf counters
perf_free(_sample_interval_perf);
perf_free(_sample_perf);
perf_free(_bad_transfers);
}
@@ -384,7 +382,6 @@ ADIS16497::Run()
int
ADIS16497::measure()
{
perf_count(_sample_interval_perf);
perf_begin(_sample_perf);
// Fetch the full set of measurements from the ADIS16497 in one pass (burst read).
@@ -468,7 +465,6 @@ ADIS16497::measure()
void
ADIS16497::print_info()
{
perf_print_counter(_sample_interval_perf);
perf_print_counter(_sample_perf);
perf_print_counter(_bad_transfers);
src/drivers/imu/adis16497/ADIS16497.hpp
-1
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@@ -101,7 +101,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _sample_interval_perf;
perf_counter_t _sample_perf;
perf_counter_t _bad_transfers;
src/drivers/imu/bma180/bma180.cpp
+1 -1
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@@ -223,7 +223,7 @@ private:
BMA180::BMA180(int bus, uint32_t device) :
SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
ScheduledWorkItem(px4::device_bus_to_wq(this->get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(this->get_device_id())),
_call_interval(0),
_reports(nullptr),
_accel_range_scale(0.0f),
src/drivers/imu/bmi055/BMI055_accel.cpp
+1 -6
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@@ -46,10 +46,9 @@ const uint8_t BMI055_accel::_checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTER
BMI055_accel::BMI055_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation) :
BMI055("BMI055_ACCEL", path_accel, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_accel_read")),
_measure_interval(perf_alloc(PC_INTERVAL, "bmi055_accel_measure_interval")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi055_accel_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi055_accel_bad_registers")),
_duplicates(perf_alloc(PC_COUNT, "bmi055_accel_duplicates")),
@@ -65,7 +64,6 @@ BMI055_accel::~BMI055_accel()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_measure_interval);
perf_free(_bad_transfers);
perf_free(_bad_registers);
perf_free(_duplicates);
@@ -286,8 +284,6 @@ BMI055_accel::check_registers(void)
void
BMI055_accel::measure()
{
perf_count(_measure_interval);
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
return;
@@ -409,7 +405,6 @@ void
BMI055_accel::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_measure_interval);
perf_print_counter(_bad_transfers);
perf_print_counter(_bad_registers);
perf_print_counter(_duplicates);
src/drivers/imu/bmi055/BMI055_accel.hpp
-1
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@@ -169,7 +169,6 @@ private:
PX4Accelerometer _px4_accel;
perf_counter_t _sample_perf;
perf_counter_t _measure_interval;
perf_counter_t _bad_transfers;
perf_counter_t _bad_registers;
perf_counter_t _duplicates;
src/drivers/imu/bmi055/BMI055_gyro.cpp
+1 -6
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@@ -49,10 +49,9 @@ const uint8_t BMI055_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS]
BMI055_gyro::BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation) :
BMI055("BMI055_GYRO", path_gyro, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_gyro_read")),
_measure_interval(perf_alloc(PC_INTERVAL, "bmi055_gyro_measure_interval")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_registers"))
{
@@ -66,7 +65,6 @@ BMI055_gyro::~BMI055_gyro()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_measure_interval);
perf_free(_bad_transfers);
perf_free(_bad_registers);
}
@@ -322,8 +320,6 @@ BMI055_gyro::check_registers(void)
void
BMI055_gyro::measure()
{
perf_count(_measure_interval);
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
return;
@@ -421,7 +417,6 @@ BMI055_gyro::print_info()
PX4_INFO("Gyro");
perf_print_counter(_sample_perf);
perf_print_counter(_measure_interval);
perf_print_counter(_bad_transfers);
perf_print_counter(_bad_registers);
src/drivers/imu/bmi055/BMI055_gyro.hpp
-1
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@@ -161,7 +161,6 @@ private:
PX4Gyroscope _px4_gyro;
perf_counter_t _sample_perf;
perf_counter_t _measure_interval;
perf_counter_t _bad_transfers;
perf_counter_t _bad_registers;
src/drivers/imu/bmi088/BMI088_accel.cpp
+1 -6
