HRT: Create new separate call for atomic HRT elapsed time calculation #11248

LorenzMeier · 2019-01-20T15:12:58Z

This call rarely needs to be truly atomic and the involved CPU overhead in making it atomic was unnecessary and introduces a lot of IRQ jitter with no value-add. The call has been moved to be non-atomic and the codebase will be inspected and changed in follow-up commits for the few instances where it is truly needed.

Fixes #11245.

After fix (more CPU idle = better):

Current:

This call rarely needs to be truly atomic and the involved CPU overhead in making it atomic was unnecessary and introduces a lot of IRQ jitter with no value-add. The call has been moved to be non-atomic and the codebase will be inspected and changed in follow-up commits for the few instances where it is truly needed.

This ensures we get absolutely accurate timing.

LorenzMeier · 2019-01-20T15:20:53Z

On first pass I didn't find any critical code really requiring atomic operation - but we need to review this carefully. Search for hrt_elapsed_time( to find possible offenders. For me this found:

Searching 2690 files for "hrt_elapsed_time("

/Users/lorenzmeier/src/Firmware/src/drivers/distance_sensor/sf0x/sf0x.cpp:
  469  
  470  	/* clear buffer if last read was too long ago */
  471: 	int64_t read_elapsed = hrt_elapsed_time(&_last_read);
  472  
  473  	/* the buffer for read chars is buflen minus null termination */

/Users/lorenzmeier/src/Firmware/src/drivers/distance_sensor/tfmini/tfmini.cpp:
  476  
  477  	/* clear buffer if last read was too long ago */
  478: 	int64_t read_elapsed = hrt_elapsed_time(&_last_read);
  479  
  480  	/* the buffer for read chars is buflen minus null termination */

/Users/lorenzmeier/src/Firmware/src/drivers/drv_hrt.h:
   99   * This function is not interrupt save.
  100   */
  101: __EXPORT extern hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then);
  102  
  103  /**

/Users/lorenzmeier/src/Firmware/src/drivers/kinetis/drv_hrt.c:
  599   */
  600  hrt_abstime
  601: hrt_elapsed_time(const volatile hrt_abstime *then)
  602  {
  603  	irqstate_t flags = px4_enter_critical_section();

/Users/lorenzmeier/src/Firmware/src/drivers/pwm_input/pwm_input.cpp:
  384  {
  385  	/* reset if last poll time was way back and a read was recently requested */
  386: 	if (hrt_elapsed_time(&_last_poll_time) > TIMEOUT_POLL && hrt_elapsed_time(&_last_read_time) < TIMEOUT_READ) {
  387  		hard_reset();
  388  	}

/Users/lorenzmeier/src/Firmware/src/drivers/px4io/px4io.cpp:
  609  		px4_usleep(2000);
  610  		protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
  611: 	} while (protocol == _io_reg_get_error && (hrt_elapsed_time(&start_try_time) < 700U * 1000U));
  612  
  613  	/* if the error still persists after timing out, we give up */
  ...
 1283  			if (changed) {
 1284  				orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls);
 1285: 				perf_set_elapsed(_perf_sample_latency, hrt_elapsed_time(&controls.timestamp_sample));
 1286  			}
 1287  		}
 ....
 3299  			const unsigned long timeout = 5000000;
 3300  
 3301: 			while (hrt_elapsed_time(&start) < timeout) {
 3302  				fds.fd = 0; /* stdin */
 3303  				fds.events = POLLIN;
 ....
 3320  			}
 3321  
 3322: 			if (hrt_elapsed_time(&start) > timeout) {
 3323  				errx(1, "TIMEOUT! ABORTED WITHOUT CHANGES.");
 3324  			}

/Users/lorenzmeier/src/Firmware/src/drivers/qshell/posix/qshell.cpp:
  123  	const hrt_abstime time_started_us = hrt_absolute_time();
  124  
  125: 	while (hrt_elapsed_time(&time_started_us) < 3000000) {
  126  		bool updated;
  127  		orb_check(_sub_qshell_retval, &updated);

/Users/lorenzmeier/src/Firmware/src/drivers/rc_input/RCInput.cpp:
  799  	perf_print_counter(_publish_interval_perf);
  800  
  801: 	if (hrt_elapsed_time(&_rc_in.timestamp) < 1_s) {
  802  		print_message(_rc_in);
  803  	}

/Users/lorenzmeier/src/Firmware/src/drivers/samv7/drv_hrt.c:
  680   */
  681  hrt_abstime
  682: hrt_elapsed_time(const volatile hrt_abstime *then)
  683  {
  684  	irqstate_t flags = enter_critical_section();

/Users/lorenzmeier/src/Firmware/src/drivers/stm32/drv_hrt.c:
  720   */
  721  hrt_abstime
  722: hrt_elapsed_time(const volatile hrt_abstime *then)
  723  {
  724  	hrt_abstime delta = hrt_absolute_time() - *then;

/Users/lorenzmeier/src/Firmware/src/examples/bottle_drop/bottle_drop.cpp:
  292  	}
  293  
  294: 	while (hrt_elapsed_time(&_doors_opened) < 500 * 1000 && hrt_elapsed_time(&starttime) < 2000000) {
  295  		px4_usleep(50000);
  296  		warnx("delayed by door!");
  ...
  702  
  703  				/* 2s after drop, reset and close everything again */
  704: 				if ((hrt_elapsed_time(&_doors_opened) > 2 * 1000 * 1000)) {
  705  					_drop_state = DROP_STATE_INIT;
  706  					_drop_approval = false;
  ...
  731  			px4_usleep(sleeptime_us);
  732  
  733: 			dt_runs = hrt_elapsed_time(&last_run) / 1e6f;
  734  			last_run = hrt_absolute_time();
  735  		}

/Users/lorenzmeier/src/Firmware/src/lib/CollisionPrevention/CollisionPrevention.cpp:
  110  	const obstacle_distance_s &obstacle_distance = _sub_obstacle_distance->get();
  111  
  112: 	if (hrt_elapsed_time(&obstacle_distance.timestamp) < RANGE_STREAM_TIMEOUT_US) {
  113  		float max_detection_distance = obstacle_distance.max_distance / 100.0f; //convert to meters
  114  

