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LibrePilot/flight/OpenPilot/Tests/test_cpuload.c

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/**
******************************************************************************
*
* @file test_cpuload.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Calibration for the CPU load calculation
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* This file is used to calculate the number of counts we get when
* the CPU is fully idle (no load). This is used by systemmod.c to
* calculate the CPU load. This calibration should be run whenever
* changes are made in the FreeRTOS configuration or on the compiler
* optimisation parameters.
*/
#include "openpilot.h"
// Local constants
#define BENCHMARK_DURATION_MS 10000
// Local functions
static void testTask(void *pvParameters);
// Variables
static uint32_t idleCounter = 0;
static uint32_t idleCounterClear = 0;
int main()
{
PIOS_SYS_Init();
// Create test task
xTaskCreate(testTask, (signed portCHAR *)"Test", 1000 , NULL, 1, NULL);
// Start the FreeRTOS scheduler
vTaskStartScheduler();
return 0;
}
static void testTask(void *pvParameters)
{
uint32_t countsPerSecond = 0;
while (1)
{
// Delay until enough required test duration
vTaskDelay( BENCHMARK_DURATION_MS / portTICK_RATE_MS );
// Calculate counts per second, set breakpoint here
countsPerSecond = idleCounter / (BENCHMARK_DURATION_MS/1000);
// Reset and start again - do not clear idleCounter directly!
// SET BREAKPOINT HERE and read the countsPerSecond variable
// this should be used to update IDLE_COUNTS_PER_SEC_AT_NO_LOAD in systemmod.c
idleCounterClear = 1;
}
}
void vApplicationIdleHook(void)
{
/* Called when the scheduler has no tasks to run */
if (idleCounterClear == 0)
{
++idleCounter;
}
else
{
idleCounter = 0;
idleCounterClear = 0;
}
}