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@@ -54,10 +54,9 @@ const uint8_t BMI088_accel::_checked_registers[BMI088_ACCEL_NUM_CHECKED_REGISTER
BMI088_accel::BMI088_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation) :
BMI088("BMI088_ACCEL", path_accel, bus, device, SPIDEV_MODE3, BMI088_BUS_SPEED, rotation),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi088_accel_read")),
_measure_interval(perf_alloc(PC_INTERVAL, "bmi088_accel_measure_interval")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi088_accel_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi088_accel_bad_registers")),
_duplicates(perf_alloc(PC_COUNT, "bmi088_accel_duplicates")),
@@ -73,7 +72,6 @@ BMI088_accel::~BMI088_accel()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_measure_interval);
perf_free(_bad_transfers);
perf_free(_bad_registers);
perf_free(_duplicates);
@@ -398,8 +396,6 @@ BMI088_accel::check_registers(void)
void
BMI088_accel::measure()
{
perf_count(_measure_interval);
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
return;
@@ -539,7 +535,6 @@ BMI088_accel::print_info()
PX4_INFO("Accel");
perf_print_counter(_sample_perf);
perf_print_counter(_measure_interval);
perf_print_counter(_bad_transfers);
perf_print_counter(_bad_registers);
perf_print_counter(_duplicates);
src/drivers/imu/bmi088/BMI088_accel.hpp
-1
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@@ -190,7 +190,6 @@ private:
PX4Accelerometer _px4_accel;
perf_counter_t _sample_perf;
perf_counter_t _measure_interval;
perf_counter_t _bad_transfers;
perf_counter_t _bad_registers;
perf_counter_t _duplicates;
src/drivers/imu/bmi088/BMI088_gyro.cpp
+1 -6
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@@ -57,10 +57,9 @@ const uint8_t BMI088_gyro::_checked_registers[BMI088_GYRO_NUM_CHECKED_REGISTERS]
BMI088_gyro::BMI088_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation) :
BMI088("BMI088_GYRO", path_gyro, bus, device, SPIDEV_MODE3, BMI088_BUS_SPEED, rotation),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi088_gyro_read")),
_measure_interval(perf_alloc(PC_INTERVAL, "bmi088_gyro_measure_interval")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_registers"))
{
@@ -74,7 +73,6 @@ BMI088_gyro::~BMI088_gyro()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_measure_interval);
perf_free(_bad_transfers);
perf_free(_bad_registers);
}
@@ -340,8 +338,6 @@ BMI088_gyro::check_registers(void)
void
BMI088_gyro::measure()
{
perf_count(_measure_interval);
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
return;
@@ -435,7 +431,6 @@ BMI088_gyro::print_info()
PX4_INFO("Gyro");
perf_print_counter(_sample_perf);
perf_print_counter(_measure_interval);
perf_print_counter(_bad_transfers);
perf_print_counter(_bad_registers);
src/drivers/imu/bmi088/BMI088_gyro.hpp
-1
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@@ -159,7 +159,6 @@ private:
PX4Gyroscope _px4_gyro;
perf_counter_t _sample_perf;
perf_counter_t _measure_interval;
perf_counter_t _bad_transfers;
perf_counter_t _bad_registers;
src/drivers/imu/bmi160/bmi160.cpp
+1 -1
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@@ -51,7 +51,7 @@ const uint8_t BMI160::_checked_registers[BMI160_NUM_CHECKED_REGISTERS] = { BM
BMI160::BMI160(int bus, uint32_t device, enum Rotation rotation) :
SPI("BMI160", nullptr, bus, device, SPIDEV_MODE3, BMI160_BUS_SPEED),
ScheduledWorkItem(px4::device_bus_to_wq(this->get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(this->get_device_id())),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_accel_reads(perf_alloc(PC_COUNT, "bmi160_accel_read")),
src/drivers/imu/fxas21002c/FXAS21002C.cpp
+1 -5
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@@ -188,10 +188,9 @@ using namespace time_literals;
FXAS21002C::FXAS21002C(int bus, uint32_t device, enum Rotation rotation) :
SPI("FXAS21002C", nullptr, bus, device, SPIDEV_MODE0, 2 * 1000 * 1000),
ScheduledWorkItem(px4::device_bus_to_wq(this->get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(this->get_device_id())),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_sample_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": read interval")),
_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicate reading"))
