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Merge branch 'amorale/OP-1227_cc_high_cpu_utilization' into next

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This commit is contained in:
Alessio Morale 2014-06-22 16:06:08 +02:00
commit f30dd414ac
29 changed files with 601 additions and 62 deletions
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39
flight/libraries/inc/instrumentation.h Normal file
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@ -0,0 +1,39 @@
/**
******************************************************************************
*
* @file instrumentation.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Instrumentation infrastructure
* UAVObject wrapper layer for PiOS instrumentation
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef INSTRUMENTATION_H
#define INSTRUMENTATION_H
#include <perfcounter.h>
/**
* Initialize the instrumentationUAVObject wrapper
*/
void InstrumentationInit();
/**
* publish all counters to UAVObjects
*/
void InstrumentationPublishAllCounters();
#endif /* INSTRUMENTATION_H */

62
flight/libraries/instrumentation.c Normal file
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@ -0,0 +1,62 @@
/**
******************************************************************************
*
* @file instrumentation.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Instrumentation infrastructure
* UAVObject wrapper layer for PiOS instrumentation
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <openpilot.h>
#include <instrumentation.h>
#include <pios_instrumentation.h>
static uint8_t publishedCountersInstances = 0;
static void counterCallback(const pios_perf_counter_t *counter, const int8_t index, void *context);
static xSemaphoreHandle sem;
void InstrumentationInit()
{
PerfCounterInitialize();
publishedCountersInstances = 1;
vSemaphoreCreateBinary(sem);
}
void InstrumentationPublishAllCounters()
{
if (xSemaphoreTake(sem, 0) != pdTRUE) {
return;
}
PIOS_Instrumentation_ForEachCounter(&counterCallback, NULL);
xSemaphoreGive(sem);
}
void counterCallback(const pios_perf_counter_t *counter, const int8_t index, __attribute__((unused)) void *context)
{
if (publishedCountersInstances < index + 1) {
PerfCounterCreateInstance();
publishedCountersInstances++;
}
PerfCounterData data;
data.Id = counter->id;
data.Counter.Max = counter->max;
data.Counter.Min = counter->min;
data.Counter.Value = counter->value;
PerfCounterInstSet(index, &data);
}

33
flight/modules/Actuator/actuator.c
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@ -45,6 +45,12 @@
#include "cameradesired.h"
#include "manualcontrolcommand.h"
#include "taskinfo.h"
#undef PIOS_INCLUDE_INSTRUMENTATION
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
static int8_t counter;
// Counter 0xAC700001 total Actuator body execution time(excluding queue waits etc).
#endif
// Private constants
#define MAX_QUEUE_SIZE 2
@ -106,7 +112,6 @@ int32_t ActuatorStart()
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
#endif
return 0;
}
@ -173,6 +178,9 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
float throttleDesired;
float collectiveDesired;
#ifdef PIOS_INCLUDE_INSTRUMENTATION
counter = PIOS_Instrumentation_CreateCounter(0xAC700001);
#endif
/* Read initial values of ActuatorSettings */
ActuatorSettingsData actuatorSettings;
@ -199,7 +207,9 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
// Wait until the ActuatorDesired object is updated
uint8_t rc = xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS);
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeStart(counter);
#endif
/* Process settings updated events even in timeout case so we always act on the latest settings */
if (actuator_settings_updated) {
actuator_settings_updated = false;
@ -449,6 +459,9 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
ActuatorCommandSet(&command);
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeEnd(counter);
#endif
}
}
@ -482,17 +495,17 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
result += accumulator;
if (period > 0.0f) {
if (accumulator > 0.0f) {
float filter = mixerSettings->AccelTime / period;
if (filter < 1) {
filter = 1;
float invFilter = period / mixerSettings->AccelTime;
if (invFilter > 1) {
invFilter = 1;
}
accumulator -= accumulator / filter;
accumulator -= accumulator * invFilter;
} else {
float filter = mixerSettings->DecelTime / period;
if (filter < 1) {
filter = 1;
float invFilter = period / mixerSettings->DecelTime;
if (invFilter > 1) {
invFilter = 1;
}
accumulator -= accumulator / filter;
accumulator -= accumulator * invFilter;
}
}
filterAccumulator[index] = accumulator;