/Users/lorenzmeier/src/Firmware/src/lib/parameters/parameters.cpp:
  656  
  657  	static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds
  658: 	const hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
  659  
  660  	if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) {
  ...
 1396  
 1397  	if (!autosave_disabled && (last_autosave_timestamp > 0)) {
 1398: 		PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
 1399  	}
 1400  

/Users/lorenzmeier/src/Firmware/src/lib/parameters/parameters_shmem.cpp:
  715  
  716  	const hrt_abstime rate_limit = 2000 * 1000; // rate-limit saving to 2 seconds
  717: 	hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
  718  
  719  	if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) {
  ...
 1502  
 1503  	if (!autosave_disabled && (last_autosave_timestamp > 0)) {
 1504: 		PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
 1505  	}
 1506  

/Users/lorenzmeier/src/Firmware/src/lib/pwm_limit/pwm_limit.cpp:
   73  			}
   74  
   75: 			if (hrt_elapsed_time(&limit->time_armed) >= INIT_TIME_US) {
   76  				limit->state = PWM_LIMIT_STATE_OFF;
   77  			}
   ..
   94  			limit->state = PWM_LIMIT_STATE_OFF;
   95  
   96: 		} else if (hrt_elapsed_time(&limit->time_armed) >= RAMP_TIME_US) {
   97  			limit->state = PWM_LIMIT_STATE_ON;
   98  		}
   ..
  137  
  138  	case PWM_LIMIT_STATE_RAMP: {
  139: 			hrt_abstime diff = hrt_elapsed_time(&limit->time_armed);
  140  
  141  			progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;

/Users/lorenzmeier/src/Firmware/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp:
  368  					if (_ext_hdg_mode == 1) {
  369  						// Check for timeouts on data
  370: 						_ext_hdg_good = vision.timestamp > 0 && (hrt_elapsed_time(&vision.timestamp) < 500000);
  371  					}
  372  				}
  ...
  400  					if (_ext_hdg_mode == 2) {
  401  						// Check for timeouts on data
  402: 						_ext_hdg_good = mocap.timestamp > 0 && (hrt_elapsed_time(&mocap.timestamp) < 500000);
  403  					}
  404  				}
  ...
  413  
  414  			if (orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &gpos) == PX4_OK) {
  415: 				if (_mag_decl_auto && gpos.eph < 20.0f && hrt_elapsed_time(&gpos.timestamp) < 1000000) {
  416  					/* set magnetic declination automatically */
  417  					update_mag_declination(math::radians(get_mag_declination(gpos.lat, gpos.lon)));

/Users/lorenzmeier/src/Firmware/src/modules/commander/accelerometer_calibration.cpp:
  838  	hrt_abstime start = hrt_absolute_time();
  839  
  840: 	while (hrt_elapsed_time(&start) < settle_time * 1000000) {
  841  		calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG,
  842: 				     (int)(90 * hrt_elapsed_time(&start) / 1e6f / (float)settle_time));
  843  		px4_sleep(settle_time / 10);
  844  	}
  ...
  847  
  848  	// average attitude for 5 seconds
  849: 	while (hrt_elapsed_time(&start) < cal_time * 1000000) {
  850  		int pollret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
  851  

