mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-10-06 09:02:52 +08:00
Jacob DahlandBalduin
c092f80f38
hrt_elapsed_time() was a static inline expanding to ~15 bytes at each of its ~450 call sites (call to hrt_absolute_time plus 64-bit compare and subtract). Move the definition into px4_platform so each call site is a single branch. px4iofirmware does not link px4_platform, so it compiles the new source directly. Saves 3592 bytes of flash on px4_fmu-v6x_default. Co-authored-by: Balduin <balduin@auterion.com>
49 lines
2.0 KiB
C++
49 lines
2.0 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2026 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <drivers/drv_hrt.h>
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hrt_abstime hrt_elapsed_time(const hrt_abstime *then)
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{
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hrt_abstime now = hrt_absolute_time();
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// Cannot allow a negative elapsed time as this would appear
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// to be a huge positive elapsed time when represented as an
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// unsigned value!
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if (*then > now) {
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return 0;
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}
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return now - *then;
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}
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