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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, when variables defined in hrt_drv are not referenced directly from perf.

This also 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
2021-11-09 21:24:25 -05:00
committed by Daniel Agar
parent da51177382
commit 9299a5c3f6
3 changed files with 58 additions and 8 deletions
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src/drivers/drv_hrt.h
+34 -1
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@@ -84,6 +84,11 @@ extern const uint16_t latency_bucket_count;
extern const uint16_t latency_buckets[LATENCY_BUCKET_COUNT];
extern uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
typedef struct latency_info {
uint16_t bucket;
uint32_t counter;
} latency_info_t;
/**
* Get absolute time in [us] (does not wrap).
*/
@@ -199,8 +204,36 @@ 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