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mpu6000 add interval perf counter and delete unused

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This commit is contained in:
Daniel Agar
2018-07-08 20:14:34 +02:00
committed by Lorenz Meier
parent 13c2c8c89b
commit 4c5ace9b75
1 changed files with 7 additions and 22 deletions
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src/drivers/imu/mpu6000/mpu6000.cpp
+7 -22
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@@ -200,12 +200,11 @@ private:
float _gyro_range_rad_s;
unsigned _sample_rate;
perf_counter_t _accel_reads;
perf_counter_t _gyro_reads;
perf_counter_t _sample_perf;
perf_counter_t _measure_interval;
perf_counter_t _bad_transfers;
perf_counter_t _bad_registers;
perf_counter_t _good_transfers;
perf_counter_t _reset_retries;
perf_counter_t _duplicates;
@@ -501,12 +500,10 @@ MPU6000::MPU6000(device::Device *interface, const char *path_accel, const char *
_gyro_range_scale(0.0f),
_gyro_range_rad_s(0.0f),
_sample_rate(1000),
_accel_reads(perf_alloc(PC_COUNT, "mpu6k_acc_read")),
_gyro_reads(perf_alloc(PC_COUNT, "mpu6k_gyro_read")),
_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")),
_good_transfers(perf_alloc(PC_COUNT, "mpu6k_good_trans")),
_reset_retries(perf_alloc(PC_COUNT, "mpu6k_reset")),
_duplicates(perf_alloc(PC_COUNT, "mpu6k_duplicates")),
_register_wait(0),
@@ -614,11 +611,9 @@ MPU6000::~MPU6000()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_accel_reads);
perf_free(_gyro_reads);
perf_free(_measure_interval);
perf_free(_bad_transfers);
perf_free(_bad_registers);
perf_free(_good_transfers);
perf_free(_reset_retries);
perf_free(_duplicates);
}
@@ -767,8 +762,6 @@ int MPU6000::reset()
uint8_t tries = 5;
irqstate_t state;
while (--tries != 0) {
state = px4_enter_critical_section();
@@ -1051,8 +1044,6 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen)
return -EAGAIN;
}
perf_count(_accel_reads);
/* copy reports out of our buffer to the caller */
accel_report *arp = reinterpret_cast<accel_report *>(buffer);
int transferred = 0;
@@ -1336,8 +1327,6 @@ MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
return -EAGAIN;
}
perf_count(_gyro_reads);
/* copy reports out of our buffer to the caller */
gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
int transferred = 0;
@@ -1830,6 +1819,8 @@ 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;
@@ -1919,12 +1910,9 @@ MPU6000::measure()
return -EIO;
}
perf_count(_good_transfers);
if (_register_wait != 0) {
// we are waiting for some good transfers before using
// the sensor again. We still increment
// _good_transfers, but don't return any data yet
// the sensor again, don't return any data yet
_register_wait--;
return OK;
}
@@ -2092,11 +2080,8 @@ void
MPU6000::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_accel_reads);
perf_print_counter(_gyro_reads);
perf_print_counter(_bad_transfers);
perf_print_counter(_bad_registers);
perf_print_counter(_good_transfers);
perf_print_counter(_reset_retries);
perf_print_counter(_duplicates);
_accel_reports->print_info("accel queue");