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df_mpu9250_wrapper: add perf counters

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Julian Oes 2016-04-24 19:51:58 +02:00 committed by Lorenz Meier
parent 4ac67f69d1
commit d55b4802f1
1 changed files with 24 additions and 1 deletions
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25
src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
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@ -52,6 +52,7 @@
#include <errno.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
@ -132,6 +133,14 @@ private:
unsigned _publish_count;
hrt_abstime _first_sample_time;
perf_counter_t _read_counter;
perf_counter_t _error_counter;
perf_counter_t _fifo_overflow_counter;
perf_counter_t _fifo_corruption_counter;
perf_counter_t _gyro_range_hit_counter;
perf_counter_t _accel_range_hit_counter;
perf_counter_t _publish_perf;
};
DfMpu9250Wrapper::DfMpu9250Wrapper(/*enum Rotation rotation*/) :
@ -147,7 +156,14 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(/*enum Rotation rotation*/) :
_gyro_int(MPU9250_NEVER_AUTOPUBLISH_US, true),
/*_rotation(rotation)*/
_publish_count(0),
_first_sample_time(0)
_first_sample_time(0),
_read_counter(perf_alloc(PC_COUNT, "mpu9250_reads")),
_error_counter(perf_alloc(PC_COUNT, "mpu9250_errors")),
_fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu9250_fifo_overflows")),
_fifo_corruption_counter(perf_alloc(PC_COUNT, "mpu9250_fifo_corruptions")),
_gyro_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_gyro_range_hits")),
_accel_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_accel_range_hits")),
_publish_perf(perf_alloc(PC_ELAPSED, "mpu9250_publish"))
{
// Set sane default calibration values
_accel_calibration.x_scale = 1.0f;
@ -437,6 +453,13 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
gyro_val_integrated_unused,
gyro_report.integral_dt);
perf_set_count(_read_counter, data.read_counter);
perf_set_count(_error_counter, data.error_counter);
perf_set_count(_fifo_overflow_counter, data.fifo_overflow_counter);
perf_set_count(_fifo_corruption_counter, data.fifo_overflow_counter);
perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter);
perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter);
/* If the time offset is 0, we are receiving the latest sample and can publish,
* at least every 4th time because the driver is running at 1kHz but we should
* only publish at 250 Hz. */