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| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2015-01-21 10:39:14 +0300 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-21 14:54:24 +0100 |
| commit | ae0e2d720926702f5dc1f97aeaa893d30c61fe29 (patch) | |
| tree | a50b3cb71be0a4d34129fd355622b6611f62667b | |
| parent | 4b8feb03cfca89b18ca88a19079e796b44f6d216 (diff) | |
| download | px4-firmware-ae0e2d720926702f5dc1f97aeaa893d30c61fe29.tar.gz px4-firmware-ae0e2d720926702f5dc1f97aeaa893d30c61fe29.tar.bz2 px4-firmware-ae0e2d720926702f5dc1f97aeaa893d30c61fe29.zip | |
Removing extra UAVCAN perfcounters
| -rw-r--r-- | src/modules/uavcan/actuators/esc.cpp | 7 | ||||
| -rw-r--r-- | src/modules/uavcan/actuators/esc.hpp | 1 | ||||
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 6 | ||||
| -rw-r--r-- | src/modules/uavcan/uavcan_main.hpp | 1 |
4 files changed, 0 insertions, 15 deletions
diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp index 995c8987c..51589e43e 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -56,17 +56,12 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) : if (_perfcnt_scaling_error == nullptr) { errx(1, "uavcan: couldn't allocate _perfcnt_scaling_error"); } - - if (_perfcnt_broadcast_elapsed == nullptr) { - errx(1, "uavcan: couldn't allocate _perfcnt_broadcast_elapsed"); - } } UavcanEscController::~UavcanEscController() { perf_free(_perfcnt_invalid_input); perf_free(_perfcnt_scaling_error); - perf_free(_perfcnt_broadcast_elapsed); } int UavcanEscController::init() @@ -141,9 +136,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) * Publish the command message to the bus * Note that for a quadrotor it takes one CAN frame */ - perf_begin(_perfcnt_broadcast_elapsed); (void)_uavcan_pub_raw_cmd.broadcast(msg); - perf_end(_perfcnt_broadcast_elapsed); } void UavcanEscController::arm_all_escs(bool arm) diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp index 498fb9dd8..12c035542 100644 --- a/src/modules/uavcan/actuators/esc.hpp +++ b/src/modules/uavcan/actuators/esc.hpp @@ -109,5 +109,4 @@ private: */ perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input"); perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error"); - perf_counter_t _perfcnt_broadcast_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_broadcast_elapsed"); }; diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 5b961e2ef..4dc03b61b 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -93,10 +93,6 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys if (_perfcnt_esc_mixer_total_elapsed == nullptr) { errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_total_elapsed"); } - - if (_perfcnt_esc_mixer_subscriptions == nullptr) { - errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_subscriptions"); - } } UavcanNode::~UavcanNode() @@ -138,7 +134,6 @@ UavcanNode::~UavcanNode() perf_free(_perfcnt_node_spin_elapsed); perf_free(_perfcnt_esc_mixer_output_elapsed); perf_free(_perfcnt_esc_mixer_total_elapsed); - perf_free(_perfcnt_esc_mixer_subscriptions); } int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate) @@ -527,7 +522,6 @@ UavcanNode::arm_actuators(bool arm) void UavcanNode::subscribe() { - perf_count(_perfcnt_esc_mixer_subscriptions); // Subscribe/unsubscribe to required actuator control groups uint32_t sub_groups = _groups_required & ~_groups_subscribed; uint32_t unsub_groups = _groups_subscribed & ~_groups_required; diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index 583c621eb..19b9b4b48 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -146,5 +146,4 @@ private: perf_counter_t _perfcnt_node_spin_elapsed = perf_alloc(PC_ELAPSED, "uavcan_node_spin_elapsed"); perf_counter_t _perfcnt_esc_mixer_output_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_output_elapsed"); perf_counter_t _perfcnt_esc_mixer_total_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_total_elapsed"); - perf_counter_t _perfcnt_esc_mixer_subscriptions = perf_alloc(PC_COUNT, "uavcan_esc_mixer_subscriptions"); }; |