/Users/lorenzmeier/src/Firmware/src/modules/commander/Commander.cpp:
  552  					     &status_flags,
  553  					     arm_requirements,
  554: 					     hrt_elapsed_time(&commander_boot_timestamp));
  555  
  556  	if (arming_res == TRANSITION_CHANGED) {
  ...
 1613  			orb_copy(ORB_ID(system_power), system_power_sub, &system_power);
 1614  
 1615: 			if (hrt_elapsed_time(&system_power.timestamp) < 200_ms) {
 1616  				if (system_power.servo_valid &&
 1617  				    !system_power.brick_valid &&
 ....
 1651  					if (TRANSITION_CHANGED == arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY,
 1652  							&armed, true /* fRunPreArmChecks */, &mavlink_log_pub,
 1653: 							&status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))
 1654  					   ) {
 1655  						status_changed = true;
 ....
 1806  			arming_ret = arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
 1807  							     true /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags,
 1808: 							     arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
 1809  
 1810  			if (arming_ret == TRANSITION_DENIED) {
 ....
 1875  				const hrt_abstime geofence_violation_action_interval = 10_s;
 1876  
 1877: 				if (hrt_elapsed_time(&last_geofence_violation) > geofence_violation_action_interval) {
 1878  
 1879  					last_geofence_violation = hrt_absolute_time();
 ....
 1998  		/* RC input check */
 1999  		if (!status_flags.rc_input_blocked && sp_man.timestamp != 0 &&
 2000: 		    (hrt_elapsed_time(&sp_man.timestamp) < (rc_loss_timeout * 1_s))) {
 2001  
 2002  			/* handle the case where RC signal was regained */
 ....
 2010  				if (status.rc_signal_lost) {
 2011  					mavlink_log_info(&mavlink_log_pub, "MANUAL CONTROL REGAINED after %llums",
 2012: 							 hrt_elapsed_time(&rc_signal_lost_timestamp) / 1000);
 2013  					set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, true
 2014  							 && status_flags.rc_calibration_valid, status);
 ....
 2050  					arming_ret = arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
 2051  									     true /* fRunPreArmChecks */,
 2052: 									     &mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
 2053  				}
 2054  
 ....
 2068  			/* allow a grace period for re-arming: preflight checks don't need to pass during that time,
 2069  			 * for example for accidential in-air disarming */
 2070: 			const bool in_arming_grace_period = last_disarmed_timestamp != 0 && hrt_elapsed_time(&last_disarmed_timestamp) < 5_s;
 2071  			const bool arm_switch_to_arm_transition = arm_switch_is_button == 0 &&
 2072  					_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF &&
 ....
 2100  						arming_ret = arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_ARMED, &armed,
 2101  										     !in_arming_grace_period /* fRunPreArmChecks */,
 2102: 										     &mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
 2103  
 2104  						if (arming_ret != TRANSITION_CHANGED) {
 ....
 2198  				    || status.engine_failure) {
 2199  
 2200: 					const float elapsed = hrt_elapsed_time(&timestamp_engine_healthy) / 1e6f;
 2201  
 2202  					/* potential failure, measure time */
 ....
 2360  			if (armed.armed) {
 2361  				if ((!was_armed || (was_landed && !land_detector.landed)) &&
 2362: 				    (hrt_elapsed_time(&commander_boot_timestamp) > INAIR_RESTART_HOLDOFF_INTERVAL)) {
 2363  
 2364  					/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
 ....
 2440  
 2441  		/* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags) at 1 Hz or immediately when changed */
 2442: 		if (hrt_elapsed_time(&status.timestamp) >= 1_s || status_changed || nav_state_changed) {
 2443  
 2444  			set_control_mode();
 ....
 2462  				 * when the rest of the system is fully initialized)
 2463  				 */
 2464: 				armed.prearmed = (hrt_elapsed_time(&commander_boot_timestamp) > 5_s);
 2465  			}
 2466  
 ....
 2523  
 2524  		/* play sensor failure tunes if we already waited for hotplug sensors to come up and failed */
 2525: 		status_flags.condition_system_hotplug_timeout = (hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT);
 2526  
 2527  		if (!sensor_fail_tune_played && (!status_flags.condition_system_sensors_initialized
 ....
 2637  
 2638  		/* set mode */
 2639: 		if (overload && (hrt_elapsed_time(&overload_start) > overload_warn_delay)) {
 2640  			led_mode = led_control_s::MODE_BLINK_FAST;
 2641  			led_color = led_control_s::COLOR_PURPLE;
 ....
 3179  	}
 3180  
 3181: 	const bool data_stale = ((hrt_elapsed_time(&data_timestamp_us) > _failsafe_pos_delay.get() * 1_s)
 3182  				 || (data_timestamp_us == 0));
 3183  	const float req_accuracy = (was_valid ? required_accuracy * 2.5f : required_accuracy);
 ....
 3189  		if (was_valid) {
 3190  			// still valid, continue to decrease probation time
 3191: 			const int64_t probation_time_new = *probation_time_us - hrt_elapsed_time(last_fail_time_us);
 3192  			*probation_time_us = math::constrain(probation_time_new, POSVEL_PROBATION_MIN, POSVEL_PROBATION_MAX);
 3193  
 3194  		} else {
 3195  			// check if probation period has elapsed
 3196: 			if (hrt_elapsed_time(last_fail_time_us) > *probation_time_us) {
 3197  				valid = true;
 3198  			}
 ....
 3207  		} else {
 3208  			// failed again, increase probation time
 3209: 			const int64_t probation_time_new = *probation_time_us + hrt_elapsed_time(last_fail_time_us) * _failsafe_pos_gain.get();
 3210  			*probation_time_us = math::constrain(probation_time_new, POSVEL_PROBATION_MIN, POSVEL_PROBATION_MAX);
 3211  		}
 ....
 3608  					if (TRANSITION_DENIED == arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_INIT, &armed,
 3609  							false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags,
 3610: 							arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))) {
 3611  
 3612  						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub);
 ....
 3696  						arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
 3697  									false /* fRunPreArmChecks */,
 3698: 									&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
 3699  
 3700  					} else {
 ....
 3870  
 3871  	bool success = Preflight::preflightCheck(&mavlink_log_pub, status, status_flags, checkGNSS, report, false,
 3872: 			hrt_elapsed_time(&commander_boot_timestamp));
 3873  
 3874  	if (success) {
 ....
 3897  			/* perform system checks when new telemetry link connected */
 3898  			if (/* we first connect a link or re-connect a link after loosing it or haven't yet reported anything */
 3899: 				(_telemetry[i].last_heartbeat == 0 || (hrt_elapsed_time(&_telemetry[i].last_heartbeat) > 3_s)
 3900  				 || !_telemetry[i].preflight_checks_reported) &&
 3901  				/* and this link has a communication partner */
 3902  				(telemetry.heartbeat_time > 0) &&
 3903  				/* and it is still connected */
 3904: 				(hrt_elapsed_time(&telemetry.heartbeat_time) < 2_s) &&
 3905  				/* and the system is not already armed (and potentially flying) */
 3906  				!armed.armed) {
 ....
 3986  
 3987  		if (_telemetry[i].last_heartbeat != 0 &&
 3988: 		    hrt_elapsed_time(&_telemetry[i].last_heartbeat) < dl_loss_timeout_local * 1e6) {
 3989  			/* handle the case where data link was gained first time or regained,
 3990  			 * accept datalink as healthy only after datalink_regain_timeout seconds
 3991  			 * */
 3992  			if (_telemetry[i].lost &&
 3993: 			    hrt_elapsed_time(&_telemetry[i].last_dl_loss) > dl_regain_timeout_local * 1e6) {
 3994  
 3995  				/* report a regain */
 ....
 4093  		if (orb_copy(ORB_ID(battery_status), _battery_sub, &battery) == PX4_OK) {
 4094  
 4095: 			if ((hrt_elapsed_time(&battery.timestamp) < 5_s)
 4096  			    && battery.connected
 4097  			    && (_battery_warning == battery_status_s::BATTERY_WARNING_NONE)) {
 ....
 4194  			} else {
 4195  				// if nav status is unconfirmed, confirm yaw angle as passed after 30 seconds or achieving 5 m/s of speed
 4196: 				const bool sufficient_time = (hrt_elapsed_time(&_time_at_takeoff) > 30_s);
 4197  				const bool sufficient_speed = (lpos.vx * lpos.vx + lpos.vy * lpos.vy > 25.0f);
 4198  
 ....
 4212  
 4213  						// if the innovation test has failed continuously, declare the nav as failed
 4214: 						if (hrt_elapsed_time(&_time_last_innov_pass) > 1_s) {
 4215  							_nav_test_failed = true;
 4216  							mavlink_log_emergency(&mavlink_log_pub, "CRITICAL NAVIGATION FAILURE - CHECK SENSOR CALIBRATION");

