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Code Issues Releases Activity

Merge branch 'next' into thread/OP-1245_FlightLog_Configuration_And_Control_GUI

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This commit is contained in:
m_thread 2014-03-24 09:20:06 +01:00
commit 7affc034c4
10 changed files with 61 additions and 51 deletions
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1
Makefile
View File

@ -450,6 +450,7 @@ else
GCS_SILENT := silent
endif
.NOTPARALLEL:
.PHONY: openpilotgcs
openpilotgcs: uavobjects_gcs openpilotgcs_qmake openpilotgcs_make

14
flight/modules/OPLink/oplinkmod.c
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@ -63,8 +63,6 @@
// Private types
// Private variables
static uint32_t idleCounter;
static uint32_t idleCounterClear;
static xTaskHandle systemTaskHandle;
static bool stackOverflow;
static bool mallocFailed;
@ -130,8 +128,6 @@ static void systemTask(__attribute__((unused)) void *parameters)
}
// Initialize vars
idleCounter = 0;
idleCounterClear = 0;
lastSysTime = xTaskGetTickCount();
// Main system loop
@ -205,15 +201,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
* Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
*/
void vApplicationIdleHook(void)
{
// Called when the scheduler has no tasks to run
if (idleCounterClear == 0) {
++idleCounter;
} else {
idleCounter = 0;
idleCounterClear = 0;
}
}
{}
/**
* Called by the RTOS when a stack overflow is detected.

41
flight/modules/System/systemmod.c
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@ -92,8 +92,6 @@
// Private types
// Private variables
static uint32_t idleCounter;
static uint32_t idleCounterClear;
static xTaskHandle systemTaskHandle;
static xQueueHandle objectPersistenceQueue;
static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow;
@ -132,6 +130,7 @@ int32_t SystemModStart(void)
// Register task
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}
@ -186,15 +185,12 @@ static void systemTask(__attribute__((unused)) void *parameters)
*/
PIOS_SYS_Reset();
}
#if defined(PIOS_INCLUDE_IAP)
/* Record a successful boot */
PIOS_IAP_WriteBootCount(0);
#endif
// Initialize vars
idleCounter = 0;
idleCounterClear = 0;
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectQueue(objectPersistenceQueue);
@ -212,9 +208,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
// Main system loop
while (1) {
// Update the system statistics
updateStats();
cycleCount = cycleCount > 0 ? cycleCount - 1 : 7;
cycleCount = cycleCount > 0 ? cycleCount - 1 : 7;
// if(cycleCount == 1){
updateStats();
// Update the system alarms
updateSystemAlarms();
#ifdef DIAG_I2C_WDG_STATS
@ -227,10 +224,12 @@ static void systemTask(__attribute__((unused)) void *parameters)
PIOS_TASK_MONITOR_ForEachTask(taskMonitorForEachCallback, &taskInfoData);
TaskInfoSet(&taskInfoData);
// Update the callback status object
// if(FALSE){
PIOS_CALLBACKSCHEDULER_ForEachCallback(callbackSchedulerForEachCallback, &callbackInfoData);
CallbackInfoSet(&callbackInfoData);
// }
#endif
// }
// Flash the heartbeat LED
#if defined(PIOS_LED_HEARTBEAT)
uint8_t armingStatus;
@ -541,7 +540,6 @@ static uint16_t GetFreeIrqStackSize(void)
*/
static void updateStats()
{
static portTickType lastTickCount = 0;
SystemStatsData stats;
// Get stats and update
@ -559,10 +557,6 @@ static void updateStats()
// Get Irq stack status
stats.IRQStackRemaining = GetFreeIrqStackSize();
// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
if (idleCounterClear) {
idleCounter = 0;
}
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
if (pios_uavo_settings_fs_id) {
PIOS_FLASHFS_GetStats(pios_uavo_settings_fs_id, &fsStats);
@ -575,16 +569,11 @@ static void updateStats()
stats.UsrSlotsActive = fsStats.num_active_slots;
}
#endif
portTickType now = xTaskGetTickCount();
if (now > lastTickCount) {
uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS; // in ms
stats.CPULoad = 100 - (uint8_t)roundf(100.0f * ((float)idleCounter / ((float)dT / 1000.0f)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
} // else: TickCount has wrapped, do not calc now
lastTickCount = now;
idleCounterClear = 1;
stats.CPULoad = 100 - PIOS_TASK_MONITOR_GetIdlePercentage();
#if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
float temp_voltage = PIOS_ADC_PinGetVolt(PIOS_ADC_TEMPERATURE_PIN);
stats.CPUTemp = PIOS_CONVERT_VOLT_TO_CPU_TEMP(temp_voltage);;
stats.CPUTemp = PIOS_CONVERT_VOLT_TO_CPU_TEMP(temp_voltage);;
#endif
SystemStatsSet(&stats);
}
@ -663,15 +652,7 @@ static void updateSystemAlarms()
* Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
*/
void vApplicationIdleHook(void)
{
// Called when the scheduler has no tasks to run
if (idleCounterClear == 0) {
++idleCounter;
} else {
idleCounter = 0;
idleCounterClear = 0;
}
}
{}
/**
* Called by the RTOS when a stack overflow is detected.

