diff options
Diffstat (limited to 'src/modules/uavcan/uavcan_main.hpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.hpp | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index 98f2e5ad4..8a0993f15 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -34,9 +34,9 @@ #pragma once #include <nuttx/config.h> - #include <uavcan_stm32/uavcan_stm32.hpp> #include <drivers/device/device.h> +#include <systemlib/perf_counter.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_outputs.h> @@ -66,7 +66,7 @@ */ class UavcanNode : public device::CDev { - static constexpr unsigned MemPoolSize = 10752; + static constexpr unsigned MemPoolSize = 10752; ///< Refer to the libuavcan manual to learn why static constexpr unsigned RxQueueLenPerIface = 64; static constexpr unsigned StackSize = 3000; @@ -142,4 +142,9 @@ private: // index into _poll_fds for each _control_subs handle uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN]; + + 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"); }; |