dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ak09916: enable retries and reset perf count

This commit is contained in:
Daniel Agar 2022-09-01 20:45:20 -04:00 committed by GitHub
parent f66b5ce204
commit e93a3a2a3a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/drivers/magnetometer/akm/ak09916/AK09916.cpp
View File

@ -49,6 +49,7 @@ AK09916::AK09916(const I2CSPIDriverConfig &config) :
AK09916::~AK09916()
{
perf_free(_reset_perf);
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
@ -64,6 +65,8 @@ int AK09916::init()
return ret;
}
_retries = 2;
return Reset() ? 0 : -1;
}
@ -79,6 +82,7 @@ void AK09916::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_reset_perf);
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
@ -108,6 +112,7 @@ void AK09916::RunImpl()
{
switch (_state) {
case STATE::RESET:
perf_count(_reset_perf);
// CNTL3 SRST: Soft reset
RegisterWrite(Register::CNTL3, CNTL3_BIT::SRST);
_reset_timestamp = hrt_absolute_time();
@ -179,6 +184,8 @@ void AK09916::RunImpl()
const int16_t z = combine(buffer.HZH, buffer.HZL);
// sensor's frame is +X forward (X), +Y right (Y), +Z down (Z)
_px4_mag.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)
+ perf_event_count(_magnetic_sensor_overflow_perf));
_px4_mag.update(timestamp_sample, x, y, z);
success = true;

1
src/drivers/magnetometer/akm/ak09916/AK09916.hpp
View File

@ -97,6 +97,7 @@ private:
PX4Magnetometer _px4_mag;
perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
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")};