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UAVCAN performance audit (#6829)

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* UAVCAN ESC output: removing ESC output channels from published message that are always zero. This allows the UAVCAN stack to always transfer only the minimum number of output values, avoiding redundant zeroes and the associated increase in bus load and CPU time

* Added a separate mixer file for CAN quadrotor

* Sampling profiler improvements

* PMSP: Output more endpoints

* Matrix update

* libc usage workaround

* Removed UAVCAN perfcounters
This commit is contained in:
Pavel Kirienko
2017-03-18 03:47:09 -10:00
committed by David Sidrane
parent 4fe29e5246
commit 21e04c9f7a
9 changed files with 40 additions and 36 deletions
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src/modules/uavcan/uavcan_main.cpp
-24
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@@ -110,18 +110,6 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
}
/* _server_command_sem use case is a signal */
px4_sem_setprotocol(&_server_command_sem, SEM_PRIO_NONE);
if (_perfcnt_node_spin_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_node_spin_elapsed");
}
if (_perfcnt_esc_mixer_output_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_output_elapsed");
}
if (_perfcnt_esc_mixer_total_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_total_elapsed");
}
}
UavcanNode::~UavcanNode()
@@ -164,9 +152,6 @@ UavcanNode::~UavcanNode()
_instance = nullptr;
perf_free(_perfcnt_node_spin_elapsed);
perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed);
pthread_mutex_destroy(&_node_mutex);
px4_sem_destroy(&_server_command_sem);
@@ -697,7 +682,6 @@ int UavcanNode::init(uavcan::NodeID node_id)
void UavcanNode::node_spin_once()
{
perf_begin(_perfcnt_node_spin_elapsed);
const int spin_res = _node.spinOnce();
if (spin_res < 0) {
@@ -708,8 +692,6 @@ void UavcanNode::node_spin_once()
if (_tx_injector != nullptr) {
_tx_injector->injectTxFramesInto(_node);
}
perf_end(_perfcnt_node_spin_elapsed);
}
/*
@@ -868,12 +850,8 @@ int UavcanNode::run()
// Mutex is unlocked while the thread is blocked on IO multiplexing
(void)pthread_mutex_unlock(&_node_mutex);
perf_end(_perfcnt_esc_mixer_total_elapsed); // end goes first, it's not a mistake
const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
perf_begin(_perfcnt_esc_mixer_total_elapsed);
(void)pthread_mutex_lock(&_node_mutex);
node_spin_once(); // Non-blocking
@@ -965,9 +943,7 @@ int UavcanNode::run()
// Output to the bus
_outputs.timestamp = hrt_absolute_time();
perf_begin(_perfcnt_esc_mixer_output_elapsed);
_esc_controller.update_outputs(_outputs.output, _outputs.noutputs);
perf_end(_perfcnt_esc_mixer_output_elapsed);
}