From 684e32068b72d179ceb7151ce1453922befa2b59 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 7 Jun 2021 09:59:07 +1000
Subject: [PATCH] AP_Compass: removed perf counters

---
 libraries/AP_Compass/AP_Compass_BMM150.cpp  | 3 ---
 libraries/AP_Compass/AP_Compass_BMM150.h    | 1 -
 libraries/AP_Compass/AP_Compass_IST8308.cpp | 4 ----
 libraries/AP_Compass/AP_Compass_IST8308.h   | 1 -
 libraries/AP_Compass/AP_Compass_IST8310.cpp | 6 ------
 libraries/AP_Compass/AP_Compass_IST8310.h   | 2 --
 6 files changed, 17 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_BMM150.cpp b/libraries/AP_Compass/AP_Compass_BMM150.cpp
index d6dec88614..4202e07b7d 100644
--- a/libraries/AP_Compass/AP_Compass_BMM150.cpp
+++ b/libraries/AP_Compass/AP_Compass_BMM150.cpp
@@ -223,8 +223,6 @@ bool AP_Compass_BMM150::init()
         set_external(_compass_instance, true);
     }
 
-    _perf_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "BMM150_err");
-
     // 2 retries for run
     _dev->set_retries(2);
     
@@ -298,7 +296,6 @@ void AP_Compass_BMM150::_update()
             _last_read_ms = now;
             _dev->write_register(POWER_AND_OPERATIONS_REG, SOFT_RESET);
             _dev->write_register(POWER_AND_OPERATIONS_REG, POWER_CONTROL_VAL, true);
-            hal.util->perf_count(_perf_err);
         }
         return;
     }
diff --git a/libraries/AP_Compass/AP_Compass_BMM150.h b/libraries/AP_Compass/AP_Compass_BMM150.h
index d001b10a5f..36cd26ac73 100644
--- a/libraries/AP_Compass/AP_Compass_BMM150.h
+++ b/libraries/AP_Compass/AP_Compass_BMM150.h
@@ -67,7 +67,6 @@ private:
     } _dig;
 
     uint32_t _last_read_ms;
-    AP_HAL::Util::perf_counter_t _perf_err;
     enum Rotation _rotation;
     bool _force_external;
 };
diff --git a/libraries/AP_Compass/AP_Compass_IST8308.cpp b/libraries/AP_Compass/AP_Compass_IST8308.cpp
index b90958a79d..9aa883c9e8 100644
--- a/libraries/AP_Compass/AP_Compass_IST8308.cpp
+++ b/libraries/AP_Compass/AP_Compass_IST8308.cpp
@@ -177,8 +177,6 @@ bool AP_Compass_IST8308::init()
     _dev->register_periodic_callback(SAMPLING_PERIOD_USEC,
                                      FUNCTOR_BIND_MEMBER(&AP_Compass_IST8308::timer, void));
 
-    _perf_xfer_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8308_xfer_err");
-
     return true;
 
 fail:
@@ -197,7 +195,6 @@ void AP_Compass_IST8308::timer()
 
     if (!_dev->read_registers(STAT1_REG, &stat, 1) ||
         !(stat & STAT1_VAL_DRDY)) {
-        hal.util->perf_count(_perf_xfer_err);
         return;
     }
 
@@ -207,7 +204,6 @@ void AP_Compass_IST8308::timer()
 
     if (!_dev->read_registers(DATAX_L_REG, (uint8_t *) &buffer,
                               sizeof(buffer))) {
-        hal.util->perf_count(_perf_xfer_err);
         return;
     }
 
diff --git a/libraries/AP_Compass/AP_Compass_IST8308.h b/libraries/AP_Compass/AP_Compass_IST8308.h
index dd1c595065..002158247b 100644
--- a/libraries/AP_Compass/AP_Compass_IST8308.h
+++ b/libraries/AP_Compass/AP_Compass_IST8308.h
@@ -48,7 +48,6 @@ private:
     bool init();
 
     AP_HAL::OwnPtr<AP_HAL::Device> _dev;
-    AP_HAL::Util::perf_counter_t _perf_xfer_err;
 
     enum Rotation _rotation;
     uint8_t _instance;
diff --git a/libraries/AP_Compass/AP_Compass_IST8310.cpp b/libraries/AP_Compass/AP_Compass_IST8310.cpp
index 018572a539..cd4fb05cb3 100644
--- a/libraries/AP_Compass/AP_Compass_IST8310.cpp
+++ b/libraries/AP_Compass/AP_Compass_IST8310.cpp
@@ -171,9 +171,6 @@ bool AP_Compass_IST8310::init()
     _periodic_handle = _dev->register_periodic_callback(SAMPLING_PERIOD_USEC,
         FUNCTOR_BIND_MEMBER(&AP_Compass_IST8310::timer, void));
 
-    _perf_xfer_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8310_xfer_err");
-    _perf_bad_data = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8310_bad_data");
-
     return true;
 
 fail:
@@ -184,7 +181,6 @@ fail:
 void AP_Compass_IST8310::start_conversion()
 {
     if (!_dev->write_register(CNTL1_REG, CNTL1_VAL_SINGLE_MEASUREMENT_MODE)) {
-        hal.util->perf_count(_perf_xfer_err);
         _ignore_next_sample = true;
     }
 }
@@ -205,7 +201,6 @@ void AP_Compass_IST8310::timer()
 
     bool ret = _dev->read_registers(OUTPUT_X_L_REG, (uint8_t *) &buffer, sizeof(buffer));
     if (!ret) {
-        hal.util->perf_count(_perf_xfer_err);
         return;
     }
 
@@ -225,7 +220,6 @@ void AP_Compass_IST8310::timer()
     if (x > IST8310_MAX_VAL_XY || x < IST8310_MIN_VAL_XY ||
         y > IST8310_MAX_VAL_XY || y < IST8310_MIN_VAL_XY ||
         z > IST8310_MAX_VAL_Z  || z < IST8310_MIN_VAL_Z) {
-        hal.util->perf_count(_perf_bad_data);
         return;
     }
 
diff --git a/libraries/AP_Compass/AP_Compass_IST8310.h b/libraries/AP_Compass/AP_Compass_IST8310.h
index 65073f21b4..e206c94961 100644
--- a/libraries/AP_Compass/AP_Compass_IST8310.h
+++ b/libraries/AP_Compass/AP_Compass_IST8310.h
@@ -50,8 +50,6 @@ private:
 
     AP_HAL::OwnPtr<AP_HAL::Device> _dev;
     AP_HAL::Device::PeriodicHandle _periodic_handle;
-    AP_HAL::Util::perf_counter_t _perf_xfer_err;
-    AP_HAL::Util::perf_counter_t _perf_bad_data;
 
     enum Rotation _rotation;
     uint8_t _instance;