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AP_Scheduler: removed perf counters

This commit is contained in:
Andrew Tridgell 2021-06-07 09:59:07 +10:00
parent 50e7c81f46
commit f6ec48e0e2
2 changed files with 0 additions and 21 deletions
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18
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -157,18 +157,6 @@ void AP_Scheduler::run(uint32_t time_available)
uint32_t run_started_usec = AP_HAL::micros(); uint32_t run_started_usec = AP_HAL::micros();
uint32_t now = run_started_usec; uint32_t now = run_started_usec;
if (_debug > 1 && _perf_counters == nullptr) {
_perf_counters = new AP_HAL::Util::perf_counter_t[_num_tasks];
if (_perf_counters != nullptr) {
for (uint8_t i=0; i<_num_unshared_tasks; i++) {
_perf_counters[i] = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, _tasks[i].name);
}
for (uint8_t i=_num_unshared_tasks; i<_num_tasks; i++) {
_perf_counters[i] = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, _common_tasks[i].name);
}
}
}
for (uint8_t i=0; i<_num_tasks; i++) { for (uint8_t i=0; i<_num_tasks; i++) {
const AP_Scheduler::Task& task = (i < _num_unshared_tasks) ? _tasks[i] : _common_tasks[i - _num_unshared_tasks]; const AP_Scheduler::Task& task = (i < _num_unshared_tasks) ? _tasks[i] : _common_tasks[i - _num_unshared_tasks];
@ -204,16 +192,10 @@ void AP_Scheduler::run(uint32_t time_available)
// run it // run it
_task_time_started = now; _task_time_started = now;
hal.util->persistent_data.scheduler_task = i; hal.util->persistent_data.scheduler_task = i;
if (_debug > 1 && _perf_counters && _perf_counters[i]) {
hal.util->perf_begin(_perf_counters[i]);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
fill_nanf_stack(); fill_nanf_stack();
#endif #endif
task.function(); task.function();
if (_debug > 1 && _perf_counters && _perf_counters[i]) {
hal.util->perf_end(_perf_counters[i]);
}
hal.util->persistent_data.scheduler_task = -1; hal.util->persistent_data.scheduler_task = -1;
// record the tick counter when we ran. This drives // record the tick counter when we ran. This drives

3
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -222,9 +222,6 @@ private:
// time of last loop in seconds // time of last loop in seconds
float _last_loop_time_s; float _last_loop_time_s;
// performance counters
AP_HAL::Util::perf_counter_t *_perf_counters;
// bitmask bit which indicates if we should log PERF message // bitmask bit which indicates if we should log PERF message
uint32_t _log_performance_bit; uint32_t _log_performance_bit;