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LP-96 - Implement CPU idle counters and calibration functions
This commit is contained in:
Alessio Morale
a*morale
parent
d207f848ee
commit
3eaf1ef3c3
@ -59,6 +59,7 @@
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#include <hwsettings.h>
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#include <pios_flashfs.h>
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#include <pios_notify.h>
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#include <pios_task_monitor.h>
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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#include <instrumentation.h>
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@ -528,7 +529,6 @@ static uint16_t GetFreeIrqStackSize(void)
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static void updateStats()
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{
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SystemStatsData stats;
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// Get stats and update
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SystemStatsGet(&stats);
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stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
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@ -558,7 +558,9 @@ static void updateStats()
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stats.UsrSlotsActive = fsStats.num_active_slots;
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}
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#endif
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stats.CPULoad = 100 - PIOS_TASK_MONITOR_GetIdlePercentage();
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stats.CPUIdleTicks = PIOS_TASK_MONITOR_GetIdleTicksCount();
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stats.CPUZeroLoadTicks = PIOS_TASK_MONITOR_GetZeroLoadTicksCount();
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stats.CPULoad = 100 - (uint8_t)((100 * stats.CPUIdleTicks) / stats.CPUZeroLoadTicks);
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#if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
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float temp_voltage = PIOS_ADC_PinGetVolt(PIOS_ADC_TEMPERATURE_PIN);
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@ -642,6 +644,7 @@ static void updateSystemAlarms()
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*/
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void vApplicationIdleHook(void)
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{
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PIOS_TASK_MONITOR_IdleHook();
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NotificationOnboardLedsRun();
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#ifdef PIOS_INCLUDE_WS2811
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LedNotificationExtLedsRun();
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@ -1,11 +1,12 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @addtogroup LibrePilotSystem LibrePilot System
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* @{
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* @addtogroup OpenPilotLibraries OpenPilot System Libraries
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* @addtogroup LibrePilotLibraries LibrePilot System Libraries
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* @{
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* @file pios_task_monitor.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @file pios_task_monitor.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015.
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* @brief Task monitoring functions
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* @see The GNU Public License (GPL) Version 3
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*
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@ -36,6 +37,9 @@ static uint32_t mLastMonitorTime;
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static uint32_t mLastIdleMonitorTime;
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static uint16_t mMaxTasks;
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volatile uint32_t idleCounter;
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uint32_t zeroLoadIdleCounterPerSec = UINT32_MAX;
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volatile bool idleCounterClear;
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/**
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* Initialize the Task Monitor
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*/
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@ -149,31 +153,44 @@ void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *c
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xSemaphoreGiveRecursive(mLock);
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}
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uint8_t PIOS_TASK_MONITOR_GetIdlePercentage()
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{
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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return 50;
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uint32_t ticks = PIOS_TASK_MONITOR_GetIdleTicksCount();
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#elif (configGENERATE_RUN_TIME_STATS == 1)
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xSemaphoreTakeRecursive(mLock, portMAX_DELAY);
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uint32_t currentTime = portGET_RUN_TIME_COUNTER_VALUE();
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/* avoid divide-by-zero if the interval is too small */
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uint32_t deltaTime = ((currentTime - mLastIdleMonitorTime) / 100) ? : 1;
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mLastIdleMonitorTime = currentTime;
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uint8_t running_time_percentage = 0;
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/* Generate idle time percentage stats */
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running_time_percentage = uxTaskGetRunTime(xTaskGetIdleTaskHandle()) / deltaTime;
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xSemaphoreGiveRecursive(mLock);
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return running_time_percentage;
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#else
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return 0;
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#endif
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return (uint8_t)((100 * ticks) / zeroLoadIdleCounterPerSec);
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}
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uint32_t PIOS_TASK_MONITOR_GetIdleTicksCount()
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{
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static portTickType lastTickCount = 0;
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uint32_t ticks = 0;
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portTickType now = xTaskGetTickCount();
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if (idleCounterClear) {
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idleCounter = 0;
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}
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if (now > lastTickCount) {
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uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS; // in ms
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ticks = (1000 * idleCounter) / dT;
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} // else: TickCount has wrapped, do not calc now
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lastTickCount = now;
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idleCounterClear = true;
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return ticks;
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}
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void PIOS_TASK_MONITOR_CalibrateIdleCounter()
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{
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idleCounterClear = true;
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PIOS_TASK_MONITOR_GetIdleTicksCount();
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vTaskDelay(20);
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zeroLoadIdleCounterPerSec = PIOS_TASK_MONITOR_GetIdleTicksCount();
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}
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uint32_t PIOS_TASK_MONITOR_GetZeroLoadTicksCount()
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{
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return zeroLoadIdleCounterPerSec;
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}
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#endif // PIOS_INCLUDE_TASK_MONITOR
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@ -1,15 +1,17 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @addtogroup LibrePilotSystem LibrePilot System
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* @{
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* @addtogroup OpenPilotLibraries OpenPilot System Libraries
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* @addtogroup LibrePilotLibraries LibrePilot System Libraries
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* @{
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* @file task_monitor.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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* @file pios_task_monitor.h
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015.
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* @brief Task monitoring functions
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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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@ -29,7 +31,8 @@
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#define PIOS_TASK_MONITOR_H
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#include <stdbool.h>
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extern volatile uint32_t idleCounter;
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extern volatile bool idleCounterClear;
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/**
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* Initializes the Task Monitor.
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*
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@ -109,4 +112,26 @@ extern void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback,
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*/
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extern uint8_t PIOS_TASK_MONITOR_GetIdlePercentage();
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static inline void PIOS_TASK_MONITOR_IdleHook()
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{
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if (!idleCounterClear) {
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++idleCounter;
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} else {
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idleCounter = 0;
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idleCounterClear = false;
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}
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}
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/**
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* Calibrate the idle counter. it should be run with a single task (caller) created
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*/
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extern void PIOS_TASK_MONITOR_CalibrateIdleCounter();
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/**
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* return the number of idle hook execution per second
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* @return number of idle hook execution per second
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*/
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extern uint32_t PIOS_TASK_MONITOR_GetIdleTicksCount();
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extern uint32_t PIOS_TASK_MONITOR_GetZeroLoadTicksCount();
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#endif // PIOS_TASK_MONITOR_H
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@ -6,6 +6,8 @@
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<field name="IRQStackRemaining" units="bytes" type="uint16" elements="1"/>
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<field name="SystemModStackRemaining" units="bytes" type="uint16" elements="1"/>
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<field name="CPULoad" units="%" type="uint8" elements="1"/>
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<field name="CPUIdleTicks" units="unit" type="uint32" elements="1"/>
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<field name="CPUZeroLoadTicks" units="unit" type="uint32" elements="1"/>
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<field name="CPUTemp" units="C" type="int8" elements="1"/>
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<field name="EventSystemWarningID" units="uavoid" type="uint32" elements="1"/>
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<field name="ObjectManagerCallbackID" units="uavoid" type="uint32" elements="1"/>
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