94
flight/modules/Attitude/attitude.c
View File

@ -65,6 +65,17 @@
#include "CoordinateConversions.h"
#include <pios_notify.h>
#undef PIOS_INCLUDE_INSTRUMENTATION
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
int8_t counterUpd;
int8_t counterAccelSamples = -1;
// Counters:
// - 0xA7710001 sensor fetch duration
// - 0xA7710002 updateAttitude execution time
// - 0xA7710003 Attitude loop rate(period)
// - 0xA7710004 number of accel samples read for each loop (cc only).
#endif
// Private constants
#define STACK_SIZE_BYTES 540
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
@ -72,7 +83,7 @@
#define SENSOR_PERIOD 4
#define UPDATE_RATE 25.0f
#define UPDATE_EXPECTED (1.0f / 666.0f)
#define UPDATE_EXPECTED (1.0f / 500.0f)
#define UPDATE_MIN 1.0e-6f
#define UPDATE_MAX 1.0f
#define UPDATE_ALPHA 1.0e-2f
@ -231,12 +242,19 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
gyro_queue = xQueueCreate(1, sizeof(float) * 4);
PIOS_Assert(gyro_queue != NULL);
PIOS_ADC_SetQueue(gyro_queue);
PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
PIOS_ADC_Config(46);
#endif
}
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
#ifdef PIOS_INCLUDE_INSTRUMENTATION
counterUpd = PIOS_Instrumentation_CreateCounter(0xA7710001);
int8_t counterAtt = PIOS_Instrumentation_CreateCounter(0xA7710002);
int8_t counterPeriod = PIOS_Instrumentation_CreateCounter(0xA7710003);
if (!cc3d) {
counterAccelSamples = PIOS_Instrumentation_CreateCounter(0xA7710004);
}
#endif
PIOS_DELTATIME_Init(&dtconfig, UPDATE_EXPECTED, UPDATE_MIN, UPDATE_MAX, UPDATE_ALPHA);
// Main task loop
@ -291,11 +309,19 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
} else {
// Do not update attitude data in simulation mode
if (!AttitudeStateReadOnly()) {
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeStart(counterAtt);
#endif
updateAttitude(&accelState, &gyros);
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeEnd(counterAtt);
#endif
}
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
}
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TrackPeriod(counterPeriod);
#endif
}
}
@ -321,10 +347,13 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
}
// No accel data available
if (PIOS_ADXL345_FifoElements() == 0) {
uint8_t fifoSamples = PIOS_ADXL345_FifoElements();
if (fifoSamples == 0) {
return -1;
}
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeStart(counterUpd);
#endif
// First sample is temperature
gyros->x = -(gyro[1] - STD_CC_ANALOG_GYRO_NEUTRAL) * gyro_scale.X;
gyros->y = (gyro[2] - STD_CC_ANALOG_GYRO_NEUTRAL) * gyro_scale.Y;
@ -333,8 +362,14 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
int32_t x = 0;
int32_t y = 0;
int32_t z = 0;
uint8_t i = 0;
uint8_t i = fifoSamples;
uint8_t samples_remaining;
samples_remaining = PIOS_ADXL345_ReadAndAccumulateSamples(&accel_data, fifoSamples);
x = accel_data.x;
y = -accel_data.y;
z = -accel_data.z;
if (samples_remaining > 0) {
do {
i++;
samples_remaining = PIOS_ADXL345_Read(&accel_data);
@ -342,7 +377,10 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
y += -accel_data.y;
z += -accel_data.z;
} while ((i < 32) && (samples_remaining > 0));
}
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_updateCounter(counterAccelSamples, i);
#endif
float accel[3] = { accel_scale.X * (float)x / i,
accel_scale.Y * (float)y / i,
accel_scale.Z * (float)z / i };
@ -363,7 +401,6 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
accelState->y = accel[1];
accelState->z = accel[2];
}
if (trim_requested) {
if (trim_samples >= MAX_TRIM_FLIGHT_SAMPLES) {
trim_requested = false;
@ -402,6 +439,10 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
// and make it average zero (weakly)
gyro_correct_int[2] += -gyros->z * yawBiasRate;
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeEnd(counterUpd);
#endif
GyroStateSet(gyros);
AccelStateSet(accelState);
@ -429,6 +470,10 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
if (GyroStateReadOnly() || AccelStateReadOnly()) {
return 0;
}
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeStart(counterUpd);
vPortEnterCritical();
#endif
gyros[0] = mpu6000_data.gyro_x * gyro_scale.X;
gyros[1] = mpu6000_data.gyro_y * gyro_scale.Y;
gyros[2] = mpu6000_data.gyro_z * gyro_scale.Z;
@ -492,7 +537,10 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += -gyrosData->z * yawBiasRate;
#ifdef PIOS_INCLUDE_INSTRUMENTATION
vPortExitCritical();
PIOS_Instrumentation_TimeEnd(counterUpd);
#endif
GyroStateSet(gyrosData);
AccelStateSet(accelStateData);
@ -512,7 +560,7 @@ static inline void apply_accel_filter(const float *raw, float *filtered)
}
}
static void updateAttitude(AccelStateData *accelStateData, GyroStateData *gyrosData)
__attribute__((optimize("O3"))) static void updateAttitude(AccelStateData *accelStateData, GyroStateData *gyrosData)
{
float dT = PIOS_DELTATIME_GetAverageSeconds(&dtconfig);
@ -553,10 +601,10 @@ static void updateAttitude(AccelStateData *accelStateData, GyroStateData *gyrosD
if (grot_mag < 1.0e-3f) {
return;
}
accel_err[0] /= (accel_mag * grot_mag);
accel_err[1] /= (accel_mag * grot_mag);
accel_err[2] /= (accel_mag * grot_mag);
const float invMag = 1.0f / (accel_mag * grot_mag);
accel_err[0] *= invMag;
accel_err[1] *= invMag;
accel_err[2] *= invMag;
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi;
@ -565,9 +613,10 @@ static void updateAttitude(AccelStateData *accelStateData, GyroStateData *gyrosD
// gyro_correct_int[2] += accel_err[2] * accelKi;
// Correct rates based on error, integral component dealt with in updateSensors
gyros[0] += accel_err[0] * accelKp / dT;
gyros[1] += accel_err[1] * accelKp / dT;
gyros[2] += accel_err[2] * accelKp / dT;
const float kpInvdT = accelKp / dT;
gyros[0] += accel_err[0] * kpInvdT;
gyros[1] += accel_err[1] * kpInvdT;
gyros[2] += accel_err[2] * kpInvdT;
{ // scoping variables to save memory
// Work out time derivative from INSAlgo writeup
@ -603,10 +652,11 @@ static void updateAttitude(AccelStateData *accelStateData, GyroStateData *gyrosD
q[2] = 0;
q[3] = 0;
} else {
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
const float invQmag = 1.0f / qmag;
q[0] = q[0] * invQmag;
q[1] = q[1] * invQmag;
q[2] = q[2] * invQmag;
q[3] = q[3] * invQmag;
}
AttitudeStateData attitudeState;

