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Added performance counter for write IOCTL

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Lorenz Meier
2013-12-20 21:10:33 +01:00
parent 8c518aa237
commit 3ad9dd030c
1 changed files with 6 additions and 1 deletions
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src/drivers/px4io/px4io.cpp
+6 -1
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@@ -244,7 +244,8 @@ private:
int _mavlink_fd; ///<mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread. int _mavlink_fd; ///<mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
int _thread_mavlink_fd; ///<mavlink file descriptor for thread. int _thread_mavlink_fd; ///<mavlink file descriptor for thread.
perf_counter_t _perf_update; ///<local performance counter perf_counter_t _perf_update; ///<local performance counter for status updates
perf_counter_t _perf_write; ///<local performance counter for PWM control writes
/* cached IO state */ /* cached IO state */
uint16_t _status; ///<Various IO status flags uint16_t _status; ///<Various IO status flags
@@ -459,6 +460,7 @@ PX4IO::PX4IO(device::Device *interface) :
_mavlink_fd(-1), _mavlink_fd(-1),
_thread_mavlink_fd(-1), _thread_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")), _perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
_perf_write(perf_alloc(PC_ELAPSED, "px4io write")),
_status(0), _status(0),
_alarms(0), _alarms(0),
_t_actuators(-1), _t_actuators(-1),
@@ -2155,7 +2157,10 @@ PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
count = _max_actuators; count = _max_actuators;
if (count > 0) { if (count > 0) {
perf_begin(_perf_write);
int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count); int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
perf_end(_perf_write);
if (ret != OK) if (ret != OK)
return ret; return ret;