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OP-1365 Flight code instrumentation API: PiOS Implementation
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73
flight/pios/common/pios_instrumentation.c
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73
flight/pios/common/pios_instrumentation.c
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/**
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******************************************************************************
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*
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* @file pios_instrumentation.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief PiOS instrumentation infrastructure
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* Allow to collects performance indexes and execution times
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios_instrumentation.h>
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pios_perf_counter_t *pios_instrumentation_perf_counters = NULL;
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int8_t pios_instrumentation_max_counters = -1;
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int8_t pios_instrumentation_last_used_counter = -1;
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void PIOS_Instrumentation_Init(int8_t maxCounters)
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{
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PIOS_Assert(maxCounters >= 0);
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if (maxCounters > 0) {
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pios_instrumentation_perf_counters = (pios_perf_counter_t *)pvPortMalloc(sizeof(pios_perf_counter_t) * maxCounters);
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PIOS_Assert(pios_instrumentation_perf_counters);
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memset(pios_instrumentation_perf_counters, 0, sizeof(pios_perf_counter_t) * maxCounters);
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pios_instrumentation_max_counters = maxCounters;
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} else {
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pios_instrumentation_perf_counters = NULL;
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pios_instrumentation_max_counters = -1;
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}
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}
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int8_t PIOS_Instrumentation_CreateCounter(uint32_t id)
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{
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PIOS_Assert(pios_instrumentation_perf_counters && (pios_instrumentation_max_counters > pios_instrumentation_last_used_counter));
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int8_t idx = ++pios_instrumentation_last_used_counter;
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pios_instrumentation_perf_counters[idx].id = id;
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return idx;
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}
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int8_t PIOS_Instrumentation_SearchCounter(uint32_t id)
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{
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PIOS_Assert(pios_instrumentation_perf_counters);
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uint8_t i = 0;
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while (i < pios_instrumentation_last_used_counter && pios_instrumentation_perf_counters[i].id != id) {}
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if (pios_instrumentation_perf_counters[i].id != id) {
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return -1;
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}
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return i;
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}
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void PIOS_Instrumentation_ForEachCounter(InstrumentationCounterCallback callback, void *context)
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{
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PIOS_Assert(pios_instrumentation_perf_counters);
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for (int8_t index = 0; index < pios_instrumentation_last_used_counter + 1; index++) {
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const pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[index];
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callback(counter, index, context);
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}
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}
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124
flight/pios/inc/pios_instrumentation.h
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124
flight/pios/inc/pios_instrumentation.h
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/**
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******************************************************************************
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*
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* @file pios_instrumentation.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief PiOS instrumentation infrastructure
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* Allow to collects performance indexes and execution times
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_INSTRUMENTATION_H
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#define PIOS_INSTRUMENTATION_H
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#include <pios.h>
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#include <pios_debug.h>
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#include <pios_delay.h>
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#include <FreeRTOS.h>
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typedef struct {
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uint32_t id;
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int32_t max;
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int32_t min;
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int32_t value;
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uint32_t lastUpdateTS;
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} pios_perf_counter_t;
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extern pios_perf_counter_t *pios_instrumentation_perf_counters;
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extern int8_t pios_instrumentation_last_used_counter;
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/**
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* Update a counter with a new value
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* @param counterIdx index of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
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* @param newValue the updated value.
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*/
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inline void PIOS_Instrumentation_updateCounter(int8_t counterIdx, int32_t newValue)
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{
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PIOS_Assert(pios_instrumentation_perf_counters && (counterIdx <= pios_instrumentation_last_used_counter));
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vPortEnterCritical();
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pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[counterIdx];
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counter->value = newValue;
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if (counter->value > counter->max) {
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counter->max = counter->value;
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}
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if (counter->value < counter->min) {
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counter->min = counter->value;
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}
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counter->lastUpdateTS = PIOS_DELAY_GetRaw();
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vPortExitCritical();
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}
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/**
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* Used to determine the time duration of a code block, mark the begin of the block. @see PIOS_Instrumentation_TimeEnd
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* @param counterIdx counterIdx index of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
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*/
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inline void PIOS_Instrumentation_TimeStart(int8_t counterIdx)
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{
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vPortEnterCritical();
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PIOS_Assert(pios_instrumentation_perf_counters && (counterIdx <= pios_instrumentation_last_used_counter));
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pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[counterIdx];
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counter->lastUpdateTS = PIOS_DELAY_GetRaw();
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vPortExitCritical();
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}
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/**
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* Used to determine the time duration of a code block, mark the end of the block. @see PIOS_Instrumentation_TimeStart
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* @param counterIdx counterIdx index of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
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*/
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inline void PIOS_Instrumentation_TimeEnd(int8_t counterIdx)
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{
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PIOS_Assert(pios_instrumentation_perf_counters && (counterIdx <= pios_instrumentation_last_used_counter));
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vPortEnterCritical();
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pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[counterIdx];
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counter->value = PIOS_DELAY_DiffuS(counter->lastUpdateTS);
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if (counter->value > counter->max) {
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counter->max = counter->value;
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}
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if (counter->value < counter->min) {
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counter->min = counter->value;
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}
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counter->lastUpdateTS = PIOS_DELAY_GetRaw();
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vPortExitCritical();
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}
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/**
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* Initialize the Instrumentation infrastructure
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* @param maxCounters maximum number of allowed counters
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*/
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void PIOS_Instrumentation_Init(int8_t maxCounters);
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/**
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* Create a new counter.
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* @param id the unique id to assig to the counter
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* @return the counter index to be used to manage its content
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*/
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int8_t PIOS_Instrumentation_CreateCounter(uint32_t id);
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/**
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* search a counter index by its unique Id
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* @param id the unique id to assig to the counter
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* @return the counter index to be used to manage its content
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*/
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int8_t PIOS_Instrumentation_SearchCounter(uint32_t id);
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typedef void (*InstrumentationCounterCallback)(const pios_perf_counter_t *counter, const int8_t index, void *context);
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/**
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* Retrieve and execute the passed callback for each counter
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* @param callback to be called for each counter
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* @param context a context variable pointer that can be passed to the callback
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*/
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void PIOS_Instrumentation_ForEachCounter(InstrumentationCounterCallback callback, void *context);
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#endif /* PIOS_INSTRUMENTATION_H */
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@ -100,6 +100,7 @@ SRC += $(PIOSCOMMON)/pios_usb_util.c
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SRC += $(PIOSCOMMON)/pios_task_monitor.c
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SRC += $(PIOSCOMMON)/pios_callbackscheduler.c
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SRC += $(PIOSCOMMON)/pios_notify.c
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SRC += $(PIOSCOMMON)/pios_instrumentation.c
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## Misc library functions
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/sanitycheck.c
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