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icm20948: accumulated minor improvements and cleanup

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- remove interrupt perf counter and instead only count misses
 - minor style changes to stay in sync with the other Invensense drivers
This commit is contained in:
Daniel Agar
2020-07-09 11:33:41 -04:00
parent 473b0456db
commit 50228a05e1
4 changed files with 29 additions and 24 deletions
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31
src/drivers/imu/invensense/icm20948/ICM20948.cpp
View File

@@ -51,7 +51,7 @@ ICM20948::ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME": DRDY interval");
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
}
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
@@ -82,7 +82,7 @@ ICM20948::~ICM20948()
perf_free(_fifo_empty_perf);
perf_free(_fifo_overflow_perf);
perf_free(_fifo_reset_perf);
perf_free(_drdy_interval_perf);
perf_free(_drdy_missed_perf);
delete _slave_ak09916_magnetometer;
}
@@ -125,7 +125,7 @@ void ICM20948::print_status()
perf_print_counter(_fifo_empty_perf);
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
perf_print_counter(_drdy_missed_perf);
if (_slave_ak09916_magnetometer) {
@@ -154,7 +154,7 @@ void ICM20948::RunImpl()
// PWR_MGMT_1: Device Reset
RegisterWrite(Register::BANK_0::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
_reset_timestamp = now;
_consecutive_failures = 0;
_failure_count = 0;
_state = STATE::WAIT_FOR_RESET;
ScheduleDelayed(100_ms);
break;
@@ -231,8 +231,8 @@ void ICM20948::RunImpl()
case STATE::FIFO_READ: {
if (_data_ready_interrupt_enabled) {
// scheduled from interrupt if _drdy_fifo_read_samples was set
if (_drdy_fifo_read_samples.fetch_and(0) == _fifo_gyro_samples) {
perf_count_interval(_drdy_interval_perf, now);
if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
perf_count(_drdy_missed_perf);
}
// push backup schedule back
@@ -263,22 +263,25 @@ void ICM20948::RunImpl()
} else if (samples >= 1) {
if (FIFORead(now, samples)) {
success = true;
_consecutive_failures = 0;
if (_failure_count > 0) {
_failure_count--;
}
}
}
}
if (!success) {
_consecutive_failures++;
_failure_count++;
// full reset if things are failing consistently
if (_consecutive_failures > 10) {
if (_failure_count > 10) {
Reset();
return;
}
}
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
// check configuration registers periodically or immediately following any failure
if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
&& RegisterCheck(_register_bank2_cfg[_checked_register_bank2])
@@ -442,12 +445,12 @@ int ICM20948::DataReadyInterruptCallback(int irq, void *context, void *arg)
void ICM20948::DataReady()
{
const uint8_t count = _drdy_count.fetch_add(1) + 1;
uint8_t expected = 0;
uint32_t expected = 0;
// at least the required number of samples in the FIFO
if ((count >= _fifo_gyro_samples) && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
&& _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
_drdy_count.store(0);
ScheduleNow();
}

10
src/drivers/imu/invensense/icm20948/ICM20948.hpp
View File

@@ -163,17 +163,17 @@ private:
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_interval_perf{nullptr};
perf_counter_t _drdy_missed_perf{nullptr};
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
hrt_abstime _temperature_update_timestamp{0};
unsigned _consecutive_failures{0};
int _failure_count{0};
enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
px4::atomic<uint8_t> _drdy_fifo_read_samples{0};
px4::atomic<uint8_t> _drdy_count{0};
px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
px4::atomic<uint32_t> _drdy_count{0};
bool _data_ready_interrupt_enabled{false};
enum class STATE : uint8_t {
@@ -186,7 +186,7 @@ private:
STATE _state{STATE::RESET};
uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
uint8_t _checked_register_bank0{0};
static constexpr uint8_t size_register_bank0_cfg{6};

10
src/drivers/imu/invensense/icm20948/ICM20948_AK09916.cpp
View File

@@ -86,7 +86,7 @@ void ICM20948_AK09916::Run()
// CNTL3 SRST: Soft reset
_icm20948.I2CSlaveRegisterWrite(I2C_ADDRESS_DEFAULT, (uint8_t)Register::CNTL3, CNTL3_BIT::SRST);
_reset_timestamp = hrt_absolute_time();
_consecutive_failures = 0;
_failure_count = 0;
_state = STATE::READ_WHO_AM_I;
ScheduleDelayed(100_ms);
break;
@@ -146,15 +146,17 @@ void ICM20948_AK09916::Run()
success = true;
_consecutive_failures = 0;
if (_failure_count > 0) {
_failure_count--;
}
}
}
if (!success) {
perf_count(_bad_transfer_perf);
_consecutive_failures++;
_failure_count++;
if (_consecutive_failures > 10) {
if (_failure_count > 10) {
Reset();
return;
}

2
src/drivers/imu/invensense/icm20948/ICM20948_AK09916.hpp
View File

@@ -93,7 +93,7 @@ private:
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
unsigned _consecutive_failures{0};
int _failure_count{0};
enum class STATE : uint8_t {
RESET,