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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/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),