15
flight/modules/System/systemmod.c
View File

@ -55,6 +55,12 @@
#include <callbackinfo.h>
#include <hwsettings.h>
#include <pios_flashfs.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <instrumentation.h>
#include <pios_instrumentation.h>
#endif
#if defined(PIOS_INCLUDE_RFM22B)
#include <oplinkstatus.h>
#endif
@ -124,7 +130,6 @@ int32_t SystemModStart(void)
// Register task
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}
@ -148,6 +153,10 @@ int32_t SystemModInitialize(void)
WatchdogStatusInitialize();
#endif
#ifdef PIOS_INCLUDE_INSTRUMENTATION
InstrumentationInit();
#endif
objectPersistenceQueue = xQueueCreate(1, sizeof(UAVObjEvent));
if (objectPersistenceQueue == NULL) {
return -1;
@ -205,6 +214,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
updateWDGstats();
#endif
#ifdef PIOS_INCLUDE_INSTRUMENTATION
InstrumentationPublishAllCounters();
#endif
#ifdef DIAG_TASKS
// Update the task status object
PIOS_TASK_MONITOR_ForEachTask(taskMonitorForEachCallback, &taskInfoData);

63
flight/pios/common/pios_adxl345.c
View File

@ -41,6 +41,12 @@ struct adxl345_dev {
uint32_t slave_num;
enum pios_adxl345_dev_magic magic;
};
#undef PIOS_INCLUDE_INSTRUMENTATION
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
static int8_t counterUpd;
// Counter 0xA3450001 time it takes to transfer the requested amount of samples using PIOS_ADXL345_ReadAndAccumulateSamples
#endif
// ! Global structure for this device device
static struct adxl345_dev *dev;
@ -59,6 +65,9 @@ static struct adxl345_dev *PIOS_ADXL345_alloc(void)
{
struct adxl345_dev *adxl345_dev;
#ifdef PIOS_INCLUDE_INSTRUMENTATION
counterUpd = PIOS_Instrumentation_CreateCounter(0xA3450001);
#endif
adxl345_dev = (struct adxl345_dev *)pvPortMalloc(sizeof(*adxl345_dev));
if (!adxl345_dev) {
return NULL;
@ -99,7 +108,7 @@ static int32_t PIOS_ADXL345_ClaimBus()
if (PIOS_SPI_ClaimBus(dev->spi_id) != 0) {
return -2;
}
PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_8);
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
return 0;
@ -237,7 +246,7 @@ int32_t PIOS_ADXL345_Init(uint32_t spi_id, uint32_t slave_num)
dev->slave_num = slave_num;
PIOS_ADXL345_ReleaseBus();
PIOS_ADXL345_SelectRate(ADXL_RATE_3200);
PIOS_ADXL345_SelectRate(ADXL_RATE_1600);
PIOS_ADXL345_SetRange(ADXL_RANGE_8G);
PIOS_ADXL345_FifoDepth(16);
PIOS_ADXL345_SetMeasure(1);
@ -299,6 +308,7 @@ int32_t PIOS_ADXL345_FifoElements()
return rec[1] & 0x3f;
}
/**
* @brief Read a single set of values from the x y z channels
* @returns The number of samples remaining in the fifo
@ -312,13 +322,11 @@ uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data *data)
if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
// To save memory use same buffer for in and out but offset by
// a byte
uint8_t buf[9] = { 0, 0, 0, 0, 0, 0, 0, 0 };
uint8_t rec[9] = { 0, 0, 0, 0, 0, 0, 0, 0 };
uint8_t buf[10] = { 0 };
uint8_t *rec = buf + 1;
buf[0] = ADXL_X0_ADDR | ADXL_MULTI_BIT | ADXL_READ_BIT; // Multibyte read starting at X0
if (PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], 9, NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
@ -333,4 +341,47 @@ uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data *data)
return rec[8] & 0x7F; // return number of remaining entries