/Users/lorenzmeier/src/Firmware/src/modules/commander/esc_calibration.cpp:
  164  		hrt_abstime timeout_wait = batt_connected ? pwm_high_timeout : battery_connect_wait_timeout;
  165  
  166: 		if (hrt_elapsed_time(&timeout_start) > timeout_wait) {
  167  			if (!batt_connected) {
  168  				calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Timeout waiting for battery");

/Users/lorenzmeier/src/Firmware/src/modules/commander/PreflightCheck.cpp:
  110  		uORB::Subscription<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), 0, instance};
  111  
  112: 		mag_valid = (hrt_elapsed_time(&magnetometer.get().timestamp) < 1_s);
  113  
  114  		if (!mag_valid) {
  ...
  246  		uORB::Subscription<sensor_accel_s> accel{ORB_ID(sensor_accel), 0, instance};
  247  
  248: 		accel_valid = (hrt_elapsed_time(&accel.get().timestamp) < 1_s);
  249  
  250  		if (!accel_valid) {
  ...
  310  		uORB::Subscription<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), 0, instance};
  311  
  312: 		gyro_valid = (hrt_elapsed_time(&gyro.get().timestamp) < 1_s);
  313  
  314  		if (!gyro_valid) {
  ...
  353  		uORB::Subscription<sensor_baro_s> baro{ORB_ID(sensor_baro), 0, instance};
  354  
  355: 		baro_valid = (hrt_elapsed_time(&baro.get().timestamp) < 1_s);
  356  
  357  		if (!baro_valid) {
  ...
  388  
  389  	if ((orb_copy(ORB_ID(differential_pressure), fd_diffpres, &differential_pressure) != PX4_OK) ||
  390: 	    (hrt_elapsed_time(&differential_pressure.timestamp) > 1_s)) {
  391  		if (report_fail && !optional) {
  392  			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor missing");
  ...
  399  
  400  	if ((orb_copy(ORB_ID(airspeed), fd_airspeed, &airspeed) != PX4_OK) ||
  401: 	    (hrt_elapsed_time(&airspeed.timestamp) > 1_s)) {
  402  		if (report_fail && !optional) {
  403  			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor missing");
  ...
  464  		if (orb_copy(ORB_ID(system_power), system_power_sub, &system_power) == PX4_OK) {
  465  
  466: 			if (hrt_elapsed_time(&system_power.timestamp) < 200_ms) {
  467  
  468  				/* copy avionics voltage */

/Users/lorenzmeier/src/Firmware/src/modules/commander/state_machine_helper.cpp:
  144  		    && !hil_enabled) {
  145  
  146: 			if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
  147  
  148  				status_flags->condition_system_sensors_initialized = Preflight::preflightCheck(mavlink_log_pub, *status, *status_flags,

/Users/lorenzmeier/src/Firmware/src/modules/fw_att_control/FixedwingAttitudeControl.cpp:
  471  	const bool airspeed_valid = PX4_ISFINITE(_airspeed_sub.get().indicated_airspeed_m_s)
  472  				    && (_airspeed_sub.get().indicated_airspeed_m_s > 0.0f)
  473: 				    && (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1e6);
  474  
  475  	if (!_parameters.airspeed_disabled && airspeed_valid) {

/Users/lorenzmeier/src/Firmware/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp:
  395  	} else {
  396  		// no airspeed updates for one second
  397: 		if (airspeed_valid && (hrt_elapsed_time(&_airspeed_last_valid) > 1_s)) {
  398  			airspeed_valid = false;
  399  		}
  ...
  778  	const hrt_abstime delta_takeoff = 10_s;
  779  
  780: 	return (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff)
  781  	       && (_global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff);
  782  }
  ...
  802  
  803  	if (_control_position_last_called > 0) {
  804: 		dt = hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
  805  	}
  806  
  ...
 1332  
 1333  				/* Inform user that launchdetection is running every 4s */
 1334: 				if (hrt_elapsed_time(&_launch_detection_notify) > 4e6) {
 1335  					mavlink_log_critical(&_mavlink_log_pub, "Launch detection running");
 1336  					_launch_detection_notify = hrt_absolute_time();
 ....
 1535  			// wait for some time, maybe we will soon get a valid estimate
 1536  			// until then just use the altitude of the landing waypoint
 1537: 			if (hrt_elapsed_time(&_time_started_landing) < 10_s) {
 1538  				terrain_alt = pos_sp_curr.alt;
 1539  
 ....
 1544  			}
 1545  
 1546: 		} else if ((!_global_pos.terrain_alt_valid && hrt_elapsed_time(&_time_last_t_alt) < T_ALT_TIMEOUT)
 1547  			   || _land_noreturn_vertical) {
 1548  			// use previous terrain estimate for some time and hope to recover
 ....
 1918  
 1919  	if (_last_tecs_update > 0) {
 1920: 		dt = hrt_elapsed_time(&_last_tecs_update) * 1e-6;
 1921  	}
 1922  

/Users/lorenzmeier/src/Firmware/src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.cpp:
   55  void CatapultLaunchMethod::update(float accel_x)
   56  {
   57: 	float dt = hrt_elapsed_time(&_last_timestamp) * 1e-6f;
   58  	_last_timestamp = hrt_absolute_time();
   59  

/Users/lorenzmeier/src/Firmware/src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.cpp:
   80  	switch (_state) {
   81  	case RunwayTakeoffState::THROTTLE_RAMP:
   82: 		if (hrt_elapsed_time(&_initialized_time) > _throttle_ramp_time) {
   83  			_state = RunwayTakeoffState::CLAMPED_TO_RUNWAY;
   84  		}
   ..
  196  	switch (_state) {
  197  	case RunwayTakeoffState::THROTTLE_RAMP: {
  198: 			float throttle = hrt_elapsed_time(&_initialized_time) / (float)_throttle_ramp_time *
  199  					 _takeoff_throttle.get();
  200  			return throttle < _takeoff_throttle.get() ?