34
flight/pios/common/pios_task_monitor.c
View File

@ -33,6 +33,7 @@
static xSemaphoreHandle mLock;
static xTaskHandle *mTaskHandles;
static uint32_t mLastMonitorTime;
static uint32_t mLastIdleMonitorTime;
static uint16_t mMaxTasks;
/**
@ -53,9 +54,11 @@ int32_t PIOS_TASK_MONITOR_Initialize(uint16_t max_tasks)
mMaxTasks = max_tasks;
#if (configGENERATE_RUN_TIME_STATS == 1)
mLastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
mLastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
mLastIdleMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
#else
mLastMonitorTime = 0;
mLastMonitorTime = 0;
mLastIdleMonitorTime = 0;
#endif
return 0;
}
@ -146,4 +149,31 @@ void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *c
xSemaphoreGiveRecursive(mLock);
}
uint8_t PIOS_TASK_MONITOR_GetIdlePercentage()
{
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
return 50;
#elif (configGENERATE_RUN_TIME_STATS == 1)
xSemaphoreTakeRecursive(mLock, portMAX_DELAY);
uint32_t currentTime = portGET_RUN_TIME_COUNTER_VALUE();
/* avoid divide-by-zero if the interval is too small */
uint32_t deltaTime = ((currentTime - mLastIdleMonitorTime) / 100) ? : 1;
mLastIdleMonitorTime = currentTime;
uint8_t running_time_percentage = 0;
/* Generate idle time percentage stats */
running_time_percentage = uxTaskGetRunTime(xTaskGetIdleTaskHandle()) / deltaTime;
xSemaphoreGiveRecursive(mLock);
return running_time_percentage;
#else
return 0;
#endif
}
#endif // PIOS_INCLUDE_TASK_MONITOR

5
flight/pios/inc/pios_task_monitor.h
View File

@ -104,4 +104,9 @@ typedef void (*TaskMonitorTaskInfoCallback)(uint16_t task_id, const struct pios_
*/
extern void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *context);
/**
* Return the idle task running time percentage.
*/
extern uint8_t PIOS_TASK_MONITOR_GetIdlePercentage();
#endif // PIOS_TASK_MONITOR_H

7
flight/targets/boards/coptercontrol/firmware/inc/FreeRTOSConfig.h
View File

@ -75,11 +75,9 @@
#endif
/* Enable run time stats collection */
#ifdef DIAG_TASKS
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
do { \
(*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \
@ -87,6 +85,9 @@
} \
while (0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
#ifdef DIAG_TASKS
#define configCHECK_FOR_STACK_OVERFLOW 2
#else
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif

7
flight/targets/boards/oplinkmini/firmware/inc/FreeRTOSConfig.h
View File

@ -75,11 +75,9 @@
#endif
/* Enable run time stats collection */
#ifdef DIAG_TASKS
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
do { \
(*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \
@ -87,6 +85,9 @@
} \
while (0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
#ifdef DIAG_TASKS
#define configCHECK_FOR_STACK_OVERFLOW 2
#else
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif

1
flight/targets/boards/osd/firmware/inc/FreeRTOSConfig.h
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@ -79,6 +79,7 @@
/* Enable run time stats collection */
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
/*
* Once we move to CMSIS2 we can at least use:

1
flight/targets/boards/revolution/firmware/inc/FreeRTOSConfig.h
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@ -64,6 +64,7 @@
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */

1
flight/targets/boards/revoproto/firmware/inc/FreeRTOSConfig.h
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@ -79,6 +79,7 @@
/* Enable run time stats collection */
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
/*
* Once we move to CMSIS2 we can at least use: