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mpu6000: added logging of good transfers

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this helps tracking down a startup issue
This commit is contained in:
Andrew Tridgell
2014-10-30 08:47:03 +11:00
parent 2e33683630
commit c396a67746
1 changed files with 11 additions and 0 deletions
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src/drivers/mpu6000/mpu6000.cpp
+11
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@@ -229,6 +229,7 @@ private:
perf_counter_t _gyro_reads;
perf_counter_t _sample_perf;
perf_counter_t _bad_transfers;
perf_counter_t _good_transfers;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
@@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
_bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")),
_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -456,6 +458,7 @@ MPU6000::~MPU6000()
perf_free(_accel_reads);
perf_free(_gyro_reads);
perf_free(_bad_transfers);
perf_free(_good_transfers);
}
int
@@ -1279,8 +1282,14 @@ MPU6000::measure()
// all zero data - probably a SPI bus error
perf_count(_bad_transfers);
perf_end(_sample_perf);
// note that we don't call reset() here as a reset()
// costs 20ms with interrupts disabled. That means if
// the mpu6k does go bad it would cause a FMU failure,
// regardless of whether another sensor is available,
return;
}
perf_count(_good_transfers);
/*
@@ -1399,6 +1408,8 @@ MPU6000::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_accel_reads);
perf_print_counter(_gyro_reads);
perf_print_counter(_bad_transfers);
perf_print_counter(_good_transfers);
_accel_reports->print_info("accel queue");
_gyro_reports->print_info("gyro queue");
}