/Users/lorenzmeier/src/Firmware/src/modules/gnd_pos_control/GroundRoverPositionControl.cpp:
  194  
  195  	if (_control_position_last_called > 0) {
  196: 		dt = hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
  197  	}
  198  

/Users/lorenzmeier/src/Firmware/src/modules/land_detector/FixedwingLandDetector.cpp:
  102  	bool landDetected = false;
  103  
  104: 	if (hrt_elapsed_time(&_local_pos.timestamp) < 500 * 1000) {
  105  
  106  		// horizontal velocity

/Users/lorenzmeier/src/Firmware/src/modules/land_detector/LandDetector.cpp:
  128  
  129  	// publish at 1 Hz, very first time, or when the result has changed
  130: 	if ((hrt_elapsed_time(&_landDetected.timestamp) >= 1_s) ||
  131  	    (_landDetectedPub == nullptr) ||
  132  	    (_landDetected.landed != landDetected) ||

/Users/lorenzmeier/src/Firmware/src/modules/land_detector/MulticopterLandDetector.cpp:
  165  	bool verticalMovement;
  166  
  167: 	if (hrt_elapsed_time(&_landed_time) < LAND_DETECTOR_LAND_PHASE_TIME_US) {
  168  
  169  		// Widen acceptance thresholds for landed state right after arming
  ...
  220  
  221  	// Widen acceptance thresholds for landed state right after landed
  222: 	if (hrt_elapsed_time(&_landed_time) < LAND_DETECTOR_LAND_PHASE_TIME_US) {
  223  		landThresholdFactor = 2.5f;
  224  	}
  ...
  237  		// falling consider it to be landed. This should even sustain
  238  		// quite acrobatic flight.
  239: 		return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8_s);
  240  	}
  241  
  ...
  295  {
  296  	return _vehicleLocalPosition.timestamp != 0 &&
  297: 	       hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500_ms &&
  298  	       _vehicleLocalPosition.z_valid;
  299  }
  ...
  307  {
  308  	bool has_updated = (_vehicleLocalPositionSetpoint.timestamp != 0)
  309: 			   && (hrt_elapsed_time(&_vehicleLocalPositionSetpoint.timestamp) < 500_ms);
  310  
  311  	return (_control_mode.flag_control_climb_rate_enabled && has_updated && PX4_ISFINITE(_vehicleLocalPositionSetpoint.vz));

/Users/lorenzmeier/src/Firmware/src/modules/land_detector/VtolLandDetector.cpp:
   89  
   90  	// for vtol we additionally consider airspeed
   91: 	if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000 && _airspeed.confidence > 0.99f
   92  	    && PX4_ISFINITE(_airspeed.indicated_airspeed_m_s)) {
   93  

/Users/lorenzmeier/src/Firmware/src/modules/load_mon/load_mon.cpp:
  196  	/* compute system load */
  197  	const hrt_abstime total_runtime = system_load.tasks[0].total_runtime;
  198: 	const hrt_abstime interval = hrt_elapsed_time(&_last_idle_time_sample);
  199  	const hrt_abstime interval_idletime = total_runtime - _last_idle_time;
  200  

/Users/lorenzmeier/src/Firmware/src/modules/logger/log_writer_file.cpp:
  351  		//write dropout msg
  352  		ulog_message_dropout_s dropout_msg;
  353: 		dropout_msg.duration = (uint16_t)(hrt_elapsed_time(&dropout_start) / 1000);
  354  		_buffers[(int)type].write_no_check(&dropout_msg, sizeof(dropout_msg));
  355  	}

/Users/lorenzmeier/src/Firmware/src/modules/logger/log_writer_mavlink.cpp:
  184  				break;
  185  			}
  186: 		} while (!got_ack && hrt_elapsed_time(&started) / 1000 < timeout_ms);
  187  
  188  		if (!got_ack) {
  ...
  192  		}
  193  
  194: 		PX4_DEBUG("got ack in %i ms", (int)(hrt_elapsed_time(&started) / 1000));
  195  	}
  196  

/Users/lorenzmeier/src/Firmware/src/modules/logger/logger.cpp:
 1393  
 1394  		if (stats.dropout_start) {
 1395: 			float dropout_duration = (float)(hrt_elapsed_time(&stats.dropout_start) / 1000) / 1.e3f;
 1396  
 1397  			if (dropout_duration > stats.max_dropout_duration) {

/Users/lorenzmeier/src/Firmware/src/modules/mavlink/mavlink_command_sender.cpp:
  143  
  144  	while (command_item_t *item = _commands.get_next()) {
  145: 		if (hrt_elapsed_time(&item->last_time_sent_us) <= TIMEOUT_US) {
  146  			// We keep waiting for the timeout.
  147  			continue;

/Users/lorenzmeier/src/Firmware/src/modules/mavlink/mavlink_ftp.cpp:
  962  	if (_work_buffer1 || _work_buffer2) {
  963  		// free the work buffers if they are not used for a while
  964: 		if (hrt_elapsed_time(&_last_work_buffer_access) > 2000000) {
  965  			if (_work_buffer1) {
  966  				delete[] _work_buffer1;

/Users/lorenzmeier/src/Firmware/src/modules/mavlink/mavlink_main.cpp:
  854  			 */
  855  			if (_last_write_try_time != 0 &&
  856: 			    hrt_elapsed_time(&_last_write_success_time) > 500_ms &&
  857  			    _last_write_success_time != _last_write_try_time) {
  858  
  ...
  894  		if ((_mode != MAVLINK_MODE_ONBOARD) && broadcast_enabled() &&
  895  		    (!get_client_source_initialized()
  896: 		     || (hrt_elapsed_time(&_tstatus.heartbeat_time) > 3_s))) {
  897  
  898  			if (!_broadcast_address_found) {
  ...
 1631  
 1632  		// check for RADIO_STATUS timeout and reset
 1633: 		if (hrt_elapsed_time(&_rstatus.timestamp) > 5_s) {
 1634  			PX4_ERR("instance %d: RADIO_STATUS timeout", _instance_id);
 1635  			set_telemetry_status_type(telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_GENERIC);
 ....
 2518  
 2519  		// publish status at 1 Hz, or sooner if HEARTBEAT has updated
 2520: 		if ((hrt_elapsed_time(&_tstatus.timestamp) >= 1_s) || (_tstatus.timestamp < _tstatus.heartbeat_time)) {
 2521  			publish_telemetry_status();
 2522  		}
 ....
 2748  {
 2749  	if (_tstatus.heartbeat_time > 0) {
 2750: 		printf("\tGCS heartbeat:\t%llu us ago\n", (unsigned long long)hrt_elapsed_time(&_tstatus.heartbeat_time));
 2751  	}
 2752  

