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dshot: add perf counter for hrt callback (15us avg) (#24976)

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Jacob Dahl 2025-06-05 14:45:28 -08:00 committed by Alex Klimaj
parent 4858a20dfa
commit f244b4835b
1 changed files with 11 additions and 2 deletions
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13
platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
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@ -48,6 +48,8 @@
#include <stdio.h>
#include <drivers/drv_input_capture.h>
#include <lib/perf/perf_counter.h>
// This can be overriden for a specific board.
#ifndef BOARD_DMA_NUM_DSHOT_CHANNELS
#define BOARD_DMA_NUM_DSHOT_CHANNELS 1
@ -137,6 +139,8 @@ static uint32_t read_fail_nibble[MAX_NUM_CHANNELS_PER_TIMER] = {};
static uint32_t read_fail_crc[MAX_NUM_CHANNELS_PER_TIMER] = {};
static uint32_t read_fail_zero[MAX_NUM_CHANNELS_PER_TIMER] = {};
static perf_counter_t hrt_callback_perf = NULL;
static void init_timer_config(uint32_t channel_mask)
{
// Mark timers in use, channels in use, and timers for bidir dshot
@ -206,7 +210,7 @@ static void init_timers_dma_up(void)
continue;
}
PX4_DEBUG("Allocated DMA UP Timer Index %u", timer_index);
PX4_INFO("Allocated DMA UP Timer Index %u", timer_index);
timer_configs[timer_index].initialized = true;
}
@ -215,7 +219,7 @@ static void init_timers_dma_up(void)
if (timer_configs[timer_index].dma_handle != NULL) {
stm32_dmafree(timer_configs[timer_index].dma_handle);
timer_configs[timer_index].dma_handle = NULL;
PX4_DEBUG("Freed DMA UP Timer Index %u", timer_index);
PX4_INFO("Freed DMA UP Timer Index %u", timer_index);
}
}
}
@ -275,6 +279,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
if (_bidirectional) {
PX4_INFO("Bidirectional DShot enabled, only one timer will be used");
hrt_callback_perf = perf_alloc(PC_ELAPSED, "dshot: callback perf");
}
// NOTE: if bidirectional is enabled only 1 timer can be used. This is because Burst mode uses 1 DMA channel per timer
@ -485,6 +490,8 @@ void dma_burst_finished_callback(DMA_HANDLE handle, uint8_t status, void *arg)
static void capture_complete_callback(void *arg)
{
perf_begin(hrt_callback_perf);
uint8_t timer_index = *((uint8_t *)arg);
// Unallocate the timer as CaptureDMA
@ -525,6 +532,8 @@ static void capture_complete_callback(void *arg)
// Enable all channels configured as DShotInverted
io_timer_set_enable(true, IOTimerChanMode_DshotInverted, IO_TIMER_ALL_MODES_CHANNELS);
perf_end(hrt_callback_perf);
}
void process_capture_results(uint8_t timer_index, uint8_t channel_index)