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Responding to PR feedback. All items resolved.

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Signed-off-by: jwilson <jwilson@qti.qualcomm.com>
This commit is contained in:
jwilson
2016-05-31 16:43:12 +02:00
committed by Lorenz Meier
parent 67ea3d6ec6
commit 76095ebba5
2 changed files with 10 additions and 12 deletions
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src/lib/DriverFramework
+1 -1
Submodule src/lib/DriverFramework updated: 5e055c7d11...1d57b39a12
src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+9 -11
View File
@@ -151,7 +151,6 @@ private:
Integrator _accel_int; Integrator _accel_int;
Integrator _gyro_int; Integrator _gyro_int;
Integrator _mag_int;
unsigned _publish_count; unsigned _publish_count;
@@ -161,7 +160,7 @@ private:
perf_counter_t _fifo_corruption_counter; perf_counter_t _fifo_corruption_counter;
perf_counter_t _gyro_range_hit_counter; perf_counter_t _gyro_range_hit_counter;
perf_counter_t _accel_range_hit_counter; perf_counter_t _accel_range_hit_counter;
perf_counter_t _mag_range_hit_counter; perf_counter_t _mag_fifo_overflow_counter;
perf_counter_t _publish_perf; perf_counter_t _publish_perf;
hrt_abstime _last_accel_range_hit_time; hrt_abstime _last_accel_range_hit_time;
@@ -185,7 +184,6 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled) :
_mag_orb_class_instance(-1), _mag_orb_class_instance(-1),
_accel_int(MPU9250_NEVER_AUTOPUBLISH_US, false), _accel_int(MPU9250_NEVER_AUTOPUBLISH_US, false),
_gyro_int(MPU9250_NEVER_AUTOPUBLISH_US, true), _gyro_int(MPU9250_NEVER_AUTOPUBLISH_US, true),
_mag_int(MPU9250_NEVER_AUTOPUBLISH_US, true),
/*_rotation(rotation)*/ /*_rotation(rotation)*/
_publish_count(0), _publish_count(0),
_read_counter(perf_alloc(PC_COUNT, "mpu9250_reads")), _read_counter(perf_alloc(PC_COUNT, "mpu9250_reads")),
@@ -194,7 +192,7 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled) :
_fifo_corruption_counter(perf_alloc(PC_COUNT, "mpu9250_fifo_corruptions")), _fifo_corruption_counter(perf_alloc(PC_COUNT, "mpu9250_fifo_corruptions")),
_gyro_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_gyro_range_hits")), _gyro_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_gyro_range_hits")),
_accel_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_accel_range_hits")), _accel_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_accel_range_hits")),
_mag_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_mag_range_hits")), _mag_fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu9250_mag_fifo_overflows")),
_publish_perf(perf_alloc(PC_ELAPSED, "mpu9250_publish")), _publish_perf(perf_alloc(PC_ELAPSED, "mpu9250_publish")),
_last_accel_range_hit_time(0), _last_accel_range_hit_time(0),
_last_accel_range_hit_count(0), _last_accel_range_hit_count(0),
@@ -234,7 +232,7 @@ DfMpu9250Wrapper::~DfMpu9250Wrapper()
perf_free(_gyro_range_hit_counter); perf_free(_gyro_range_hit_counter);
perf_free(_accel_range_hit_counter); perf_free(_accel_range_hit_counter);
if (_mag_enabled == true) { if (_mag_enabled == true) {
perf_free(_mag_range_hit_counter); perf_free(_mag_fifo_overflow_counter);
} }
perf_free(_publish_perf); perf_free(_publish_perf);
} }
@@ -325,7 +323,7 @@ void DfMpu9250Wrapper::info()
perf_print_counter(_gyro_range_hit_counter); perf_print_counter(_gyro_range_hit_counter);
perf_print_counter(_accel_range_hit_counter); perf_print_counter(_accel_range_hit_counter);
if (_mag_enabled == true) { if (_mag_enabled == true) {
perf_print_counter(_mag_range_hit_counter); perf_print_counter(_mag_fifo_overflow_counter);
} }
perf_print_counter(_publish_perf); perf_print_counter(_publish_perf);
} }
@@ -624,7 +622,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter); perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter);
perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter); perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter);
if (_mag_enabled == true) { if (_mag_enabled == true) {
perf_set_count(_mag_range_hit_counter, data.mag_range_hit_counter); perf_set_count(_mag_fifo_overflow_counter, data.mag_fifo_overflow_counter);
} }
perf_begin(_publish_perf); perf_begin(_publish_perf);
@@ -819,7 +817,7 @@ info()
void void
usage() usage()
{ {
PX4_WARN("Usage: df_mpu9250_wrapper 'start', 'info', 'stop'"); PX4_WARN("Usage: df_mpu9250_wrapper 'start', 'start_without_mag', 'info', 'stop'");
PX4_WARN("options:"); PX4_WARN("options:");
//PX4_WARN(" -R rotation"); //PX4_WARN(" -R rotation");
} }
@@ -856,12 +854,12 @@ df_mpu9250_wrapper_main(int argc, char *argv[])
const char *verb = argv[myoptind]; const char *verb = argv[myoptind];
if (!strcmp(verb, "start_with_mag")) { if (!strcmp(verb, "start_without_mag")) {
ret = df_mpu9250_wrapper::start(true); ret = df_mpu9250_wrapper::start(false);
} }
else if (!strcmp(verb, "start")) { else if (!strcmp(verb, "start")) {
ret = df_mpu9250_wrapper::start(false); ret = df_mpu9250_wrapper::start(true);
} }
else if (!strcmp(verb, "stop")) { else if (!strcmp(verb, "stop")) {