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rc_input add perf counters

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This commit is contained in:
Daniel Agar 2018-07-29 16:50:33 -04:00
parent 658237f36a
commit 46254420be
2 changed files with 27 additions and 8 deletions
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28
src/drivers/rc_input/RCInput.cpp
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@ -37,15 +37,15 @@
using namespace time_literals;
#define SCHEDULE_INTERVAL 4000 /**< The schedule interval in usec (250 Hz) */
#if defined(SPEKTRUM_POWER)
static bool bind_spektrum(int arg);
#endif /* SPEKTRUM_POWER */
work_s RCInput::_work = {};
RCInput::RCInput(bool run_as_task)
RCInput::RCInput(bool run_as_task) :
_cycle_perf(perf_alloc(PC_ELAPSED, "rc_input cycle time")),
_publish_interval_perf(perf_alloc(PC_INTERVAL, "rc_input publish interval"))
{
// rc input, published to ORB
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
@ -73,6 +73,9 @@ RCInput::~RCInput()
if (_crsf_telemetry) {
delete (_crsf_telemetry);
}
perf_free(_cycle_perf);
perf_free(_publish_interval_perf);
}
int
@ -287,6 +290,8 @@ RCInput::cycle()
{
while (true) {
perf_begin(_cycle_perf);
_cycle_timestamp = hrt_absolute_time();
#if defined(SPEKTRUM_POWER)
@ -639,7 +644,11 @@ RCInput::cycle()
#endif // HRT_PPM_CHANNEL
#endif // RC_SERIAL_PORT
perf_end(_cycle_perf);
if (rc_updated) {
perf_count(_publish_interval_perf);
int instance;
orb_publish_auto(ORB_ID(input_rc), &_to_input_rc, &_rc_in, &instance, ORB_PRIO_DEFAULT);
@ -658,7 +667,7 @@ RCInput::cycle()
} else {
/* schedule next cycle */
work_queue(HPWORK, &_work, (worker_t)&RCInput::cycle_trampoline, this, USEC2TICK(SCHEDULE_INTERVAL));
work_queue(HPWORK, &_work, (worker_t)&RCInput::cycle_trampoline, this, USEC2TICK(_current_update_interval));
}
break;
@ -778,14 +787,19 @@ int RCInput::print_status()
PX4_INFO("Running %s", (_run_as_task ? "as task" : "on work queue"));
if (!_run_as_task) {
PX4_INFO("Max update rate: %i Hz", _current_update_rate);
PX4_INFO("Max update rate: %i Hz", 1000000 / _current_update_interval);
}
PX4_INFO("RC scan state: %s, locked: %s", RC_SCAN_STRING[_rc_scan_state], _rc_scan_locked ? "yes" : "no");
PX4_INFO("CRSF Telemetry: %s", _crsf_telemetry ? "yes" : "no");
#ifdef RC_SERIAL_PORT
PX4_INFO("SBUS frame drops: %u", sbus_dropped_frames());
#endif
perf_print_counter(_cycle_perf);
perf_print_counter(_publish_interval_perf);
if (hrt_elapsed_time(&_rc_in.timestamp) < 1_s) {
print_message(_rc_in);
}
return 0;
}

7
src/drivers/rc_input/RCInput.hpp
View File

@ -38,6 +38,7 @@
#include <board_config.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <lib/perf/perf_counter.h>
#include <lib/rc/crsf.h>
#include <lib/rc/dsm.h>
#include <lib/rc/sbus.h>
@ -116,7 +117,8 @@ private:
hrt_abstime _cycle_timestamp{0};
unsigned _current_update_rate{0};
unsigned _current_update_interval{4000};
bool _run_as_task{false};
static struct work_s _work;
@ -140,6 +142,9 @@ private:
CRSFTelemetry *_crsf_telemetry{nullptr};
perf_counter_t _cycle_perf;
perf_counter_t _publish_interval_perf;
static void cycle_trampoline(void *arg);
int start();