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fxas21002c fix perf counter typo and add interval

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This commit is contained in:
Daniel Agar
2019-08-28 23:34:08 -04:00
parent e8dcd8c2fc
commit 497a053bc1
2 changed files with 12 additions and 11 deletions
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22
src/drivers/imu/fxas21002c/FXAS21002C.cpp
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@@ -159,10 +159,7 @@
/* default values for this device */
#define FXAS21002C_MAX_RATE 800
#define FXAS21002C_DEFAULT_RATE FXAS21002C_MAX_RATE
#define FXAS21002C_MAX_OUTPUT_RATE 280
#define FXAS21002C_DEFAULT_RANGE_DPS 2000
#define FXAS21002C_DEFAULT_FILTER_FREQ 30
#define FXAS21002C_TEMP_OFFSET_CELSIUS 40
#define FXAS21002C_DEFAULT_ONCHIP_FILTER_FREQ 64 // ODR dependant
/*
@@ -193,10 +190,11 @@ FXAS21002C::FXAS21002C(int bus, uint32_t device, enum Rotation rotation) :
SPI("FXAS21002C", nullptr, bus, device, SPIDEV_MODE0, 2 * 1000 * 1000),
ScheduledWorkItem(px4::device_bus_to_wq(this->get_device_id())),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "fxas21002c_acc_read")),
_errors(perf_alloc(PC_COUNT, "fxas21002c_err")),
_bad_registers(perf_alloc(PC_COUNT, "fxas21002c_bad_reg")),
_duplicates(perf_alloc(PC_COUNT, "fxas21002c_acc_dupe"))
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_sample_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": read interval")),
_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicate reading"))
{
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_FXAS2100C);
}
@@ -208,6 +206,7 @@ FXAS21002C::~FXAS21002C()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_sample_interval_perf);
perf_free(_errors);
perf_free(_bad_registers);
perf_free(_duplicates);
@@ -529,8 +528,11 @@ FXAS21002C::check_registers(void)
void
FXAS21002C::measure()
{
/* status register and data as read back from the device */
// start the performance counter
perf_begin(_sample_perf);
perf_count(_sample_interval_perf);
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd;
@@ -541,9 +543,6 @@ FXAS21002C::measure()
} raw_gyro_report{};
#pragma pack(pop)
/* start the performance counter */
perf_begin(_sample_perf);
check_registers();
if (_register_wait != 0) {
@@ -599,6 +598,7 @@ FXAS21002C::print_info()
{
printf("gyro reads: %u\n", _read);
perf_print_counter(_sample_perf);
perf_print_counter(_sample_interval_perf);
perf_print_counter(_errors);
perf_print_counter(_bad_registers);
perf_print_counter(_duplicates);

1
src/drivers/imu/fxas21002c/FXAS21002C.hpp
View File

@@ -81,6 +81,7 @@ private:
unsigned _read{0};
perf_counter_t _sample_perf;
perf_counter_t _sample_interval_perf;
perf_counter_t _errors;
perf_counter_t _bad_registers;
perf_counter_t _duplicates;