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Counting channel count changes

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Lorenz Meier
2013-12-21 16:13:04 +01:00
parent 3e037d40de
commit b2e527ffa6
1 changed files with 11 additions and 2 deletions
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src/drivers/px4io/px4io.cpp
+11 -2
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@@ -237,6 +237,7 @@ private:
unsigned _update_interval; ///< Subscription interval limiting send rate unsigned _update_interval; ///< Subscription interval limiting send rate
bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels
volatile int _task; ///<worker task id volatile int _task; ///<worker task id
volatile bool _task_should_exit; ///<worker terminate flag volatile bool _task_should_exit; ///<worker terminate flag
@@ -246,6 +247,7 @@ private:
perf_counter_t _perf_update; ///<local performance counter for status updates perf_counter_t _perf_update; ///<local performance counter for status updates
perf_counter_t _perf_write; ///<local performance counter for PWM control writes perf_counter_t _perf_write; ///<local performance counter for PWM control writes
perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes
/* cached IO state */ /* cached IO state */
uint16_t _status; ///<Various IO status flags uint16_t _status; ///<Various IO status flags
@@ -455,12 +457,14 @@ PX4IO::PX4IO(device::Device *interface) :
_max_transfer(16), /* sensible default */ _max_transfer(16), /* sensible default */
_update_interval(0), _update_interval(0),
_rc_handling_disabled(false), _rc_handling_disabled(false),
_rc_chan_count(0),
_task(-1), _task(-1),
_task_should_exit(false), _task_should_exit(false),
_mavlink_fd(-1), _mavlink_fd(-1),
_thread_mavlink_fd(-1), _thread_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")), _perf_update(perf_alloc(PC_ELAPSED, "io update")),
_perf_write(perf_alloc(PC_ELAPSED, "px4io write")), _perf_write(perf_alloc(PC_ELAPSED, "io write")),
_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
_status(0), _status(0),
_alarms(0), _alarms(0),
_t_actuators(-1), _t_actuators(-1),
@@ -1325,6 +1329,11 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
*/ */
channel_count = regs[0]; channel_count = regs[0];
if (channel_count != _rc_chan_count)
perf_count(_perf_chan_count);
_rc_chan_count = channel_count;
if (channel_count > 9) { if (channel_count > 9) {
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9); ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);