/Users/lorenzmeier/src/Firmware/src/modules/mavlink/mavlink_main.h:
  242  	bool			get_forwarding_on() { return _forwarding_on; }
  243  
  244: 	bool			is_connected() { return (hrt_elapsed_time(&_tstatus.heartbeat_time) < 3_s); }
  245  
  246  	bool			broadcast_enabled() { return _param_broadcast_mode.get() == BROADCAST_MODE_ON; }

/Users/lorenzmeier/src/Firmware/src/modules/mavlink/mavlink_messages.cpp:
 4429  		// local position timeout after 10 ms
 4430  		// avoid publishing only baro altitude_monotonic if possible
 4431: 		bool lpos_timeout = (hrt_elapsed_time(&_local_pos_time) > 10000);
 4432  
 4433  		if (lpos_updated || (air_data_updated && lpos_timeout)) {

/Users/lorenzmeier/src/Firmware/src/modules/mavlink/mavlink_mission.cpp:
  532  	/* check for timed-out operations */
  533  	if (_state == MAVLINK_WPM_STATE_GETLIST && (_time_last_sent > 0)
  534: 	    && hrt_elapsed_time(&_time_last_sent) > MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT) {
  535  
  536  		// try to request item again after timeout
  ...
  538  
  539  	} else if (_state != MAVLINK_WPM_STATE_IDLE && (_time_last_recv > 0)
  540: 		   && hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) {
  541  
  542  		_mavlink->send_statustext_critical("Operation timeout");

/Users/lorenzmeier/src/Firmware/src/modules/mavlink/mavlink_receiver.cpp:
 2689  				hrt_abstime stime = _mavlink->get_start_time();
 2690  
 2691: 				if ((stime != 0 && (hrt_elapsed_time(&stime) > 3 * 1000 * 1000))
 2692  				    || (srcaddr_last.sin_addr.s_addr == htonl(localhost))) {
 2693  					srcaddr_last.sin_addr.s_addr = srcaddr.sin_addr.s_addr;

/Users/lorenzmeier/src/Firmware/src/modules/mavlink/mavlink_ulog.cpp:
  105  
  106  	if (_waiting_for_initial_ack) {
  107: 		if (hrt_elapsed_time(&_last_sent_time) > 3e5) {
  108  			PX4_WARN("no ack from logger (is it running?)");
  109  			return -1;
  ...
  123  		} else {
  124  
  125: 			if (hrt_elapsed_time(&_last_sent_time) > ulog_stream_ack_s::ACK_TIMEOUT * 1000) {
  126  				if (++_sent_tries > ulog_stream_ack_s::ACK_MAX_TRIES) {
  127  					return -ETIMEDOUT;

/Users/lorenzmeier/src/Firmware/src/modules/mc_pos_control/mc_pos_control_main.cpp:
 1213  {
 1214  	if (MPC_OBS_AVOID.get()) {
 1215: 		const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) > TRAJECTORY_STREAM_TIMEOUT_US;
 1216  		const bool avoidance_point_valid = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
 1217  		const bool in_mission = _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;

/Users/lorenzmeier/src/Firmware/src/modules/navigator/geofence.cpp:
  238  
  239  		if (max_vertical_distance > FLT_EPSILON && (dist_z > max_vertical_distance)) {
  240: 			if (hrt_elapsed_time(&_last_vertical_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
  241  				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Maximum altitude above home exceeded by %.1f m",
  242  						     (double)(dist_z - max_vertical_distance));
  ...
  248  
  249  		if (max_horizontal_distance > FLT_EPSILON && (dist_xy > max_horizontal_distance)) {
  250: 			if (hrt_elapsed_time(&_last_horizontal_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
  251  				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Maximum distance from home exceeded by %.1f m",
  252  						     (double)(dist_xy - max_horizontal_distance));

/Users/lorenzmeier/src/Firmware/src/modules/navigator/gpsfailure.cpp:
  105  			/* Measure time */
  106  			if ((_param_loitertime.get() > FLT_EPSILON) &&
  107: 			    (hrt_elapsed_time(&_timestamp_activation) > _param_loitertime.get() * 1e6f)) {
  108  				/* no recovery, advance the state machine */
  109  				PX4_WARN("GPS not recovered, switching to next failure state");

/Users/lorenzmeier/src/Firmware/src/modules/navigator/navigator_main.cpp:
  526  		if (have_geofence_position_data &&
  527  		    (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
  528: 		    (hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {
  529  
  530  			bool inside = _geofence.check(_global_pos, _gps_pos, _home_pos,

/Users/lorenzmeier/src/Firmware/src/modules/navigator/precland.cpp:
  116  	}
  117  
  118: 	if ((hrt_elapsed_time(&_target_pose.timestamp) / 1e6f) > _param_timeout.get()) {
  119  		_target_pose_valid = false;
  120  	}

/Users/lorenzmeier/src/Firmware/src/modules/px4iofirmware/adc.c:
  154  
  155  		/* never spin forever - this will give a bogus result though */
  156: 		if (hrt_elapsed_time(&now) > 100) {
  157  			perf_end(adc_perf);
  158  			return 0xffff;

/Users/lorenzmeier/src/Firmware/src/modules/px4iofirmware/controls.c:
  461  	 * have lost input.
  462  	 */
  463: 	if (!rc_input_lost && hrt_elapsed_time(&system_state.rc_channels_timestamp_received) > 200000) {
  464  		rc_input_lost = true;
  465  
  ...
  575  	 * and then invalidate it.
  576  	 */
  577: 	if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) {
  578  
  579  		/* PPM data exists, copy it */

/Users/lorenzmeier/src/Firmware/src/modules/px4iofirmware/mixer.cpp:
  120  	/* check that we are receiving fresh data from the FMU */
  121  	if ((system_state.fmu_data_received_time == 0) ||
  122: 	    hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
  123  
  124  		/* too long without FMU input, time to go to failsafe */

/Users/lorenzmeier/src/Firmware/src/modules/replay/replay_main.cpp:
  844  	if (!should_exit()) {
  845  		PX4_INFO("Replay done (published %u msgs, %.3lf s)", nr_published_messages,
  846: 			 (double)hrt_elapsed_time(&_replay_start_time) / 1.e6);
  847  
  848  		//TODO: should we close the log file & exit (optionally, by adding a parameter -q) ?

