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bmi055 add measure interval perf counter

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This commit is contained in:
Daniel Agar
2018-07-08 20:14:34 +02:00
committed by Lorenz Meier
parent 0da8125ac0
commit e4be8eccc9
4 changed files with 12 additions and 0 deletions
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src/drivers/imu/bmi055/BMI055_gyro.cpp
+5
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@@ -50,6 +50,7 @@ const uint8_t BMI055_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS]
BMI055_gyro::BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation) :
BMI055("BMI055_GYRO", path_gyro, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_gyro_read")),
_measure_interval(perf_alloc(PC_INTERVAL, "bmi055_gyro_measure_interval")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_registers")),
_gyro_reports(nullptr),
@@ -95,6 +96,7 @@ BMI055_gyro::~BMI055_gyro()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_measure_interval);
perf_free(_bad_transfers);
perf_free(_bad_registers);
}
@@ -637,6 +639,8 @@ BMI055_gyro::check_registers(void)
void
BMI055_gyro::measure()
{
perf_count(_measure_interval);
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
return;
@@ -779,6 +783,7 @@ BMI055_gyro::print_info()
PX4_INFO("Gyro");
perf_print_counter(_sample_perf);
perf_print_counter(_measure_interval);
perf_print_counter(_bad_transfers);
perf_print_counter(_bad_registers);