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Code Issues Releases Activity

Merge branch 'bugfix-flight'

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This commit is contained in:
James Cotton 2011-06-14 10:02:55 -05:00
commit 144f36dfb7
6 changed files with 71 additions and 13 deletions
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12
flight/CopterControl/System/inc/FreeRTOSConfig.h
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@ -71,6 +71,18 @@ configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
/* Enable run time stats collection */
//#if defined(DEBUG)
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\
do {\
(*(unsigned long *)0xe000edfc) |= (1<<24);/* DEMCR |= DEMCR_TRCENA */\
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
} while(0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
//#endif
/**
* @}
*/

22
flight/CopterControl/System/taskmonitor.c
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@ -35,6 +35,7 @@
// Private variables
static xSemaphoreHandle lock;
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
static uint32_t lastMonitorTime;
// Private functions
@ -45,6 +46,7 @@ int32_t TaskMonitorInitialize(void)
{
lock = xSemaphoreCreateRecursiveMutex();
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
return 0;
}
@ -77,6 +79,20 @@ void TaskMonitorUpdateAll(void)
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t currentTime;
uint32_t deltaTime;
/*
* Calculate the amount of elapsed run time between the last time we
* measured and now. Scale so that we can convert task run times
* directly to percentages.
*/
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
lastMonitorTime = currentTime;
#endif
// Update all task information
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
{
@ -87,12 +103,18 @@ void TaskMonitorUpdateAll(void)
data.StackRemaining[n] = 10000;
#else
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Generate run time stats */
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
#endif
#endif
}
else
{
data.Running[n] = TASKINFO_RUNNING_FALSE;
data.StackRemaining[n] = 0;
data.RunningTime[n] = 0;
}
}

9
flight/OpenPilot/System/inc/FreeRTOSConfig.h
View File

@ -75,9 +75,12 @@ NVIC value of 255. */
#if defined(DEBUG)
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() PIOS_RTC_Init()
// Note: Using the tick count defeats the purpose here, need some timer on the scale of 10khz
#define portGET_RUN_TIME_COUNTER_VALUE() PIOS_RTC_Counter()
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\
do {\
(*(unsigned long *)0xe000edfc) |= (1<<24);/* DEMCR |= DEMCR_TRCENA */\
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
} while(0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
#endif

19
flight/OpenPilot/System/taskmonitor.c
View File

@ -35,6 +35,7 @@
// Private variables
static xSemaphoreHandle lock;
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
static uint32_t lastMonitorTime;
// Private functions
@ -45,6 +46,7 @@ int32_t TaskMonitorInitialize(void)
{
lock = xSemaphoreCreateRecursiveMutex();
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
return 0;
}
@ -95,6 +97,20 @@ void TaskMonitorUpdateAll(void)
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t currentTime;
uint32_t deltaTime;
/*
* Calculate the amount of elapsed run time between the last time we
* measured and now. Scale so that we can convert task run times
* directly to percentages.
*/
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
lastMonitorTime = currentTime;
#endif
// Update all task information
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
{
@ -107,7 +123,8 @@ void TaskMonitorUpdateAll(void)
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Generate run time stats */
data.RunningTime[n] = 100 * (float) uxTaskGetRunTime(handles[n]) / portGET_RUN_TIME_COUNTER_VALUE();
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
#endif
#endif

2
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -105,7 +105,7 @@ int32_t PIOS_FLASHFS_Init()
*/
static int32_t PIOS_FLASHFS_CleabObjectTableHeader()
{
if(PIOS_Flash_W25X_EraseSector(OBJECT_TABLE_START) != 0)
if(PIOS_Flash_W25X_EraseSector(0) != 0)
return -1;
uint32_t object_table_magic = OBJECT_TABLE_MAGIC;

6
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c
View File

@ -2315,9 +2315,13 @@ tskTCB *pxNewTCB;
#if ( INCLUDE_uxTaskGetRunTime == 1 )
unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
{
unsigned long runTime;
tskTCB *pxTCB;
pxTCB = prvGetTCBFromHandle( xTask );
return pxTCB->ulRunTimeCounter;
runTime = pxTCB->ulRunTimeCounter;
pxTCB->ulRunTimeCounter = 0;
return runTime;
}
#endif