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| author | Andrew Tridgell <tridge@samba.org> | 2013-11-28 20:30:48 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-10 12:00:08 +0100 |
| commit | a2b31118cb4dc01174c4c3436c29d5850d116441 (patch) | |
| tree | 2535131cf051e450c79c235e2625ddd06583f1bc /src/drivers/lsm303d/lsm303d.cpp | |
| parent | 7c9d92a5d64ee4b2282139a49e189df434ec00f1 (diff) | |
| download | px4-firmware-a2b31118cb4dc01174c4c3436c29d5850d116441.tar.gz px4-firmware-a2b31118cb4dc01174c4c3436c29d5850d116441.tar.bz2 px4-firmware-a2b31118cb4dc01174c4c3436c29d5850d116441.zip | |
lsm303d: get cleaner logic traces by gathering all regs more regularly
Diffstat (limited to 'src/drivers/lsm303d/lsm303d.cpp')
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 42 |
1 files changed, 19 insertions, 23 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index da981989c..0c0aa0ff5 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -713,36 +713,32 @@ LSM303D::check_extremes(const accel_report *arb) (int)arb->z_raw); } + const uint8_t reglist[] = { ADDR_WHO_AM_I, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1, + ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_CTRL_REG6, + ADDR_CTRL_REG7, ADDR_OUT_TEMP_L, ADDR_OUT_TEMP_H, ADDR_INT_CTRL_M, ADDR_INT_SRC_M, + ADDR_REFERENCE_X, ADDR_REFERENCE_Y, ADDR_REFERENCE_Z, ADDR_OUT_X_L_A, ADDR_OUT_X_H_A, + ADDR_OUT_Y_L_A, ADDR_OUT_Y_H_A, ADDR_OUT_Z_L_A, ADDR_OUT_Z_H_A, ADDR_FIFO_CTRL, + ADDR_FIFO_SRC, ADDR_IG_CFG1, ADDR_IG_SRC1, ADDR_IG_THS1, ADDR_IG_DUR1, ADDR_IG_CFG2, + ADDR_IG_SRC2, ADDR_IG_THS2, ADDR_IG_DUR2, ADDR_CLICK_CFG, ADDR_CLICK_SRC, + ADDR_CLICK_THS, ADDR_TIME_LIMIT, ADDR_TIME_LATENCY, ADDR_TIME_WINDOW, + ADDR_ACT_THS, ADDR_ACT_DUR, + ADDR_OUT_X_L_M, ADDR_OUT_X_H_M, + ADDR_OUT_Y_L_M, ADDR_OUT_Y_H_M, ADDR_OUT_Z_L_M, ADDR_OUT_Z_H_M}; + uint8_t regval[sizeof(reglist)]; + for (uint8_t i=0; i<sizeof(reglist); i++) { + regval[i] = read_reg(reglist[i]); + } + // log registers at 10Hz when we have extreme values, or 0.5 Hz without if (_last_log_reg_us == 0 || - (is_extreme && (now - _last_log_reg_us > 500*1000)) || + (is_extreme && (now - _last_log_reg_us > 250*1000)) || (now - _last_log_reg_us > 10*1000*1000)) { _last_log_reg_us = now; - const uint8_t reglist[] = { ADDR_WHO_AM_I, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1, - ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_CTRL_REG6, - ADDR_CTRL_REG7, ADDR_OUT_TEMP_L, ADDR_OUT_TEMP_H, ADDR_INT_CTRL_M, ADDR_INT_SRC_M, - ADDR_REFERENCE_X, ADDR_REFERENCE_Y, ADDR_REFERENCE_Z, ADDR_OUT_X_L_A, ADDR_OUT_X_H_A, - ADDR_OUT_Y_L_A, ADDR_OUT_Y_H_A, ADDR_OUT_Z_L_A, ADDR_OUT_Z_H_A, ADDR_FIFO_CTRL, - ADDR_FIFO_SRC, ADDR_IG_CFG1, ADDR_IG_SRC1, ADDR_IG_THS1, ADDR_IG_DUR1, ADDR_IG_CFG2, - ADDR_IG_SRC2, ADDR_IG_THS2, ADDR_IG_DUR2, ADDR_CLICK_CFG, ADDR_CLICK_SRC, - ADDR_CLICK_THS, ADDR_TIME_LIMIT, ADDR_TIME_LATENCY, ADDR_TIME_WINDOW, - ADDR_ACT_THS, ADDR_ACT_DUR, - ADDR_OUT_X_L_M, ADDR_OUT_X_H_M, - ADDR_OUT_Y_L_M, ADDR_OUT_Y_H_M, ADDR_OUT_Z_L_M, ADDR_OUT_Z_H_M}; - ::dprintf(_accel_log_fd, "FREG %llu", (unsigned long long)hrt_absolute_time()); + ::dprintf(_accel_log_fd, "REG %llu", (unsigned long long)hrt_absolute_time()); for (uint8_t i=0; i<sizeof(reglist); i++) { - ::dprintf(_accel_log_fd, " %02x:%02x", (unsigned)reglist[i], (unsigned)read_reg(reglist[i])); + ::dprintf(_accel_log_fd, " %02x:%02x", (unsigned)reglist[i], (unsigned)regval[i]); } ::dprintf(_accel_log_fd, "\n"); - if (is_extreme) { - set_frequency(1000*1000); - ::dprintf(_accel_log_fd, "SREG %llu", (unsigned long long)hrt_absolute_time()); - for (uint8_t i=0; i<sizeof(reglist); i++) { - ::dprintf(_accel_log_fd, " %02x:%02x", (unsigned)reglist[i], (unsigned)read_reg(reglist[i])); - } - ::dprintf(_accel_log_fd, "\n"); - set_frequency(8*1000*1000); - } } // fsync at 0.1Hz |