diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 14:40:41 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 14:40:41 +0100 |
| commit | 7b43b80c370253ba63477df15572e0c28390dc84 (patch) | |
| tree | fde081ac13854f649f8d994e68d4a59f83d06dda /src/drivers/mpu6000 | |
| parent | 4656db01c215c94dda70d7b579037ec368d3275e (diff) | |
| parent | 685d3965a81b3f6a1ada4aa8bf9ebdd16b029c58 (diff) | |
| download | px4-firmware-7b43b80c370253ba63477df15572e0c28390dc84.tar.gz px4-firmware-7b43b80c370253ba63477df15572e0c28390dc84.tar.bz2 px4-firmware-7b43b80c370253ba63477df15572e0c28390dc84.zip | |
Merge branch 'master' of github.com:PX4/Firmware into safety
Diffstat (limited to 'src/drivers/mpu6000')
| -rw-r--r-- | src/drivers/mpu6000/module.mk | 2 | ||||
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 11 |
2 files changed, 13 insertions, 0 deletions
diff --git a/src/drivers/mpu6000/module.mk b/src/drivers/mpu6000/module.mk index 5b4893b12..da9fcc0fc 100644 --- a/src/drivers/mpu6000/module.mk +++ b/src/drivers/mpu6000/module.mk @@ -42,3 +42,5 @@ SRCS = mpu6000.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index b22bb2e07..a95e041a1 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -229,6 +229,7 @@ private: perf_counter_t _gyro_reads; perf_counter_t _sample_perf; perf_counter_t _bad_transfers; + perf_counter_t _good_transfers; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev _gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")), _bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")), + _good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")), _accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), @@ -456,6 +458,7 @@ MPU6000::~MPU6000() perf_free(_accel_reads); perf_free(_gyro_reads); perf_free(_bad_transfers); + perf_free(_good_transfers); } int @@ -1279,8 +1282,14 @@ MPU6000::measure() // all zero data - probably a SPI bus error perf_count(_bad_transfers); perf_end(_sample_perf); + // note that we don't call reset() here as a reset() + // costs 20ms with interrupts disabled. That means if + // the mpu6k does go bad it would cause a FMU failure, + // regardless of whether another sensor is available, return; } + + perf_count(_good_transfers); /* @@ -1399,6 +1408,8 @@ MPU6000::print_info() perf_print_counter(_sample_perf); perf_print_counter(_accel_reads); perf_print_counter(_gyro_reads); + perf_print_counter(_bad_transfers); + perf_print_counter(_good_transfers); _accel_reports->print_info("accel queue"); _gyro_reports->print_info("gyro queue"); } |