fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 00:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

perf: remove unused event_overruns, reduce type of delta times to 32bits

Browse Source 
32 bits are still enough to measure elapsed times up to 1 hour.

Testing on Pixracer: I counted 73 allocations and 39 frees during bootup,
resulting in 2kB RAM usage after boot. This patch reduce this by ~0.5kB.
This commit is contained in:
Beat Küng
2017-03-20 09:11:34 +01:00
committed by Lorenz Meier
parent 0a02a4c503
commit f60dfbbb40
1 changed files with 17 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/systemlib/perf_counter.c
+17 -25
View File
@@ -73,11 +73,10 @@ struct perf_ctr_count {
struct perf_ctr_elapsed { struct perf_ctr_elapsed {
struct perf_ctr_header hdr; struct perf_ctr_header hdr;
uint64_t event_count; uint64_t event_count;
uint64_t event_overruns;
uint64_t time_start; uint64_t time_start;
uint64_t time_total; uint64_t time_total;
uint64_t time_least; uint32_t time_least;
uint64_t time_most; uint32_t time_most;
float mean; float mean;
float M2; float M2;
}; };
@@ -91,8 +90,8 @@ struct perf_ctr_interval {
uint64_t time_event; uint64_t time_event;
uint64_t time_first; uint64_t time_first;
uint64_t time_last; uint64_t time_last;
uint64_t time_least; uint32_t time_least;
uint64_t time_most; uint32_t time_most;
float mean; float mean;
float M2; float M2;
}; };
@@ -192,8 +191,8 @@ perf_count(perf_counter_t handle)
break; break;
case 1: case 1:
pci->time_least = now - pci->time_last; pci->time_least = (uint32_t)(now - pci->time_last);
pci->time_most = now - pci->time_last; pci->time_most = (uint32_t)(now - pci->time_last);
pci->mean = pci->time_least / 1e6f; pci->mean = pci->time_least / 1e6f;
pci->M2 = 0; pci->M2 = 0;
break; break;
@@ -201,12 +200,12 @@ perf_count(perf_counter_t handle)
default: { default: {
hrt_abstime interval = now - pci->time_last; hrt_abstime interval = now - pci->time_last;
if (interval < pci->time_least) { if ((uint32_t)interval < pci->time_least) {
pci->time_least = interval; pci->time_least = (uint32_t)interval;
} }
if (interval > pci->time_most) { if ((uint32_t)interval > pci->time_most) {
pci->time_most = interval; pci->time_most = (uint32_t)interval;
} }
// maintain mean and variance of interval in seconds // maintain mean and variance of interval in seconds
@@ -260,19 +259,16 @@ perf_end(perf_counter_t handle)
if (pce->time_start != 0) { if (pce->time_start != 0) {
int64_t elapsed = hrt_absolute_time() - pce->time_start; int64_t elapsed = hrt_absolute_time() - pce->time_start;
if (elapsed < 0) { if (elapsed >= 0) {
pce->event_overruns++;
} else {
pce->event_count++; pce->event_count++;
pce->time_total += elapsed; pce->time_total += elapsed;
if ((pce->time_least > (uint64_t)elapsed) || (pce->time_least == 0)) { if ((pce->time_least > (uint32_t)elapsed) || (pce->time_least == 0)) {
pce->time_least = elapsed; pce->time_least = elapsed;
} }
if (pce->time_most < (uint64_t)elapsed) { if (pce->time_most < (uint32_t)elapsed) {
pce->time_most = elapsed; pce->time_most = elapsed;
} }
@@ -307,19 +303,16 @@ perf_set_elapsed(perf_counter_t handle, int64_t elapsed)
case PC_ELAPSED: { case PC_ELAPSED: {
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
if (elapsed < 0) { if (elapsed >= 0) {
pce->event_overruns++;
} else {
pce->event_count++; pce->event_count++;
pce->time_total += elapsed; pce->time_total += elapsed;
if ((pce->time_least > (uint64_t)elapsed) || (pce->time_least == 0)) { if ((pce->time_least > (uint32_t)elapsed) || (pce->time_least == 0)) {
pce->time_least = elapsed; pce->time_least = elapsed;
} }
if (pce->time_most < (uint64_t)elapsed) { if (pce->time_most < (uint32_t)elapsed) {
pce->time_most = elapsed; pce->time_most = elapsed;
} }
@@ -443,10 +436,9 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
case PC_ELAPSED: { case PC_ELAPSED: {
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
float rms = sqrtf(pce->M2 / (pce->event_count - 1)); float rms = sqrtf(pce->M2 / (pce->event_count - 1));
dprintf(fd, "%s: %llu events, %llu overruns, %lluus elapsed, %lluus avg, min %lluus max %lluus %5.3fus rms\n", dprintf(fd, "%s: %llu events, %lluus elapsed, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
handle->name, handle->name,
(unsigned long long)pce->event_count, (unsigned long long)pce->event_count,
(unsigned long long)pce->event_overruns,
(unsigned long long)pce->time_total, (unsigned long long)pce->time_total,
(pce->event_count == 0) ? 0 : (unsigned long long)pce->time_total / pce->event_count, (pce->event_count == 0) ? 0 : (unsigned long long)pce->time_total / pce->event_count,
(unsigned long long)pce->time_least, (unsigned long long)pce->time_least,