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HAL_PX4: added perf counter on SPI devices

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This commit is contained in:
Andrew Tridgell 2016-11-06 22:09:19 +11:00
parent 8bca8545a2
commit e5a4dd4e56
2 changed files with 10 additions and 1 deletions
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8
libraries/AP_HAL_PX4/SPIDevice.cpp
View File

@ -71,6 +71,10 @@ SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc)
set_device_address(_device_desc.device); set_device_address(_device_desc.device);
set_speed(AP_HAL::Device::SPEED_LOW); set_speed(AP_HAL::Device::SPEED_LOW);
SPI_SELECT(bus.dev, device_desc.device, false); SPI_SELECT(bus.dev, device_desc.device, false);
asprintf(&pname, "SPI:%s:%u:%u",
device_desc.name,
(unsigned)bus.bus, (unsigned)device_desc.device);
perf = perf_alloc(PC_ELAPSED, pname);
printf("SPI device %s on %u:%u at speed %u mode %u\n", printf("SPI device %s on %u:%u at speed %u mode %u\n",
device_desc.name, device_desc.name,
(unsigned)bus.bus, (unsigned)device_desc.device, (unsigned)bus.bus, (unsigned)device_desc.device,
@ -81,6 +85,8 @@ SPIDevice::~SPIDevice()
{ {
printf("SPI device %s on %u:%u closed\n", device_desc.name, printf("SPI device %s on %u:%u closed\n", device_desc.name,
(unsigned)bus.bus, (unsigned)device_desc.device); (unsigned)bus.bus, (unsigned)device_desc.device);
perf_free(perf);
free(pname);
} }
bool SPIDevice::set_speed(AP_HAL::Device::Speed speed) bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)
@ -102,12 +108,14 @@ bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)
void SPIDevice::do_transfer(uint8_t *send, uint8_t *recv, uint32_t len) void SPIDevice::do_transfer(uint8_t *send, uint8_t *recv, uint32_t len)
{ {
irqstate_t state = irqsave(); irqstate_t state = irqsave();
perf_begin(perf);
SPI_SETFREQUENCY(bus.dev, frequency); SPI_SETFREQUENCY(bus.dev, frequency);
SPI_SETMODE(bus.dev, device_desc.mode); SPI_SETMODE(bus.dev, device_desc.mode);
SPI_SETBITS(bus.dev, 8); SPI_SETBITS(bus.dev, 8);
SPI_SELECT(bus.dev, device_desc.device, true); SPI_SELECT(bus.dev, device_desc.device, true);
SPI_EXCHANGE(bus.dev, send, recv, len); SPI_EXCHANGE(bus.dev, send, recv, len);
SPI_SELECT(bus.dev, device_desc.device, false); SPI_SELECT(bus.dev, device_desc.device, false);
perf_end(perf);
irqrestore(state); irqrestore(state);
} }

3
libraries/AP_HAL_PX4/SPIDevice.h
View File

@ -86,7 +86,8 @@ private:
SPIBus &bus; SPIBus &bus;
SPIDesc &device_desc; SPIDesc &device_desc;
uint32_t frequency; uint32_t frequency;
perf_counter_t perf;
char *pname;
static void *spi_thread(void *arg); static void *spi_thread(void *arg);
}; };