From 46390a150833be226a7ab298aa414b748580cea9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Tue, 22 Jan 2019 22:29:39 +0100
Subject: [PATCH] HRT: Drop volatile specifier from function call for
non-atomic mode
This allows the compiler to optimize better without loosing any performance / accuracy.
---
src/drivers/drv_hrt.h | 2 +-
src/drivers/kinetis/drv_hrt.c | 2 +-
src/drivers/samv7/drv_hrt.c | 2 +-
src/drivers/stm32/drv_hrt.c | 2 +-
4 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index 17fe4ba107..4f4787ab16 100644
--- a/src/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
@@ -98,7 +98,7 @@ __EXPORT extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
*
* This function is not interrupt save.
*/
-__EXPORT extern hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then);
+__EXPORT extern hrt_abstime hrt_elapsed_time(const hrt_abstime *then);
/**
* Compute the delta between a timestamp taken in the past
diff --git a/src/drivers/kinetis/drv_hrt.c b/src/drivers/kinetis/drv_hrt.c
index f1c046ff84..9a221223bc 100644
--- a/src/drivers/kinetis/drv_hrt.c
+++ b/src/drivers/kinetis/drv_hrt.c
@@ -598,7 +598,7 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
* Compare a time value with the current time.
*/
hrt_abstime
-hrt_elapsed_time(const volatile hrt_abstime *then)
+hrt_elapsed_time(const hrt_abstime *then)
{
hrt_abstime delta = hrt_absolute_time() - *then;
diff --git a/src/drivers/samv7/drv_hrt.c b/src/drivers/samv7/drv_hrt.c
index a38e42de5a..7be4bbb487 100644
--- a/src/drivers/samv7/drv_hrt.c
+++ b/src/drivers/samv7/drv_hrt.c
@@ -679,7 +679,7 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
* Compare a time value with the current time.
*/
hrt_abstime
-hrt_elapsed_time(const volatile hrt_abstime *then)
+hrt_elapsed_time(const hrt_abstime *then)
{
hrt_abstime delta = hrt_absolute_time() - *then;
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index f44ad15245..c247cb2209 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -719,7 +719,7 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
* Compare a time value with the current time.
*/
hrt_abstime
-hrt_elapsed_time(const volatile hrt_abstime *then)
+hrt_elapsed_time(const hrt_abstime *then)
{
hrt_abstime delta = hrt_absolute_time() - *then;
--
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