@@ -206,7 +205,6 @@ FXAS21002C::~FXAS21002C()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_sample_interval_perf);
perf_free(_errors);
perf_free(_bad_registers);
perf_free(_duplicates);
@@ -530,7 +528,6 @@ FXAS21002C::measure()
{
// start the performance counter
perf_begin(_sample_perf);
perf_count(_sample_interval_perf);
/* status register and data as read back from the device */
#pragma pack(push, 1)
@@ -598,7 +595,6 @@ FXAS21002C::print_info()
{
printf("gyro reads: %u\n", _read);
perf_print_counter(_sample_perf);
perf_print_counter(_sample_interval_perf);
perf_print_counter(_errors);
perf_print_counter(_bad_registers);
perf_print_counter(_duplicates);
src/drivers/imu/fxas21002c/FXAS21002C.hpp
-1
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@@ -81,7 +81,6 @@ private:
unsigned _read{0};
perf_counter_t _sample_perf;
perf_counter_t _sample_interval_perf;
perf_counter_t _errors;
perf_counter_t _bad_registers;
perf_counter_t _duplicates;
src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp
+1 -5
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@@ -55,14 +55,13 @@ const uint8_t FXOS8701CQ::_checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS] =
FXOS8701CQ::FXOS8701CQ(int bus, uint32_t device, enum Rotation rotation) :
SPI("FXOS8701CQ", nullptr, bus, device, SPIDEV_MODE0, 1 * 1000 * 1000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_accel(get_device_id(), ORB_PRIO_LOW, rotation),
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
_mag_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": mag read")),
#endif
_accel_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": acc read")),
_accel_sample_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": acc read interval")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad reg")),
_accel_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": acc dupe"))
{
@@ -87,7 +86,6 @@ FXOS8701CQ::~FXOS8701CQ()
// delete the perf counter
perf_free(_accel_sample_perf);
perf_free(_accel_sample_interval_perf);
perf_free(_bad_registers);
perf_free(_accel_duplicates);
}
@@ -334,7 +332,6 @@ FXOS8701CQ::Run()
{
// start the performance counter
perf_begin(_accel_sample_perf);
perf_count(_accel_sample_interval_perf);
// status register and data as read back from the device
#pragma pack(push, 1)
@@ -413,7 +410,6 @@ void
FXOS8701CQ::print_info()
{
perf_print_counter(_accel_sample_perf);
perf_print_counter(_accel_sample_interval_perf);
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
perf_print_counter(_mag_sample_perf);
src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp
-1
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@@ -214,7 +214,6 @@ private:
unsigned _accel_samplerate{FXOS8701C_ACCEL_DEFAULT_RATE};
perf_counter_t _accel_sample_perf;
perf_counter_t _accel_sample_interval_perf;
perf_counter_t _bad_registers;
perf_counter_t _accel_duplicates;
src/drivers/imu/icm20948/icm20948.cpp
+1 -1
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@@ -86,7 +86,7 @@ const uint16_t ICM20948::_icm20948_checked_registers[ICM20948_NUM_CHECKED_REGIST
ICM20948::ICM20948(device::Device *interface, device::Device *mag_interface, const char *path, enum Rotation rotation,
bool magnetometer_only) :
ScheduledWorkItem(px4::device_bus_to_wq(interface->get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
_interface(interface),
_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_DEFAULT : ORB_PRIO_HIGH), rotation),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_DEFAULT : ORB_PRIO_HIGH), rotation),
src/drivers/imu/l3gd20/l3gd20.cpp
+1 -1
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@@ -322,7 +322,7 @@ constexpr uint8_t L3GD20::_checked_registers[];
L3GD20::L3GD20(int bus, const char *path, uint32_t device, enum Rotation rotation) :
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000),
ScheduledWorkItem(px4::device_bus_to_wq(this->get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(this->get_device_id())),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")),
_errors(perf_alloc(PC_COUNT, "l3gd20_err")),
src/drivers/imu/lsm303d/LSM303D.cpp
+1 -9
View File
@@ -55,13 +55,11 @@ static constexpr uint8_t _checked_registers[] = {
