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df_mpu9250_wrapper: add an info function

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This commit is contained in:
Julian Oes
2016-04-25 09:17:39 +02:00
committed by Lorenz Meier
parent 23f882063e
commit 20e494410a
1 changed files with 24 additions and 2 deletions
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26
src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
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@@ -94,6 +94,11 @@ public:
*/
int stop();
/**
* Print some debug info.
*/
void info();
private:
int _publish(struct imu_sensor_data &data);
@@ -141,6 +146,9 @@ private:
perf_counter_t _gyro_range_hit_counter;
perf_counter_t _accel_range_hit_counter;
perf_counter_t _publish_perf;
hrt_abstime _last_accel_range_hit_time;
uint64_t _last_accel_range_hit_count;
};
DfMpu9250Wrapper::DfMpu9250Wrapper(/*enum Rotation rotation*/) :
@@ -163,7 +171,9 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(/*enum Rotation rotation*/) :
_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"))
_publish_perf(perf_alloc(PC_ELAPSED, "mpu9250_publish")),
_last_accel_range_hit_time(0),
_last_accel_range_hit_count(0)
{
// Set sane default calibration values
_accel_calibration.x_scale = 1.0f;
@@ -256,6 +266,17 @@ int DfMpu9250Wrapper::stop()
return 0;
}
void DfMpu9250Wrapper::info()
{
perf_print_counter(_read_counter);
perf_print_counter(_error_counter);
perf_print_counter(_fifo_overflow_counter);
perf_print_counter(_fifo_corruption_counter);
perf_print_counter(_gyro_range_hit_counter);
perf_print_counter(_accel_range_hit_counter);
perf_print_counter(_publish_perf);
}
void DfMpu9250Wrapper::_update_gyro_calibration()
{
// TODO: replace magic number
@@ -607,7 +628,8 @@ info()
return 1;
}
PX4_DEBUG("state @ %p", g_dev);
PX4_INFO("state @ %p", g_dev);
g_dev->info();
return 0;
}