drivers: report error_count in drivers where possible

9 files changed, 19 insertions, 14 deletions

diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp
index f0044d36f..1590cc182 100644
--- a/src/drivers/bma180/bma180.cpp
+++ b/src/drivers/bma180/bma180.cpp
@@ -690,6 +690,7 @@ BMA180::measure()
 	 * measurement flow without using the external interrupt.
 	 */
 	report.timestamp = hrt_absolute_time();
+        report.error_count = 0;
 	/*
 	 * y of board is x of sensor and x of board is -y of sensor
 	 * perform only the axis assignment here.
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index dd8436b10..084671ae2 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -153,35 +153,36 @@ ETSAirspeed::collect()
 	ret = transfer(nullptr, 0, &val[0], 2);
 
 	if (ret < 0) {
-		log("error reading from sensor: %d", ret);
+		perf_count(_comms_errors);
 		return ret;
 	}
 
 	uint16_t diff_pres_pa = val[1] << 8 | val[0];
         if (diff_pres_pa == 0) {
-            // a zero value means the pressure sensor cannot give us a
-            // value. We need to return, and not report a value or the
-            // caller could end up using this value as part of an
-            // average
-            log("zero value from sensor"); 
-            return -1;
+		// a zero value means the pressure sensor cannot give us a
+		// value. We need to return, and not report a value or the
+		// caller could end up using this value as part of an
+		// average
+		perf_count(_comms_errors);
+		log("zero value from sensor"); 
+		return -1;
         }
 
 	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
 		diff_pres_pa = 0;
-
 	} else {
 		diff_pres_pa -= _diff_pres_offset;
 	}
 
 	// Track maximum differential pressure measured (so we can work out top speed).
 	if (diff_pres_pa > _max_differential_pressure_pa) {
-	    _max_differential_pressure_pa = diff_pres_pa;
+		_max_differential_pressure_pa = diff_pres_pa;
 	}
 
 	// XXX we may want to smooth out the readings to remove noise.
 	differential_pressure_s report;
 	report.timestamp = hrt_absolute_time();
+        report.error_count = perf_event_count(_comms_errors);
 	report.differential_pressure_pa = diff_pres_pa;
 	report.voltage = 0;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
@@ -209,7 +210,7 @@ ETSAirspeed::cycle()
 
 		/* perform collection */
 		if (OK != collect()) {
-			log("collection error");
+			perf_count(_comms_errors);
 			/* restart the measurement state machine */
 			start();
 			return;
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 58a1593ed..de043db64 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -791,6 +791,7 @@ HMC5883::collect()
 
 	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
 	new_report.timestamp = hrt_absolute_time();
+        new_report.error_count = perf_event_count(_comms_errors);
 
 	/*
 	 * @note  We could read the status register here, which could tell us that
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index 4c3b0ce51..ad6de0ab1 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -774,6 +774,7 @@ L3GD20::measure()
 	 *		  74 from all measurements centers them around zero.
 	 */
 	report.timestamp = hrt_absolute_time();
+        report.error_count = 0; // not recorded
 	
 	switch (_orientation) {
 
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index a90cd0a3d..7244019b1 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -1252,6 +1252,7 @@ LSM303D::measure()
 
 
 	accel_report.timestamp = hrt_absolute_time();
+        accel_report.error_count = 0; // not reported
 
 	accel_report.x_raw = raw_accel_report.x;
 	accel_report.y_raw = raw_accel_report.y;
diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index ccc5bc15e..c910e2890 100644
--- a/src/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -490,6 +490,7 @@ MB12XX::collect()
 
 	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
 	report.timestamp = hrt_absolute_time();
+        report.error_count = perf_event_count(_comms_errors);
 	report.distance = si_units;
 	report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
 	
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 03d7bbfb9..ee45d46ac 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -138,7 +138,6 @@ MEASAirspeed::measure()
 
 	if (OK != ret) {
 		perf_count(_comms_errors);
-		log("i2c::transfer returned %d", ret);
 		return ret;
 	}
 
@@ -161,7 +160,6 @@ MEASAirspeed::collect()
 	ret = transfer(nullptr, 0, &val[0], 4);
 
 	if (ret < 0) {
-		log("error reading from sensor: %d", ret);
                 perf_count(_comms_errors);
                 perf_end(_sample_perf);
 		return ret;
@@ -207,6 +205,7 @@ MEASAirspeed::collect()
 	}
 
 	report.timestamp = hrt_absolute_time();
+        report.error_count = perf_event_count(_comms_errors);
 	report.temperature = temperature;
 	report.differential_pressure_pa = diff_press_pa;
 	report.voltage = 0;
@@ -235,7 +234,6 @@ MEASAirspeed::cycle()
 
 		/* perform collection */
 		if (OK != collect()) {
-			log("collection error");
 			/* restart the measurement state machine */
 			start();
 			return;
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 14a3571de..70359110e 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1186,7 +1186,7 @@ MPU6000::measure()
 	 * Adjust and scale results to m/s^2.
 	 */
 	grb.timestamp = arb.timestamp = hrt_absolute_time();
-
+        grb.error_count = arb.error_count = 0; // not reported
 
 	/*
 	 * 1) Scale raw value to SI units using scaling from datasheet.
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 1c8a4d776..938786d3f 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -573,6 +573,7 @@ MS5611::collect()
 	struct baro_report report;
 	/* this should be fairly close to the end of the conversion, so the best approximation of the time */
 	report.timestamp = hrt_absolute_time();
+        report.error_count = perf_event_count(_comms_errors);
 
 	/* read the most recent measurement - read offset/size are hardcoded in the interface */
 	ret = _interface->read(0, (void *)&raw, 0);