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px4iofirmware: add PX4IO_PERF define to completely disable perf counters

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This commit is contained in:
Daniel Agar
2020-02-10 09:40:39 +01:00
committed by Julian Oes
parent 2015cc2b39
commit 8cdbc4c593
14 changed files with 118 additions and 30 deletions
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src/modules/px4iofirmware/serial.c
+25 -1
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@@ -51,11 +51,13 @@
#include <up_internal.h>
#include <up_arch.h>
#include <stm32.h>
#include <perf/perf_counter.h>
//#define DEBUG
#include "px4io.h"
#if defined(PX4IO_PERF)
# include <perf/perf_counter.h>
static perf_counter_t pc_txns;
static perf_counter_t pc_errors;
static perf_counter_t pc_ore;
@@ -65,6 +67,7 @@ static perf_counter_t pc_idle;
static perf_counter_t pc_badidle;
static perf_counter_t pc_regerr;
static perf_counter_t pc_crcerr;
#endif
static void rx_handle_packet(void);
static void rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg);
@@ -89,6 +92,7 @@ static struct IOPacket dma_packet;
void
interface_init(void)
{
#if defined(PX4IO_PERF)
pc_txns = perf_alloc(PC_ELAPSED, "txns");
pc_errors = perf_alloc(PC_COUNT, "errors");
pc_ore = perf_alloc(PC_COUNT, "overrun");
@@ -98,6 +102,7 @@ interface_init(void)
pc_badidle = perf_alloc(PC_COUNT, "badidle");
pc_regerr = perf_alloc(PC_COUNT, "regerr");
pc_crcerr = perf_alloc(PC_COUNT, "crcerr");
#endif
/* allocate DMA */
tx_dma = stm32_dmachannel(PX4FMU_SERIAL_TX_DMA);
@@ -160,7 +165,9 @@ rx_handle_packet(void)
dma_packet.crc = 0;
if (crc != crc_packet(&dma_packet)) {
#if defined(PX4IO_PERF)
perf_count(pc_crcerr);
#endif
/* send a CRC error reply */
dma_packet.count_code = PKT_CODE_CORRUPT;
@@ -174,7 +181,10 @@ rx_handle_packet(void)
/* it's a blind write - pass it on */
if (registers_set(dma_packet.page, dma_packet.offset, &dma_packet.regs[0], PKT_COUNT(dma_packet))) {
#if defined(PX4IO_PERF)
perf_count(pc_regerr);
#endif
dma_packet.count_code = PKT_CODE_ERROR;
} else {
@@ -191,7 +201,10 @@ rx_handle_packet(void)
uint16_t *registers;
if (registers_get(dma_packet.page, dma_packet.offset, &registers, &count) < 0) {
#if defined(PX4IO_PERF)
perf_count(pc_regerr);
#endif
dma_packet.count_code = PKT_CODE_ERROR;
} else {
@@ -225,7 +238,9 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
* We are here because DMA completed, or UART reception stopped and
* we think we have a packet in the buffer.
*/
#if defined(PX4IO_PERF)
perf_begin(pc_txns);
#endif
/* disable UART DMA */
rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR);
@@ -251,7 +266,9 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
stm32_dmastart(tx_dma, NULL, NULL, false);
rCR3 |= USART_CR3_DMAT;
#if defined(PX4IO_PERF)
perf_end(pc_txns);
#endif
}
static int
@@ -266,6 +283,7 @@ serial_interrupt(int irq, void *context, FAR void *arg)
USART_SR_NE | /* noise error - we have lost a byte due to noise */
USART_SR_FE)) { /* framing error - start/stop bit lost or line break */
#if defined(PX4IO_PERF)
perf_count(pc_errors);
if (sr & USART_SR_ORE) {
@@ -280,6 +298,8 @@ serial_interrupt(int irq, void *context, FAR void *arg)
perf_count(pc_fe);
}
#endif
/* send a line break - this will abort transmission/reception on the other end */
rCR1 |= USART_CR1_SBK;
@@ -311,7 +331,9 @@ serial_interrupt(int irq, void *context, FAR void *arg)
if ((length < 1) || (length < PKT_SIZE(dma_packet))) {
/* it was too short - possibly truncated */
#if defined(PX4IO_PERF)
perf_count(pc_badidle);
#endif
dma_reset();
return 0;
}
@@ -320,7 +342,9 @@ serial_interrupt(int irq, void *context, FAR void *arg)
* Looks like we received a packet. Stop the DMA and go process the
* packet.
*/
#if defined(PX4IO_PERF)
perf_count(pc_idle);
#endif
stm32_dmastop(rx_dma);
rx_dma_callback(rx_dma, DMA_STATUS_TCIF, NULL);
}