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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
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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);