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Code Issues Releases Activity

OP-1365 Flight code instrumentation API: add documentation to pios_instrumentation_helper, uncrustification

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This commit is contained in:
Alessio Morale 2014-06-10 22:13:20 +02:00
parent 88e392260c
commit 622519b7c2
3 changed files with 78 additions and 27 deletions
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8
flight/pios/common/pios_instrumentation.c
View File

@ -49,11 +49,11 @@ pios_counter_t PIOS_Instrumentation_CreateCounter(uint32_t id)
PIOS_Assert(pios_instrumentation_perf_counters && (pios_instrumentation_max_counters > pios_instrumentation_last_used_counter));
pios_counter_t counter_handle = PIOS_Instrumentation_SearchCounter(id);
if(!counter_handle) {
if (!counter_handle) {
pios_perf_counter_t *newcounter = &pios_instrumentation_perf_counters[++pios_instrumentation_last_used_counter];
newcounter ->id = id;
newcounter ->max = INT32_MIN;
newcounter ->min = INT32_MAX;
newcounter->id = id;
newcounter->max = INT32_MIN;
newcounter->min = INT32_MAX;
counter_handle = (pios_counter_t)newcounter;
}
return counter_handle;

10
flight/pios/inc/pios_instrumentation.h
View File

@ -51,7 +51,7 @@ inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, in
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical();
pios_perf_counter_t *counter = (pios_perf_counter_t *) counter_handle;
pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;
counter->value = newValue;
if (counter->value > counter->max) {
counter->max = counter->value;
@ -71,7 +71,7 @@ inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical();
pios_perf_counter_t *counter = (pios_perf_counter_t *) counter_handle;
pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;
counter->lastUpdateTS = PIOS_DELAY_GetRaw();
vPortExitCritical();
@ -85,7 +85,7 @@ inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical();
pios_perf_counter_t *counter = (pios_perf_counter_t *) counter_handle;
pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;
counter->value = PIOS_DELAY_DiffuS(counter->lastUpdateTS);
if (counter->value > counter->max) {
@ -105,8 +105,8 @@ inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
inline void PIOS_Instrumentation_TrackPeriod(pios_counter_t counter_handle)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
pios_perf_counter_t *counter = (pios_perf_counter_t *) counter_handle;
if(counter->lastUpdateTS != 0){
pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;
if (counter->lastUpdateTS != 0) {
vPortEnterCritical();
uint32_t period = PIOS_DELAY_DiffuS(counter->lastUpdateTS);
counter->value = (counter->value * 15 + period) / 16;

55
flight/pios/inc/pios_instrumentation_helper.h
View File

@ -24,6 +24,57 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* @addtogroup PIOS PiOS Instrumentation Support
* @{
*/
/**
* \par
* This is a collections of helper macros that ease adding instrumentation support.
* \par
* Step by step guide:
*
* Define PIOS_INSTRUMENT_MODULE before including this file to enable instrumentation for a module
*
* <pre>#define PIOS_INSTRUMENT_MODULE
* #include <pios_instrumentation_helper.h></pre>
*
* Declare the variables used to hold counter handlers.
* Place the following code along all module variables declaration.
* <pre>PERF_DEFINE_COUNTER(counterUpd);
* PERF_DEFINE_COUNTER(counterAccelSamples);
* PERF_DEFINE_COUNTER(counterPeriod);
* PERF_DEFINE_COUNTER(counterAtt);</pre>
*
* Counters needs to be initialized before they are used.
* The following code needs to be added to a function called at module initialization.
* the second parameter is a unique counter Id.
* A good pracice is to use the upper half word as module id and lower as counter id
* <pre>PERF_INIT_COUNTER(counterUpd, 0xA7710001);
* PERF_INIT_COUNTER(counterAtt, 0xA7710002);
* PERF_INIT_COUNTER(counterPeriod, 0xA7710003);
* PERF_INIT_COUNTER(counterAccelSamples, 0xA7710004);</pre>
*
* At this point you can start using the counters as in the following samples
*
* Track the time spent on a certain function:
* <pre>PERF_TIMED_SECTION_START(counterAtt);
* updateAttitude(&accelState, &gyros);
* PERF_TIMED_SECTION_END(counterAtt);</pre>
* PERF_TIMED_SECTION_[START!STOP] marks the beginning and the end of the code to monitor
*
* Measure the mean of the period a certain point is reached:
* <pre>PERF_MEASURE_PERIOD(counterPeriod);</pre>
* Note that the value stored in the counter is a long running mean while max and min are single point values
*
* Track an user defined int32_t value:
* <pre>PERF_TRACK_VALUE(counterAccelSamples, i);</pre>
* the counter is then updated with the value of i.
*
* \par
*/
#ifndef PIOS_INSTRUMENTATION_HELPER_H
#define PIOS_INSTRUMENTATION_HELPER_H
@ -46,7 +97,7 @@
#define PERF_TIMED_SECTION_START(x) PIOS_Instrumentation_TimeStart(x)
#define PERF_TIMED_SECTION_END(x) PIOS_Instrumentation_TimeEnd(x)
#define PERF_MEASURE_PERIOD(x) PIOS_Instrumentation_TrackPeriod(x)
#define PERF_TRACK_VALUE(x,y) PIOS_Instrumentation_updateCounter(x, y)
#define PERF_TRACK_VALUE(x, y) PIOS_Instrumentation_updateCounter(x, y)
#else
@ -55,6 +106,6 @@
#define PERF_TIMED_SECTION_START(x)
#define PERF_TIMED_SECTION_END(x)
#define PERF_MEASURE_PERIOD(x)
#define PERF_TRACK_VALUE(x,y)
#define PERF_TRACK_VALUE(x, y)
#endif /* PIOS_INCLUDE_INSTRUMENTATION */
#endif /* PIOS_INSTRUMENTATION_HELPER_H */