/Users/lorenzmeier/src/Firmware/src/modules/sensors/rc_update.cpp:
  466  
  467  			/* Update parameters from RC Channels (tuning with RC) if activated */
  468: 			if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1e6) {
  469  				set_params_from_rc(parameter_handles);
  470  				_last_rc_to_param_map_time = hrt_absolute_time();

/Users/lorenzmeier/src/Firmware/src/modules/sensors/sensors.cpp:
  696  		 * when not adding sensors poll for param updates
  697  		 */
  698: 		if (!_armed && hrt_elapsed_time(&last_config_update) > 500_ms) {
  699  			_voted_sensors_update.initialize_sensors();
  700  			last_config_update = hrt_absolute_time();

/Users/lorenzmeier/src/Firmware/src/modules/simulator/simulator_mavlink.cpp:
  317  
  318  			// battery simulation (limit update to 100Hz)
  319: 			if (hrt_elapsed_time(&_battery_status.timestamp) >= 10000) {
  320  
  321  				const float discharge_interval_us = _battery_drain_interval_s.get() * 1000 * 1000;

/Users/lorenzmeier/src/Firmware/src/modules/systemlib/hysteresis/hysteresis.cpp:
   67  	if (_requested_state != _state) {
   68  
   69: 		if (hrt_elapsed_time(&_last_time_to_change_state) >= (_state ?
   70  				_hysteresis_time_from_true_us :
   71  				_hysteresis_time_from_false_us)) {

/Users/lorenzmeier/src/Firmware/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp:
  122  		current_value = t.val;
  123  
  124: 		unsigned elt = (unsigned)hrt_elapsed_time(&t.time);
  125  		latency_integral += elt;
  126  		timings[i] = elt;

/Users/lorenzmeier/src/Firmware/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp:
  712  
  713  		// Report every 5s.
  714: 		const bool due_to_report = (hrt_elapsed_time(&_last_accel_range_hit_time) > 5000000);
  715  
  716  		if (threshold_reached && due_to_report) {

/Users/lorenzmeier/src/Firmware/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp:
  557  
  558  		// Report every 5s.
  559: 		const bool due_to_report = (hrt_elapsed_time(&_last_accel_range_hit_time) > 5000000);
  560  
  561  		if (threshold_reached && due_to_report) {

/Users/lorenzmeier/src/Firmware/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp:
  764  
  765  		// Report every 5s.
  766: 		const bool due_to_report = (hrt_elapsed_time(&_last_accel_range_hit_time) > 5000000);
  767  
  768  		if (threshold_reached && due_to_report) {

/Users/lorenzmeier/src/Firmware/src/systemcmds/motor_ramp/motor_ramp.cpp:
  344  
  345  		if (last_run > 0) {
  346: 			dt = hrt_elapsed_time(&last_run) * 1e-6;
  347  
  348  		} else {
  ...
  351  
  352  		last_run = hrt_absolute_time();
  353: 		timer = hrt_elapsed_time(&start) * 1e-6;
  354  
  355  		switch (ramp_state) {

/Users/lorenzmeier/src/Firmware/src/systemcmds/sd_bench/sd_bench.c:
  158  	hrt_abstime fsync_start = hrt_absolute_time();
  159  	fsync(fd);
  160: 	return hrt_elapsed_time(&fsync_start) / 1000;
  161  }
  162  
  ...
  174  		unsigned int fsync_time = 0;
  175  
  176: 		while ((int64_t)hrt_elapsed_time(&start) < run_duration * 1000) {
  177  
  178  			hrt_abstime write_start = hrt_absolute_time();
  179  			size_t written = write(fd, block, block_size);
  180: 			unsigned int write_time = hrt_elapsed_time(&write_start) / 1000;
  181  
  182  			if (write_time > max_write_time) {
  ...
  202  
  203  		//report
  204: 		double elapsed = hrt_elapsed_time(&start) / 1.e6;
  205  		PX4_INFO("  Run %2i: %8.2lf KB/s, max write time: %i ms (=%7.2lf KB/s), fsync: %i ms", run,
  206  			 (double)block_size * num_blocks / elapsed / 1024.,

/Users/lorenzmeier/src/Firmware/src/systemcmds/tests/hrt_test/hrt_test.cpp:
   72  	hrt_abstime t = hrt_absolute_time();
   73  	px4_usleep(1000000);
   74: 	hrt_abstime elt = hrt_elapsed_time(&t);
   75  	PX4_INFO("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
   76  	PX4_INFO("Start time %llu\n", (unsigned long long)t);
   ..
   78  	t = hrt_absolute_time();
   79  	px4_sleep(1);
   80: 	elt = hrt_elapsed_time(&t);
   81  	PX4_INFO("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
   82  	PX4_INFO("Start time %llu\n", (unsigned long long)t);

/Users/lorenzmeier/src/Firmware/src/systemcmds/tests/test_microbench_hrt.cpp:
  138  {
  139  	PERF("hrt_absolute_time()", u_64_out = hrt_absolute_time(), 1000);
  140: 	PERF("hrt_elapsed_time()", u_64_out = hrt_elapsed_time(&u_64), 1000);
  141  
  142  	return true;

