From e49112d40697b31522b8024c8e7a80e5cd080a99 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 30 Jan 2020 01:49:46 -0500
Subject: [PATCH] invensense/icm20608-g: delete unnecessary perf counters

---
 .../imu/invensense/icm20608-g/ICM20608G.cpp        | 14 --------------
 .../imu/invensense/icm20608-g/ICM20608G.hpp        |  2 --
 .../icm20608-g/InvenSense_ICM20608G_registers.hpp  |  2 --
 3 files changed, 18 deletions(-)

diff --git a/src/drivers/imu/invensense/icm20608-g/ICM20608G.cpp b/src/drivers/imu/invensense/icm20608-g/ICM20608G.cpp
index 00560f7f70..db9ab3028c 100644
--- a/src/drivers/imu/invensense/icm20608-g/ICM20608G.cpp
+++ b/src/drivers/imu/invensense/icm20608-g/ICM20608G.cpp
@@ -70,12 +70,10 @@ ICM20608G::~ICM20608G()
 		board_dma_free(_dma_data_buffer, FIFO::SIZE);
 	}
 
-	perf_free(_interval_perf);
 	perf_free(_transfer_perf);
 	perf_free(_fifo_empty_perf);
 	perf_free(_fifo_overflow_perf);
 	perf_free(_fifo_reset_perf);
-	perf_free(_drdy_count_perf);
 	perf_free(_drdy_interval_perf);
 }
 
@@ -218,7 +216,6 @@ int ICM20608G::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM20608G::DataReady()
 {
-	perf_count(_drdy_count_perf);
 	perf_count(_drdy_interval_perf);
 
 	_data_ready_count++;
@@ -271,8 +268,6 @@ void ICM20608G::Stop()
 
 void ICM20608G::Run()
 {
-	perf_count(_interval_perf);
-
 	// use timestamp from the data ready interrupt if available,
 	//  otherwise use the time now roughly corresponding with the last sample we'll pull from the FIFO
 	const hrt_abstime timestamp_sample = (hrt_elapsed_time(&_time_data_ready) < FIFO_INTERVAL) ? _time_data_ready :
@@ -301,13 +296,6 @@ void ICM20608G::Run()
 		return;
 	}
 
-	// check for FIFO overflow
-	if (RegisterRead(Register::INT_STATUS) & INT_STATUS_BIT::FIFO_OFLOW_INT) {
-		perf_count(_fifo_overflow_perf);
-		ResetFIFO();
-		return;
-	}
-
 	// Transfer data
 	struct TransferBuffer {
 		uint8_t cmd;
@@ -388,12 +376,10 @@ void ICM20608G::Run()
 
 void ICM20608G::PrintInfo()
 {
-	perf_print_counter(_interval_perf);
 	perf_print_counter(_transfer_perf);
 	perf_print_counter(_fifo_empty_perf);
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
-	perf_print_counter(_drdy_count_perf);
 	perf_print_counter(_drdy_interval_perf);
 
 	_px4_accel.print_status();
diff --git a/src/drivers/imu/invensense/icm20608-g/ICM20608G.hpp b/src/drivers/imu/invensense/icm20608-g/ICM20608G.hpp
index 3fe5a5de6a..9e5a0eac36 100644
--- a/src/drivers/imu/invensense/icm20608-g/ICM20608G.hpp
+++ b/src/drivers/imu/invensense/icm20608-g/ICM20608G.hpp
@@ -84,12 +84,10 @@ private:
 	PX4Accelerometer _px4_accel;
 	PX4Gyroscope _px4_gyro;
 
-	perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": run interval")};
 	perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo empty")};
 	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo overflow")};
 	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo reset")};
-	perf_counter_t _drdy_count_perf{perf_alloc(PC_COUNT, MODULE_NAME": drdy count")};
 	perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": drdy interval")};
 
 	hrt_abstime _time_data_ready{0};
diff --git a/src/drivers/imu/invensense/icm20608-g/InvenSense_ICM20608G_registers.hpp b/src/drivers/imu/invensense/icm20608-g/InvenSense_ICM20608G_registers.hpp
index af14c1e5fa..cbb6cb26c8 100644
--- a/src/drivers/imu/invensense/icm20608-g/InvenSense_ICM20608G_registers.hpp
+++ b/src/drivers/imu/invensense/icm20608-g/InvenSense_ICM20608G_registers.hpp
@@ -67,7 +67,6 @@ enum class Register : uint8_t {
 
 	INT_STATUS    = 0x3A,
 
-	INT_PIN_CFG   = 0x37,
 	INT_ENABLE    = 0x38,
 
 	TEMP_OUT_H    = 0x41,
@@ -170,7 +169,6 @@ struct DATA {
 	uint8_t GYRO_ZOUT_H;
 	uint8_t GYRO_ZOUT_L;
 };
-static_assert(sizeof(DATA) == 12);
 }
 
 } // namespace InvenSense_ICM20608G