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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-21 16:13:04 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-21 16:13:04 +0100 |
| commit | b2e527ffa6f24a67903048ea157ee572f59f98a1 (patch) | |
| tree | a6e50ad53ca2694fe5779de9d16537b6c00bf7e8 /src/drivers | |
| parent | 3e037d40de2a68b99aa4600f060eab3555f75832 (diff) | |
| download | px4-firmware-b2e527ffa6f24a67903048ea157ee572f59f98a1.tar.gz px4-firmware-b2e527ffa6f24a67903048ea157ee572f59f98a1.tar.bz2 px4-firmware-b2e527ffa6f24a67903048ea157ee572f59f98a1.zip | |
Counting channel count changes
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index a7f7fce45..b80844c5b 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -237,6 +237,7 @@ private: unsigned _update_interval; ///< Subscription interval limiting send rate bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values + unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels volatile int _task; ///<worker task id volatile bool _task_should_exit; ///<worker terminate flag @@ -246,6 +247,7 @@ private: perf_counter_t _perf_update; ///<local performance counter for status updates perf_counter_t _perf_write; ///<local performance counter for PWM control writes + perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes /* cached IO state */ uint16_t _status; ///<Various IO status flags @@ -455,12 +457,14 @@ PX4IO::PX4IO(device::Device *interface) : _max_transfer(16), /* sensible default */ _update_interval(0), _rc_handling_disabled(false), + _rc_chan_count(0), _task(-1), _task_should_exit(false), _mavlink_fd(-1), _thread_mavlink_fd(-1), - _perf_update(perf_alloc(PC_ELAPSED, "px4io update")), - _perf_write(perf_alloc(PC_ELAPSED, "px4io write")), + _perf_update(perf_alloc(PC_ELAPSED, "io update")), + _perf_write(perf_alloc(PC_ELAPSED, "io write")), + _perf_chan_count(perf_alloc(PC_COUNT, "io rc #")), _status(0), _alarms(0), _t_actuators(-1), @@ -1325,6 +1329,11 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) */ channel_count = regs[0]; + if (channel_count != _rc_chan_count) + perf_count(_perf_chan_count); + + _rc_chan_count = channel_count; + if (channel_count > 9) { ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, ®s[prolog + 9], channel_count - 9); |