/Users/lorenzmeier/src/Firmware/src/systemcmds/tests/test_mixer.cpp:
  425  	unsigned sleepcount = 0;
  426  
  427: 	while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US + 2 * sleep_quantum_us) {
  428  
  429  		/* mix */
  ...
  439  
  440  			/* check mixed outputs to be zero during init phase */
  441: 			if (hrt_elapsed_time(&starttime) < INIT_TIME_US &&
  442  			    r_page_servos[i] != r_page_servo_disarmed[i]) {
  443  				PX4_ERR("disarmed servo value mismatch: %d vs %d", r_page_servos[i], r_page_servo_disarmed[i]);
  ...
  445  			}
  446  
  447: 			if (hrt_elapsed_time(&starttime) >= INIT_TIME_US &&
  448  			    r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) {
  449  				PX4_ERR("ramp servo value mismatch");
  ...
  497  	should_arm = false;
  498  
  499: 	while (hrt_elapsed_time(&starttime) < 600000) {
  500  
  501  		/* mix */
  ...
  534  	should_arm = true;
  535  
  536: 	while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) {
  537  
  538  		/* mix */
  ...
  551  			//fprintf(stderr, "ramp:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]);
  552  
  553: 			if (hrt_elapsed_time(&starttime) < RAMP_TIME_US &&
  554  			    (r_page_servos[i] + 1 <= r_page_servo_disarmed[i] ||
  555  			     r_page_servos[i] > servo_predicted[i])) {
  ...
  559  
  560  			/* check post ramp phase */
  561: 			if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
  562  			    abs(servo_predicted[i] - r_page_servos[i]) > 2) {
  563  				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);

/Users/lorenzmeier/src/Firmware/src/systemcmds/topic_listener/listener_main.cpp:
   86  
   87  		} else {
   88: 			if (hrt_elapsed_time(&start_time) > 2 * 1000 * 1000) {
   89  				PX4_INFO_RAW("Waited for 2 seconds without a message. Giving up.\n");
   90  				break;

147 matches across 65 files

The actual implementation is not atomic, as the value on the application layer would be limited.

This reduces interrupt load significantly.

LorenzMeier · 2019-01-20T19:11:46Z

@PX4/testflights Please clock up a couple hours on this. Thanks!

bkueng

This is one of the canges I've been meaning to do as well, thanks for looking into it.

I see a problematic call on the IO:

fmu_data_received_time is read in mixer.cpp, but it's written from an IRQ context in registers_set (registers.c).

src/systemcmds/sd_bench/sd_bench.c

src/drivers/drv_hrt.h

Avysuarez · 2019-01-22T21:16:18Z

Tested on pixhawk 4 and pixhawk 2.1
Good flights, no issues.
Pixhawk 2.1
https://review.px4.io/plot_app?log=4e06d7bc-b824-4cb5-af6a-a0a064cf864b
Pixhawk 4
https://review.px4.io/plot_app?log=63c668c6-2da5-49bf-947d-5ddc7f39af32

This leads to less jitter in the benchmark

LorenzMeier · 2019-01-22T21:28:03Z

@bkueng I changed to the atomic call on IO.

This allows the compiler to optimize better without loosing any performance / accuracy.

This is required as we might be in interrupt context on this bare-metal target.

dannyfpv · 2019-01-22T22:28:04Z

tested on pixhawk v4 pro
https://review.px4.io/plot_app?log=f48dab3e-a82b-47b2-aa0e-d1ad295949f6

pixhawk 4 mini v5
https://review.px4.io/plot_app?log=b3fdf4ad-e64d-457c-9f98-ce28f6dcbe69

pixhawk race v4
https://review.px4.io/plot_app?log=ece7f0ca-496e-4c42-9003-c903a813aa5f

LorenzMeier added 4 commits January 20, 2019 16:11

Unit tests: Retain atomic operation

eac8700

This ensures we get absolutely accurate timing.

SD bench: Retain atomic operation.;

98f8dc2

uORB test: Retain atomic operation

aed575c

LorenzMeier changed the title ~~[WIP] HRT: Create new separate call for atomic HRT elapsed time calculation~~ HRT: Create new separate call for atomic HRT elapsed time calculation Jan 20, 2019

LorenzMeier requested review from bkueng and dagar January 20, 2019 15:21

LorenzMeier added 3 commits January 20, 2019 17:28

Posix: Add initial stub for atomic HRT

b6a09dd

The actual implementation is not atomic, as the value on the application layer would be limited.

Kinetis: Add atomic and non-atomic HRT calls

54ea12d

This reduces interrupt load significantly.

SAMv7: Add atomic and non-atomic HRT calls

2ff2fdf

This reduces interrupt load significantly.

dagar previously approved these changes Jan 20, 2019

View reviewed changes

LorenzMeier requested a review from a team January 20, 2019 19:11

bkueng requested changes Jan 21, 2019

View reviewed changes

src/systemcmds/sd_bench/sd_bench.c Outdated Show resolved Hide resolved

src/drivers/drv_hrt.h Outdated Show resolved Hide resolved

SD Bench: No need for atomic timing

33338b5

This leads to less jitter in the benchmark

HRT: Drop volatile specifier from function call for non-atomic mode

d9f2f9a

This allows the compiler to optimize better without loosing any performance / accuracy.

LorenzMeier dismissed dagar’s stale review via 6193c13 January 22, 2019 21:30

IO firmware: Run critical timing operations as atomic

17ea90b

This is required as we might be in interrupt context on this bare-metal target.

LorenzMeier force-pushed the pr-fix-hrt-elapsed-usage branch from 6193c13 to 17ea90b Compare January 22, 2019 21:41

LorenzMeier merged commit 3a7deef into master Jan 22, 2019

LorenzMeier deleted the pr-fix-hrt-elapsed-usage branch January 22, 2019 22:53

bkueng mentioned this pull request Jan 23, 2019

HRT elapsed time update & atomic fix on IO #11283

Merged

weekly-digest bot mentioned this pull request Jan 27, 2019

Weekly Digest (20 January, 2019 - 27 January, 2019) #11307

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HRT: Create new separate call for atomic HRT elapsed time calculation #11248

HRT: Create new separate call for atomic HRT elapsed time calculation #11248

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HRT: Create new separate call for atomic HRT elapsed time calculation #11248

HRT: Create new separate call for atomic HRT elapsed time calculation #11248

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