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HAL_PX4: added storage performance counters

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This commit is contained in:
Andrew Tridgell 2013-01-24 15:02:10 +11:00
parent fc8065b50f
commit 0e79b93289
2 changed files with 18 additions and 4 deletions
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10
libraries/AP_HAL_PX4/Storage.cpp
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@ -168,6 +168,7 @@ void PX4Storage::_timer_tick(void)
if (_fd == -1 || _dirty_mask == 0) { if (_fd == -1 || _dirty_mask == 0) {
return; return;
} }
perf_begin(_perf_storage);
// write out the first dirty set of lines. We don't write more // write out the first dirty set of lines. We don't write more
// than one to keep the latency of this call to a minimum // than one to keep the latency of this call to a minimum
uint8_t i, n; uint8_t i, n;
@ -177,6 +178,9 @@ void PX4Storage::_timer_tick(void)
} }
} }
if (i == PX4_STORAGE_NUM_LINES) { if (i == PX4_STORAGE_NUM_LINES) {
// this shouldn't be possible
perf_end(_perf_storage);
perf_count(_perf_errors);
return; return;
} }
uint32_t write_mask = (1U<<i); uint32_t write_mask = (1U<<i);
@ -201,11 +205,15 @@ void PX4Storage::_timer_tick(void)
if (write(_fd, &_buffer[i<<PX4_STORAGE_LINE_SHIFT], n<<PX4_STORAGE_LINE_SHIFT) != n<<PX4_STORAGE_LINE_SHIFT) { if (write(_fd, &_buffer[i<<PX4_STORAGE_LINE_SHIFT], n<<PX4_STORAGE_LINE_SHIFT) != n<<PX4_STORAGE_LINE_SHIFT) {
// write error - likely EINTR // write error - likely EINTR
_dirty_mask |= write_mask; _dirty_mask |= write_mask;
perf_count(_perf_errors);
} }
if (_dirty_mask == 0) { if (_dirty_mask == 0) {
fsync(_fd); if (fsync(_fd) != 0) {
perf_count(_perf_errors);
}
} }
} }
perf_end(_perf_storage);
} }
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD

12
libraries/AP_HAL_PX4/Storage.h
View File

@ -5,6 +5,7 @@
#include <AP_HAL.h> #include <AP_HAL.h>
#include "AP_HAL_PX4_Namespace.h" #include "AP_HAL_PX4_Namespace.h"
#include <systemlib/perf_counter.h>
#define PX4_STORAGE_SIZE 4096 #define PX4_STORAGE_SIZE 4096
#define PX4_STORAGE_MAX_WRITE 512 #define PX4_STORAGE_MAX_WRITE 512
@ -14,9 +15,12 @@
class PX4::PX4Storage : public AP_HAL::Storage { class PX4::PX4Storage : public AP_HAL::Storage {
public: public:
PX4Storage() { PX4Storage() :
_fd = -1; _fd(-1),
} _dirty_mask(0),
_perf_storage(perf_alloc(PC_ELAPSED, "APM_storage")),
_perf_errors(perf_alloc(PC_COUNT, "APM_storage_errors"))
{}
void init(void* machtnichts) {} void init(void* machtnichts) {}
uint8_t read_byte(uint16_t loc); uint8_t read_byte(uint16_t loc);
uint16_t read_word(uint16_t loc); uint16_t read_word(uint16_t loc);
@ -37,6 +41,8 @@ private:
void _mark_dirty(uint16_t loc, uint16_t length); void _mark_dirty(uint16_t loc, uint16_t length);
uint8_t _buffer[PX4_STORAGE_SIZE]; uint8_t _buffer[PX4_STORAGE_SIZE];
volatile uint32_t _dirty_mask; volatile uint32_t _dirty_mask;
perf_counter_t _perf_storage;
perf_counter_t _perf_errors;
}; };
#endif // __AP_HAL_PX4_STORAGE_H__ #endif // __AP_HAL_PX4_STORAGE_H__