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improve end to end control latency measurement (#9388)

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This commit is contained in:
Daniel Agar
2018-05-02 03:03:32 -04:00
committed by GitHub
parent edea1b65cd
commit 977ab4e7b8
25 changed files with 132 additions and 64 deletions
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src/drivers/imu/adis16448/adis16448.cpp
+1 -6
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@@ -271,8 +271,6 @@ private:
enum Rotation _rotation;
perf_counter_t _controller_latency_perf;
#pragma pack(push, 1)
/**
* Report conversation with in the ADIS16448, including command byte and interrupt status.
@@ -524,8 +522,7 @@ ADIS16448::ADIS16448(int bus, const char *path_accel, const char *path_gyro, con
_mag_filter_z(ADIS16448_MAG_DEFAULT_RATE, ADIS16448_MAG_DEFAULT_DRIVER_FILTER_FREQ),
_accel_int(1000000 / ADIS16448_ACCEL_MAX_OUTPUT_RATE, false),
_gyro_int(1000000 / ADIS16448_GYRO_MAX_OUTPUT_RATE, true),
_rotation(rotation),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency"))
_rotation(rotation)
{
// disable debug() calls
_debug_enabled = false;
@@ -1567,8 +1564,6 @@ ADIS16448::measure()
_mag->parent_poll_notify();
if (accel_notify && !(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
src/drivers/imu/bmi055/bmi055.hpp
-1
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@@ -269,7 +269,6 @@ protected:
perf_counter_t _good_transfers;
perf_counter_t _reset_retries;
perf_counter_t _duplicates;
perf_counter_t _controller_latency_perf;
uint8_t _register_wait;
uint64_t _reset_wait;
src/drivers/imu/bmi055/bmi055_accel.cpp
-2
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@@ -783,8 +783,6 @@ BMI055_accel::measure()
}
if (accel_notify && !(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
src/drivers/imu/bmi055/bmi055_gyro.cpp
-2
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@@ -753,8 +753,6 @@ BMI055_gyro::measure()
}
if (gyro_notify && !(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb);
}
src/drivers/imu/bmi055/bmi055_main.cpp
-1
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@@ -442,7 +442,6 @@ BMI055::BMI055(const char *name, const char *devname, int bus, uint32_t device,
_good_transfers(perf_alloc(PC_COUNT, "bmi055_good_transfers")),
_reset_retries(perf_alloc(PC_COUNT, "bmi055_reset_retries")),
_duplicates(perf_alloc(PC_COUNT, "bmi055_duplicates")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_register_wait(0),
_reset_wait(0),
_rotation(rotation),
src/drivers/imu/bmi160/bmi160.cpp
-3
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@@ -46,7 +46,6 @@ BMI160::BMI160(int bus, const char *path_accel, const char *path_gyro, uint32_t
_good_transfers(perf_alloc(PC_COUNT, "bmi160_good_transfers")),
_reset_retries(perf_alloc(PC_COUNT, "bmi160_reset_retries")),
_duplicates(perf_alloc(PC_COUNT, "bmi160_duplicates")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_register_wait(0),
_reset_wait(0),
_accel_filter_x(BMI160_ACCEL_DEFAULT_RATE, BMI160_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -1246,8 +1245,6 @@ BMI160::measure()
}
if (accel_notify && !(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
src/drivers/imu/bmi160/bmi160.hpp
-1
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@@ -307,7 +307,6 @@ private:
perf_counter_t _good_transfers;
perf_counter_t _reset_retries;
perf_counter_t _duplicates;
perf_counter_t _controller_latency_perf;
uint8_t _register_wait;
uint64_t _reset_wait;
src/drivers/imu/mpu6000/mpu6000.cpp
-4
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@@ -208,7 +208,6 @@ private:
perf_counter_t _good_transfers;
perf_counter_t _reset_retries;
perf_counter_t _duplicates;
perf_counter_t _controller_latency_perf;
uint8_t _register_wait;
uint64_t _reset_wait;
@@ -510,7 +509,6 @@ MPU6000::MPU6000(device::Device *interface, const char *path_accel, const char *
_good_transfers(perf_alloc(PC_COUNT, "mpu6k_good_trans")),
_reset_retries(perf_alloc(PC_COUNT, "mpu6k_reset")),
_duplicates(perf_alloc(PC_COUNT, "mpu6k_duplicates")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_register_wait(0),
_reset_wait(0),
_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -2076,8 +2074,6 @@ MPU6000::measure()
}
if (accel_notify && !(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
src/drivers/imu/mpu9250/mpu9250.cpp
-3
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@@ -148,7 +148,6 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
_good_transfers(perf_alloc(PC_COUNT, "mpu9250_good_trans")),
_reset_retries(perf_alloc(PC_COUNT, "mpu9250_reset")),
_duplicates(perf_alloc(PC_COUNT, "mpu9250_dupe")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_register_wait(0),
_reset_wait(0),
_accel_filter_x(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -1487,8 +1486,6 @@ MPU9250::measure()
}
if (accel_notify && !(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
src/drivers/imu/mpu9250/mpu9250.h
-1
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@@ -320,7 +320,6 @@ private:
perf_counter_t _good_transfers;
perf_counter_t _reset_retries;
perf_counter_t _duplicates;
perf_counter_t _controller_latency_perf;
uint8_t _register_wait;
uint64_t _reset_wait;