Plane: refactor perf variables into a structure

hughhugh · Apr 21, 2016 · a7006a7 · a7006a7
1 parent a5de231
commit a7006a7
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Showing 7 changed files with 41 additions and 39 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -112,19 +112,19 @@ void Plane::loop()
 
     uint32_t timer = micros();
 
-    delta_us_fast_loop  = timer - fast_loopTimer_us;
-    G_Dt                = delta_us_fast_loop * 1.0e-6f;
+    perf.delta_us_fast_loop  = timer - perf.fast_loopTimer_us;
+    G_Dt = perf.delta_us_fast_loop * 1.0e-6f;
 
-    if (delta_us_fast_loop > G_Dt_max && fast_loopTimer_us != 0) {
-        G_Dt_max = delta_us_fast_loop;
+    if (perf.delta_us_fast_loop > perf.G_Dt_max && perf.fast_loopTimer_us != 0) {
+        perf.G_Dt_max = perf.delta_us_fast_loop;
     }
 
-    if (delta_us_fast_loop < G_Dt_min || G_Dt_min == 0) {
-        G_Dt_min = delta_us_fast_loop;
+    if (perf.delta_us_fast_loop < perf.G_Dt_min || perf.G_Dt_min == 0) {
+        perf.G_Dt_min = perf.delta_us_fast_loop;
     }
-    fast_loopTimer_us   = timer;
+    perf.fast_loopTimer_us = timer;
 
-    mainLoop_count++;
+    perf.mainLoop_count++;
 
     // tell the scheduler one tick has passed
     scheduler.tick();
@@ -339,16 +339,16 @@ void Plane::log_perf_info()
 {
     if (scheduler.debug() != 0) {
         gcs_send_text_fmt(MAV_SEVERITY_INFO, "G_Dt_max=%lu G_Dt_min=%lu\n",
-                          (unsigned long)G_Dt_max, 
-                          (unsigned long)G_Dt_min);
+                          (unsigned long)perf.G_Dt_max, 
+                          (unsigned long)perf.G_Dt_min);
     }
 
     if (should_log(MASK_LOG_PM)) {
         Log_Write_Performance();
     }
 
-    G_Dt_max = 0;
-    G_Dt_min = 0;
+    perf.G_Dt_max = 0;
+    perf.G_Dt_min = 0;
     resetPerfData();
 }
 

diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
@@ -210,9 +210,9 @@ void Plane::Log_Write_Performance()
     struct log_Performance pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
         time_us         : AP_HAL::micros64(),
-        loop_time       : millis() - perf_mon_timer,
-        main_loop_count : mainLoop_count,
-        g_dt_max        : G_Dt_max,
+        loop_time       : millis() - perf.start_ms,
+        main_loop_count : perf.mainLoop_count,
+        g_dt_max        : perf.G_Dt_max,
         gyro_drift_x    : (int16_t)(ahrs.get_gyro_drift().x * 1000),
         gyro_drift_y    : (int16_t)(ahrs.get_gyro_drift().y * 1000),
         gyro_drift_z    : (int16_t)(ahrs.get_gyro_drift().z * 1000),

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -685,23 +685,25 @@ class Plane : public AP_HAL::HAL::Callbacks {
     // This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
     float G_Dt = 0.02f;
 
-    // Performance monitoring
-    // Timer used to accrue data and trigger recording of the performanc monitoring log message
-    uint32_t perf_mon_timer = 0;
+    struct {
+        // Performance monitoring
+        // Timer used to accrue data and trigger recording of the performanc monitoring log message
+        uint32_t start_ms;
 
-    // The maximum and minimum main loop execution time recorded in the current performance monitoring interval
-    uint32_t G_Dt_max = 0;
-    uint32_t G_Dt_min = 0;
+        // The maximum and minimum main loop execution time recorded in the current performance monitoring interval
+        uint32_t G_Dt_max;
+        uint32_t G_Dt_min;
 
-    // System Timers
-    // Time in microseconds of start of main control loop
-    uint32_t fast_loopTimer_us = 0;
+        // System Timers
+        // Time in microseconds of start of main control loop
+        uint32_t fast_loopTimer_us;
 
-    // Number of milliseconds used in last main loop cycle
-    uint32_t delta_us_fast_loop = 0;
+        // Number of milliseconds used in last main loop cycle
+        uint32_t delta_us_fast_loop;
 
-    // Counter of main loop executions.  Used for performance monitoring and failsafe processing
-    uint16_t mainLoop_count = 0;
+        // Counter of main loop executions.  Used for performance monitoring and failsafe processing
+        uint16_t mainLoop_count;
+    } perf;
 
     // Camera/Antenna mount tracking and stabilisation stuff
 #if MOUNT == ENABLED

diff --git a/ArduPlane/failsafe.cpp b/ArduPlane/failsafe.cpp
@@ -23,9 +23,9 @@ void Plane::failsafe_check(void)
     static bool in_failsafe;
     uint32_t tnow = micros();
 
-    if (mainLoop_count != last_mainLoop_count) {
+    if (perf.mainLoop_count != last_mainLoop_count) {
         // the main loop is running, all is OK
-        last_mainLoop_count = mainLoop_count;
+        last_mainLoop_count = perf.mainLoop_count;
         last_timestamp = tnow;
         in_failsafe = false;
         return;

diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
@@ -221,7 +221,7 @@ void Plane::update_fbwb_speed_height(void)
         elevator_input = -elevator_input;
     }
 
-    change_target_altitude(g.flybywire_climb_rate * elevator_input * delta_us_fast_loop * 0.0001f);
+    change_target_altitude(g.flybywire_climb_rate * elevator_input * perf.delta_us_fast_loop * 0.0001f);
 
     if (is_zero(elevator_input) && !is_zero(last_elevator_input)) {
         // the user has just released the elevator, lock in

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
@@ -632,10 +632,10 @@ void Plane::update_notify()
 
 void Plane::resetPerfData(void) 
 {
-    mainLoop_count                  = 0;
-    G_Dt_max                        = 0;
-    G_Dt_min                        = 0;
-    perf_mon_timer                  = millis();
+    perf.mainLoop_count = 0;
+    perf.G_Dt_max       = 0;
+    perf.G_Dt_min       = 0;
+    perf.start_ms        = millis();
 }
 
 

diff --git a/ArduPlane/test.cpp b/ArduPlane/test.cpp
@@ -360,8 +360,8 @@ int8_t Plane::test_ins(uint8_t argc, const Menu::arg *argv)
 
     while(1) {
         hal.scheduler->delay(20);
-        if (micros() - fast_loopTimer_us > 19000UL) {
-            fast_loopTimer_us       = micros();
+        if (micros() - perf.fast_loopTimer_us > 19000UL) {
+            perf.fast_loopTimer_us = micros();
 
             // INS
             // ---
@@ -421,8 +421,8 @@ int8_t Plane::test_mag(uint8_t argc, const Menu::arg *argv)
 
     while(1) {
         hal.scheduler->delay(20);
-        if (micros() - fast_loopTimer_us > 19000UL) {
-            fast_loopTimer_us       = micros();
+        if (micros() - perf.fast_loopTimer_us > 19000UL) {
+            perf.fast_loopTimer_us = micros();
 
             // INS
             // ---