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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-09 09:08:21 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-11 11:03:56 +0100 |
| commit | 6203c73ccc1426b4280fb23284a2f52e4425ef4d (patch) | |
| tree | b3f2eb92343c07935ba30aff0ce5d50ca84d7a26 | |
| parent | 7d56ae4ed65f67cfe159a436eb58da59e9e0b0f6 (diff) | |
| download | px4-firmware-6203c73ccc1426b4280fb23284a2f52e4425ef4d.tar.gz px4-firmware-6203c73ccc1426b4280fb23284a2f52e4425ef4d.tar.bz2 px4-firmware-6203c73ccc1426b4280fb23284a2f52e4425ef4d.zip | |
Perf counter fixes
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 16 | ||||
| -rw-r--r-- | src/modules/systemlib/perf_counter.c | 5 |
2 files changed, 7 insertions, 14 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 72b2dc772..96ebedd83 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -260,10 +260,8 @@ private: int _mavlink_fd; ///< mavlink file descriptor. - 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 - perf_counter_t _perf_system_latency; ///< total system latency (based on perf) + 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_sample_latency; ///< total system latency (based on passed-through timestamp) /* cached IO state */ @@ -495,8 +493,6 @@ PX4IO::PX4IO(device::Device *interface) : _mavlink_fd(-1), _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 #")), - _perf_system_latency(perf_alloc_once(PC_ELAPSED, "sys_latency")), _perf_sample_latency(perf_alloc(PC_ELAPSED, "io latency")), _status(0), _alarms(0), @@ -555,7 +551,7 @@ PX4IO::~PX4IO() /* deallocate perfs */ perf_free(_perf_update); perf_free(_perf_write); - perf_free(_perf_chan_count); + perf_free(_perf_sample_latency); g_dev = nullptr; } @@ -1115,7 +1111,6 @@ PX4IO::io_set_control_state(unsigned group) if (changed) { orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls); - perf_end(_perf_system_latency); perf_set(_perf_sample_latency, hrt_elapsed_time(&controls.timestamp_sample)); } } @@ -1576,11 +1571,6 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) channel_count = RC_INPUT_MAX_CHANNELS; } - /* count channel count changes to identify signal integrity issues */ - if (channel_count != _rc_chan_count) { - perf_count(_perf_chan_count); - } - _rc_chan_count = channel_count; input_rc.timestamp_publication = hrt_absolute_time(); diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c index 4d62db0ee..950577f00 100644 --- a/src/modules/systemlib/perf_counter.c +++ b/src/modules/systemlib/perf_counter.c @@ -272,11 +272,14 @@ perf_end(perf_counter_t handle) } } +#include <systemlib/err.h> + void perf_set(perf_counter_t handle, int64_t elapsed) { - if (handle == NULL) + if (handle == NULL) { return; + } switch (handle->type) { case PC_ELAPSED: { |