From 4712c75dea935b5709c944b31ae670dd6879f2e9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 7 Jan 2015 17:16:15 +0100
Subject: IO driver: Log the total system latency up to the IO transfer

---
 src/drivers/px4io/px4io.cpp | 3 +++
 1 file changed, 3 insertions(+)

(limited to 'src/drivers')

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 58390ba4c..ed9487cf9 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -263,6 +263,7 @@ 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
+	perf_counter_t		_perf_system_latency;	///< total system latency
 
 	/* cached IO state */
 	uint16_t		_status;		///< Various IO status flags
@@ -494,6 +495,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_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")),
 	_status(0),
 	_alarms(0),
 	_t_actuator_controls_0(-1),
@@ -1086,6 +1088,7 @@ int
 PX4IO::io_set_control_groups()
 {
 	int ret = io_set_control_state(0);
+	perf_end(_perf_system_latency);
 
 	/* send auxiliary control groups */
 	(void)io_set_control_state(1);
-- 
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