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ll40ls: add last distance in "ll40ls info" output

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This commit is contained in:
Andrew Tridgell
2014-10-20 07:11:24 +11:00
parent 111a8745b3
commit 99bfbb6dc3
1 changed files with 7 additions and 1 deletions
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src/drivers/ll40ls/ll40ls.cpp
+7 -1
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@@ -132,6 +132,7 @@ private:
perf_counter_t _sample_perf; perf_counter_t _sample_perf;
perf_counter_t _comms_errors; perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows; perf_counter_t _buffer_overflows;
uint16_t _last_distance;
/** /**
* Test whether the device supported by the driver is present at a * Test whether the device supported by the driver is present at a
@@ -200,7 +201,8 @@ LL40LS::LL40LS(int bus, int address) :
_range_finder_topic(-1), _range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")), _sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")),
_comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")), _comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")) _buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")),
_last_distance(0)
{ {
// up the retries since the device misses the first measure attempts // up the retries since the device misses the first measure attempts
I2C::_retries = 3; I2C::_retries = 3;
@@ -521,6 +523,8 @@ LL40LS::collect()
float si_units = distance * 0.01f; /* cm to m */ float si_units = distance * 0.01f; /* cm to m */
struct range_finder_report report; struct range_finder_report report;
_last_distance = distance;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */ /* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time(); report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors); report.error_count = perf_event_count(_comms_errors);
@@ -648,6 +652,8 @@ LL40LS::print_info()
perf_print_counter(_buffer_overflows); perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks); printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue"); _reports->print_info("report queue");
printf("distance: %ucm (0x%04x)\n",
(unsigned)_last_distance, (unsigned)_last_distance);
} }
/** /**