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hrt: Add interface functions for latency counters

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Add interface functions for fetching latency buckets and counters and use
those in perf_counter.cpp. This cleans up the usage of perf counters and
enables implementing kernel-userspace interface for those for
nuttx protected/kernel build.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2021-09-23 13:57:31 +03:00
parent f43b9fe5d6
commit 8bb6cc07de
3 changed files with 53 additions and 8 deletions
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src/drivers/drv_hrt.h
+29 -1
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@@ -208,8 +208,36 @@ static inline void px4_lockstep_progress(int component) { }
static inline void px4_lockstep_wait_for_components(void) { }
#endif /* defined(ENABLE_LOCKSTEP_SCHEDULER) */
__END_DECLS
/* Latency counter functions */
static inline uint16_t get_latency_bucket_count(void) { return LATENCY_BUCKET_COUNT; }
#if defined(CONFIG_BUILD_FLAT) || !defined(__PX4_NUTTX)
static inline latency_info_t get_latency(uint16_t bucket_idx, uint16_t counter_idx)
{
latency_info_t ret = {latency_buckets[bucket_idx], latency_counters[counter_idx]};
return ret;
}
static inline void reset_latency_counters(void)
{
for (int i = 0; i <= get_latency_bucket_count(); i++) {
latency_counters[i] = 0;
}
}
#else
/* NuttX protected/kernel build interface functions */
latency_info_t get_latency(uint16_t bucket_idx, uint16_t counter_idx);
void reset_latency_counters(void);
#endif
__END_DECLS
#ifdef __cplusplus