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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/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);
}