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drv_hrt posix: improve performance for hrt_absolute_time()

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Previously hrt_absolute_time() was at around 5% of the total CPU usage, now
it's around 0.35%.
This commit is contained in:
Beat Küng
2019-01-14 11:08:48 +01:00
committed by Julian Oes
parent ccefc640ac
commit ecbe2a3e0b
1 changed files with 6 additions and 0 deletions
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platforms/posix/src/px4_layer/drv_hrt.cpp
+6
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@@ -154,6 +154,11 @@ uint64_t hrt_system_time()
*/ */
hrt_abstime hrt_absolute_time() hrt_abstime hrt_absolute_time()
{ {
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
// optimized case (avoid ts_to_abstime) if lockstep scheduler is used
const uint64_t abstime = lockstep_scheduler.get_absolute_time();
return abstime - px4_timestart_monotonic;
#else // defined(ENABLE_LOCKSTEP_SCHEDULER)
struct timespec ts; struct timespec ts;
px4_clock_gettime(CLOCK_MONOTONIC, &ts); px4_clock_gettime(CLOCK_MONOTONIC, &ts);
#ifdef __PX4_QURT #ifdef __PX4_QURT
@@ -161,6 +166,7 @@ hrt_abstime hrt_absolute_time()
#else #else
return ts_to_abstime(&ts); return ts_to_abstime(&ts);
#endif #endif
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
} }
#ifdef __PX4_QURT #ifdef __PX4_QURT