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Code Issues Releases Activity

OP-942 task diagnostics for callback scheduler

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This commit is contained in:
Corvus Corax 2014-02-03 01:00:07 +01:00
parent 49a1c4c28f
commit 418f7e3d0f
1 changed files with 75 additions and 5 deletions
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80
flight/pios/common/pios_callbackscheduler.c
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@ -27,13 +27,16 @@
#include <pios.h>
#ifdef PIOS_INCLUDE_CALLBACKSCHEDULER
#include <pios_struct_helper.h>
#include <utlist.h>
#include <uavobjectmanager.h>
#include <taskinfo.h>
#include <callbackinfo.h>
// Private constants
#define STACK_SIZE 128
#define MAX_SLEEP 1000
#define STACK_SIZE 384
#define STACK_GRANULARITY 16
#define MAX_SLEEP 1000
// Private types
/**
@ -58,6 +61,9 @@ struct DelayedCallbackInfoStruct {
int16_t callbackID;
bool volatile waiting;
uint32_t volatile scheduletime;
uint32_t stackSize;
int32_t stackFree;
uint32_t runCount;
struct DelayedCallbackTaskStruct *task;
struct DelayedCallbackInfoStruct *next;
};
@ -67,6 +73,7 @@ struct DelayedCallbackInfoStruct {
static struct DelayedCallbackTaskStruct *schedulerTasks;
static xSemaphoreHandle mutex;
static bool schedulerStarted;
static CallbackInfoData callbackInfo;
// Private functions
static void CallbackSchedulerTask(void *task);
@ -110,6 +117,11 @@ int32_t PIOS_CALLBACKSCHEDULER_Start()
// only call once
PIOS_Assert(schedulerStarted == false);
#ifdef DIAG_TASKS
CallbackInfoInitialize();
CallbackInfoGet(&callbackInfo);
#endif
// start tasks
struct DelayedCallbackTaskStruct *cursor = NULL;
int t = 0;
@ -117,7 +129,7 @@ int32_t PIOS_CALLBACKSCHEDULER_Start()
xTaskCreate(
CallbackSchedulerTask,
cursor->name,
cursor->stackSize / 4,
1 + (cursor->stackSize / 4),
cursor,
cursor->priorityTask,
&cursor->callbackSchedulerTaskHandle
@ -250,6 +262,9 @@ DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// add callback schedulers own stack requirements
stacksize += STACK_SIZE;
// find appropriate scheduler task matching priorityTask
struct DelayedCallbackTaskStruct *task = NULL;
int t = 0;
@ -276,7 +291,7 @@ DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
task->name[0] = 'C';
task->name[1] = 'a' + t;
task->name[2] = 0;
task->stackSize = ((STACK_SIZE > stacksize) ? STACK_SIZE : stacksize);
task->stackSize = stacksize;
task->priorityTask = priorityTask;
task->next = NULL;
@ -296,7 +311,7 @@ DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
xTaskCreate(
CallbackSchedulerTask,
task->name,
task->stackSize / 4,
1 + (task->stackSize / 4),
task,
task->priorityTask,
&task->callbackSchedulerTaskHandle
@ -329,6 +344,10 @@ DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
info->task = task;
info->cb = cb;
info->callbackID = callbackID;
info->runCount = 0;
// info->stackSize = stacksize - STACK_SIZE;
info->stackFree = stacksize - STACK_SIZE;
info->stackSize = info->stackFree;
// add to scheduling queue
LL_APPEND(task->callbackQueue[priority], info);
@ -338,6 +357,36 @@ DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
return info;
}
#ifdef DIAG_TASKS
/**
* Stack magic, check presence of unique value
*/
__attribute__((optimize("O0"))) static int32_t checkStack(DelayedCallbackInfo *current)
{
#if 0
register uint32_t t;
register int32_t result;
volatile unsigned char marker[current->stackSize];
result = -1;
for (t = 0; t < current->stackSize; t += STACK_GRANULARITY) {
if (marker[t] != t + '#') {
if (result == -1) {
result = t;
}
}
marker[t] = t + '#';
}
return result;
#endif
// this is not working yet, until a fix is found just return old value
return current->stackFree;
}
#endif /* ifdef DIAG_TASKS */
/**
* Scheduler subtask
* \param[in] task The scheduler task in question
@ -390,7 +439,28 @@ static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCa
current->scheduletime = 0; // any schedules are reset
current->waiting = false; // the flag is reset just before execution.
xSemaphoreGiveRecursive(mutex);
#ifdef DIAG_TASKS
/* callback gets invoked here - check stack sizes */
diff = checkStack(current);
#endif
current->cb(); // call the callback
#ifdef DIAG_TASKS
diff = checkStack(current);
current->stackFree = diff; // < current->stackFree ? diff : current->stackFree;
current->runCount++;
if (current->callbackID >= 0 && current->callbackID < CALLBACKINFO_RUNNING_NUMELEM) {
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); // access to uavobject
((uint8_t *)&callbackInfo.Running)[current->callbackID] = true;
((uint32_t *)&callbackInfo.RunningTime)[current->callbackID] = current->runCount;
((int16_t *)&callbackInfo.StackRemaining)[current->callbackID] = (int16_t)current->stackFree;
CallbackInfoSet(&callbackInfo);
xSemaphoreGiveRecursive(mutex);
}
#endif
return 0;
}
xSemaphoreGiveRecursive(mutex);