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HAL_PX4: added per-device perf counter for I2C devices

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This commit is contained in:
Andrew Tridgell 2016-11-08 15:18:57 +11:00
parent a9a5e50bd1
commit 01fadb6e90
2 changed files with 11 additions and 1 deletions
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10
libraries/AP_HAL_PX4/I2CDevice.cpp
View File

@ -87,18 +87,26 @@ I2CDevice::I2CDevice(uint8_t bus, uint8_t address) :
{
set_device_bus(_px4dev.map_bus_number(bus));
set_device_address(address);
asprintf(&pname, "I2C:%u:%02x",
(unsigned)bus, (unsigned)address);
perf = perf_alloc(PC_ELAPSED, pname);
}
I2CDevice::~I2CDevice()
{
printf("I2C device bus %u address 0x%02x closed\n",
(unsigned)_busnum, (unsigned)_address);
perf_free(perf);
free(pname);
}
bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
return _px4dev.do_transfer(_address, send, send_len, recv, recv_len);
perf_begin(perf);
bool ret = _px4dev.do_transfer(_address, send, send_len, recv, recv_len);
perf_end(perf);
return ret;
}
bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,

2
libraries/AP_HAL_PX4/I2CDevice.h
View File

@ -72,6 +72,8 @@ private:
uint8_t _busnum;
PX4_I2C _px4dev;
uint8_t _address;
perf_counter_t perf;
char *pname;
};
class I2CDeviceManager : public AP_HAL::I2CDeviceManager {