LSM303D::LSM303D(int bus, uint32_t device, enum Rotation rotation) :
SPI("LSM303D", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: acc_read")),
_accel_sample_interval_perf(perf_alloc(PC_INTERVAL, "lsm303d: acc interval")),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: mag_read")),
_mag_sample_interval_perf(perf_alloc(PC_INTERVAL, "lsm303d: mag interval")),
_bad_registers(perf_alloc(PC_COUNT, "lsm303d: bad_reg")),
_bad_values(perf_alloc(PC_COUNT, "lsm303d: bad_val")),
_accel_duplicates(perf_alloc(PC_COUNT, "lsm303d: acc_dupe"))
@@ -78,9 +76,7 @@ LSM303D::~LSM303D()
// delete the perf counter
perf_free(_accel_sample_perf);
perf_free(_accel_sample_interval_perf);
perf_free(_mag_sample_perf);
perf_free(_mag_sample_interval_perf);
perf_free(_bad_registers);
perf_free(_bad_values);
perf_free(_accel_duplicates);
@@ -470,7 +466,6 @@ void
LSM303D::measureAccelerometer()
{
perf_begin(_accel_sample_perf);
perf_count(_accel_sample_interval_perf);
// status register and data as read back from the device
#pragma pack(push, 1)
@@ -552,7 +547,6 @@ void
LSM303D::measureMagnetometer()
{
perf_begin(_mag_sample_perf);
perf_count(_mag_sample_interval_perf);
// status register and data as read back from the device
#pragma pack(push, 1)
@@ -591,9 +585,7 @@ void
LSM303D::print_info()
{
perf_print_counter(_accel_sample_perf);
perf_print_counter(_accel_sample_interval_perf);
perf_print_counter(_mag_sample_perf);
perf_print_counter(_mag_sample_interval_perf);
perf_print_counter(_bad_registers);
perf_print_counter(_bad_values);
perf_print_counter(_accel_duplicates);
src/drivers/imu/lsm303d/LSM303D.hpp
-2
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@@ -274,9 +274,7 @@ private:
unsigned _call_mag_interval{1000000 / LSM303D_MAG_DEFAULT_RATE};
perf_counter_t _accel_sample_perf;
perf_counter_t _accel_sample_interval_perf;
perf_counter_t _mag_sample_perf;
perf_counter_t _mag_sample_interval_perf;
perf_counter_t _bad_registers;
perf_counter_t _bad_values;
perf_counter_t _accel_duplicates;
src/drivers/imu/mpu6000/MPU6000.cpp
+1 -6
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@@ -41,13 +41,12 @@ constexpr uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS];
MPU6000::MPU6000(device::Device *interface, const char *path, enum Rotation rotation, int device_type) :
CDev(path),
ScheduledWorkItem(px4::device_bus_to_wq(interface->get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
_interface(interface),
_device_type(device_type),
_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6k_read")),
_measure_interval(perf_alloc(PC_INTERVAL, "mpu6k_measure_interval")),
_bad_transfers(perf_alloc(PC_COUNT, "mpu6k_bad_trans")),
_bad_registers(perf_alloc(PC_COUNT, "mpu6k_bad_reg")),
_reset_retries(perf_alloc(PC_COUNT, "mpu6k_reset")),
@@ -84,7 +83,6 @@ MPU6000::~MPU6000()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_measure_interval);
perf_free(_bad_transfers);
perf_free(_bad_registers);
perf_free(_reset_retries);
@@ -729,8 +727,6 @@ MPU6000::check_registers(void)
int
MPU6000::measure()
{
perf_count(_measure_interval);
if (_in_factory_test) {
// don't publish any data while in factory test mode
return OK;
@@ -897,7 +893,6 @@ void
MPU6000::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_measure_interval);
perf_print_counter(_bad_transfers);
perf_print_counter(_bad_registers);
perf_print_counter(_reset_retries);
src/drivers/imu/mpu6000/MPU6000.hpp
-1
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@@ -358,7 +358,6 @@ private:
unsigned _sample_rate{1000};
perf_counter_t _sample_perf;
perf_counter_t _measure_interval;
perf_counter_t _bad_transfers;
perf_counter_t _bad_registers;
perf_counter_t _reset_retries;
src/drivers/imu/mpu9250/mpu9250.cpp
+1 -1
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@@ -72,7 +72,7 @@ const uint16_t MPU9250::_mpu9250_checked_registers[MPU9250_NUM_CHECKED_REGISTERS
MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const char *path, enum Rotation rotation,
bool magnetometer_only) :
ScheduledWorkItem(px4::device_bus_to_wq(interface->get_device_id())),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
_interface(interface),
_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),