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drivers/imu: Invensense & Bosch remove transfer perf counters

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- we already have nearly equivalent data in every sensor publication with the (publication) timestamp and timestamp_sample
This commit is contained in:
Daniel Agar
2020-07-09 10:12:37 -04:00
committed by GitHub
parent 6bc1af7680
commit 194029d010
32 changed files with 0 additions and 101 deletions
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src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
-7
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@@ -54,7 +54,6 @@ BMI055_Accelerometer::BMI055_Accelerometer(I2CSPIBusOption bus_option, int bus,
BMI055_Accelerometer::~BMI055_Accelerometer()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -75,7 +74,6 @@ void BMI055_Accelerometer::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -392,16 +390,11 @@ bool BMI055_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
perf_begin(_transfer_perf);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.samples = samples;
src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.hpp
-1
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@@ -100,7 +100,6 @@ private:
PX4Accelerometer _px4_accel;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_accel: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO empty")};
src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp
-7
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@@ -54,7 +54,6 @@ BMI055_Gyroscope::BMI055_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t
BMI055_Gyroscope::~BMI055_Gyroscope()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -75,7 +74,6 @@ void BMI055_Gyroscope::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -397,16 +395,11 @@ bool BMI055_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t sam
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
perf_begin(_transfer_perf);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.hpp
-1
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@@ -98,7 +98,6 @@ private:
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_gyro: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO empty")};
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
-6
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@@ -54,7 +54,6 @@ BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus,
BMI088_Accelerometer::~BMI088_Accelerometer()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -75,7 +74,6 @@ void BMI088_Accelerometer::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -454,15 +452,11 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
perf_begin(_transfer_perf);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.hpp
-1
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@@ -104,7 +104,6 @@ private:
PX4Accelerometer _px4_accel;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_accel: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO empty")};
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp
-7
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@@ -54,7 +54,6 @@ BMI088_Gyroscope::BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t
BMI088_Gyroscope::~BMI088_Gyroscope()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -75,7 +74,6 @@ void BMI088_Gyroscope::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -398,16 +396,11 @@ bool BMI088_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t sam
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
perf_begin(_transfer_perf);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.hpp
-1
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@@ -98,7 +98,6 @@ private:
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_gyro: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO empty")};
src/drivers/imu/invensense/icm20602/ICM20602.cpp
-5
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@@ -53,7 +53,6 @@ ICM20602::ICM20602(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
ICM20602::~ICM20602()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -94,7 +93,6 @@ void ICM20602::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us,
static_cast<double>(1000000 / _fifo_empty_interval_us));
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -457,17 +455,14 @@ uint16_t ICM20602::FIFOReadCount()
bool ICM20602::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
bool bad_data = false;
src/drivers/imu/invensense/icm20602/ICM20602.hpp
-1
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@@ -131,7 +131,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
-5
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@@ -57,7 +57,6 @@ ICM20608G::ICM20608G(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
ICM20608G::~ICM20608G()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -99,7 +98,6 @@ void ICM20608G::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -467,17 +465,14 @@ uint16_t ICM20608G::FIFOReadCount()
bool ICM20608G::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
ProcessGyro(timestamp_sample, buffer.f, samples);
return ProcessAccel(timestamp_sample, buffer.f, samples);
src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
-1
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@@ -128,7 +128,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/icm20649/ICM20649.cpp
-5
View File
@@ -57,7 +57,6 @@ ICM20649::ICM20649(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
ICM20649::~ICM20649()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -99,7 +98,6 @@ void ICM20649::print_status()
PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -507,18 +505,15 @@ uint16_t ICM20649::FIFOReadCount()
bool ICM20649::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
src/drivers/imu/invensense/icm20649/ICM20649.hpp
-1
View File
@@ -141,7 +141,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/icm20689/ICM20689.cpp
-5
View File
@@ -57,7 +57,6 @@ ICM20689::ICM20689(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
ICM20689::~ICM20689()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -99,7 +98,6 @@ void ICM20689::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -466,17 +464,14 @@ uint16_t ICM20689::FIFOReadCount()
bool ICM20689::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
ProcessGyro(timestamp_sample, buffer.f, samples);
return ProcessAccel(timestamp_sample, buffer.f, samples);
src/drivers/imu/invensense/icm20689/ICM20689.hpp
-1
View File
@@ -128,7 +128,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/icm20948/ICM20948.cpp
-5
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@@ -77,7 +77,6 @@ ICM20948::ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
ICM20948::~ICM20948()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -121,7 +120,6 @@ void ICM20948::print_status()
PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -551,18 +549,15 @@ uint16_t ICM20948::FIFOReadCount()
bool ICM20948::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
src/drivers/imu/invensense/icm20948/ICM20948.hpp
-1
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@@ -158,7 +158,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/icm20948/ICM20948_AK09916.cpp
-4
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@@ -59,7 +59,6 @@ ICM20948_AK09916::ICM20948_AK09916(ICM20948 &icm20948, enum Rotation rotation) :
ICM20948_AK09916::~ICM20948_AK09916()
{
perf_free(_transfer_perf);
perf_free(_bad_transfer_perf);
perf_free(_magnetic_sensor_overflow_perf);
}
@@ -74,7 +73,6 @@ bool ICM20948_AK09916::Reset()
void ICM20948_AK09916::PrintInfo()
{
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_magnetic_sensor_overflow_perf);
@@ -128,11 +126,9 @@ void ICM20948_AK09916::Run()
break;
case STATE::READ: {
perf_begin(_transfer_perf);
TransferBuffer buffer{};
const hrt_abstime timestamp_sample = hrt_absolute_time();
bool ret = _icm20948.I2CSlaveExternalSensorDataRead((uint8_t *)&buffer, sizeof(TransferBuffer));
perf_end(_transfer_perf);
bool success = false;
src/drivers/imu/invensense/icm20948/ICM20948_AK09916.hpp
-1
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@@ -88,7 +88,6 @@ private:
PX4Magnetometer _px4_mag;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_ak09916: transfer")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak09916: bad transfer")};
perf_counter_t _magnetic_sensor_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak09916: magnetic sensor overflow")};
src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
-5
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@@ -53,7 +53,6 @@ ICM40609D::ICM40609D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
ICM40609D::~ICM40609D()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -94,7 +93,6 @@ void ICM40609D::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us,
static_cast<double>(1000000 / _fifo_empty_interval_us));
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -463,17 +461,14 @@ uint16_t ICM40609D::FIFOReadCount()
bool ICM40609D::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
perf_count(_fifo_overflow_perf);
src/drivers/imu/invensense/icm40609d/ICM40609D.hpp
-1
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@@ -134,7 +134,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
-5
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@@ -53,7 +53,6 @@ ICM42688P::ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
ICM42688P::~ICM42688P()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -94,7 +93,6 @@ void ICM42688P::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us,
static_cast<double>(1000000 / _fifo_empty_interval_us));
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -466,17 +464,14 @@ uint16_t ICM42688P::FIFOReadCount()
bool ICM42688P::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
perf_count(_fifo_overflow_perf);
src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
-1
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@@ -134,7 +134,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
-5
View File
@@ -57,7 +57,6 @@ MPU6000::MPU6000(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
MPU6000::~MPU6000()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -99,7 +98,6 @@ void MPU6000::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -470,18 +468,15 @@ uint16_t MPU6000::FIFOReadCount()
bool MPU6000::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
set_frequency(SPI_SPEED_SENSOR);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
ProcessGyro(timestamp_sample, buffer.f, samples);
return ProcessAccel(timestamp_sample, buffer.f, samples);
src/drivers/imu/invensense/mpu6000/MPU6000.hpp
-1
View File
@@ -128,7 +128,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/mpu6500/MPU6500.cpp
-5
View File
@@ -53,7 +53,6 @@ MPU6500::MPU6500(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
MPU6500::~MPU6500()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -94,7 +93,6 @@ void MPU6500::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us,
static_cast<double>(1000000 / _fifo_empty_interval_us));
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -455,19 +453,16 @@ uint16_t MPU6500::FIFOReadCount()
bool MPU6500::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
set_frequency(SPI_SPEED_SENSOR);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
ProcessGyro(timestamp_sample, buffer, samples);
return ProcessAccel(timestamp_sample, buffer, samples);
src/drivers/imu/invensense/mpu6500/MPU6500.hpp
-1
View File
@@ -130,7 +130,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
-5
View File
@@ -77,7 +77,6 @@ MPU9250::MPU9250(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
MPU9250::~MPU9250()
{
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_fifo_empty_perf);
@@ -121,7 +120,6 @@ void MPU9250::print_status()
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_fifo_empty_perf);
@@ -501,18 +499,15 @@ uint16_t MPU9250::FIFOReadCount()
bool MPU9250::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
perf_begin(_transfer_perf);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
set_frequency(SPI_SPEED_SENSOR);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
perf_end(_transfer_perf);
ProcessGyro(timestamp_sample, buffer.f, samples);
return ProcessAccel(timestamp_sample, buffer.f, samples);
src/drivers/imu/invensense/mpu9250/MPU9250.hpp
-1
View File
@@ -140,7 +140,6 @@ private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp
-4
View File
@@ -59,7 +59,6 @@ MPU9250_AK8963::MPU9250_AK8963(MPU9250 &mpu9250, enum Rotation rotation) :
MPU9250_AK8963::~MPU9250_AK8963()
{
perf_free(_transfer_perf);
perf_free(_bad_transfer_perf);
perf_free(_magnetic_sensor_overflow_perf);
}
@@ -74,7 +73,6 @@ bool MPU9250_AK8963::Reset()
void MPU9250_AK8963::PrintInfo()
{
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_magnetic_sensor_overflow_perf);
@@ -167,11 +165,9 @@ void MPU9250_AK8963::Run()
break;
case STATE::READ: {
perf_begin(_transfer_perf);
TransferBuffer buffer{};
const hrt_abstime timestamp_sample = hrt_absolute_time();
bool ret = _mpu9250.I2CSlaveExternalSensorDataRead((uint8_t *)&buffer, sizeof(TransferBuffer));
perf_end(_transfer_perf);
bool success = false;
src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.hpp
-1
View File
@@ -87,7 +87,6 @@ private:
PX4Magnetometer _px4_mag;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_ak8963: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak8963: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak8963: bad transfer")};
perf_counter_t _magnetic_sensor_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak09916: magnetic sensor overflow")};