}
/**
* @brief Read a single set of values from the x y z channels
* @returns 0 if successful
*/
int8_t PIOS_ADXL345_ReadAndAccumulateSamples(struct pios_adxl345_data *data, uint8_t samples)
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
data->x = 0;
data->y = 0;
data->z = 0;
// To save memory use same buffer for in and out but offset by
// a byte
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeStart(counterUpd);
#endif
for (uint8_t i = 0; i < samples; i++) {
uint8_t buf[7] = { 0 };
uint8_t *rec = &buf[1];
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
buf[0] = ADXL_X0_ADDR | ADXL_MULTI_BIT | ADXL_READ_BIT; // Multibyte read starting at X0
if (PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], 7, NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
}
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
data->x += rec[1] + (rec[2] << 8);
data->y += rec[3] + (rec[4] << 8);
data->z += rec[5] + (rec[6] << 8);
}
uint8_t r = PIOS_SPI_TransferByte(dev->spi_id, ADXL_FIFOSTATUS_ADDR | ADXL_READ_BIT);
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeEnd(counterUpd);
#endif
PIOS_ADXL345_ReleaseBus();
return r & 0x7F; // return number of remaining entries
}
#endif /* PIOS_INCLUDE_ADXL345 */

75
flight/pios/common/pios_instrumentation.c Normal file
View File

@ -0,0 +1,75 @@
/**
******************************************************************************
*
* @file pios_instrumentation.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief PiOS instrumentation infrastructure
* Allow to collects performance indexes and execution times
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios_instrumentation.h>
pios_perf_counter_t *pios_instrumentation_perf_counters = NULL;
int8_t pios_instrumentation_max_counters = -1;
int8_t pios_instrumentation_last_used_counter = -1;
void PIOS_Instrumentation_Init(int8_t maxCounters)
{
PIOS_Assert(maxCounters >= 0);
if (maxCounters > 0) {
pios_instrumentation_perf_counters = (pios_perf_counter_t *)pvPortMalloc(sizeof(pios_perf_counter_t) * maxCounters);
PIOS_Assert(pios_instrumentation_perf_counters);
memset(pios_instrumentation_perf_counters, 0, sizeof(pios_perf_counter_t) * maxCounters);
pios_instrumentation_max_counters = maxCounters;
} else {
pios_instrumentation_perf_counters = NULL;
pios_instrumentation_max_counters = -1;
}
}
int8_t PIOS_Instrumentation_CreateCounter(uint32_t id)
{
PIOS_Assert(pios_instrumentation_perf_counters && (pios_instrumentation_max_counters > pios_instrumentation_last_used_counter));
int8_t idx = ++pios_instrumentation_last_used_counter;
pios_instrumentation_perf_counters[idx].id = id;
pios_instrumentation_perf_counters[idx].max = INT32_MIN;
pios_instrumentation_perf_counters[idx].min = INT32_MAX;
return idx;
}
int8_t PIOS_Instrumentation_SearchCounter(uint32_t id)
{
PIOS_Assert(pios_instrumentation_perf_counters);
uint8_t i = 0;
while (i < pios_instrumentation_last_used_counter && pios_instrumentation_perf_counters[i].id != id) {}
if (pios_instrumentation_perf_counters[i].id != id) {
return -1;
}
return i;
}
void PIOS_Instrumentation_ForEachCounter(InstrumentationCounterCallback callback, void *context)
{
PIOS_Assert(pios_instrumentation_perf_counters);
for (int8_t index = 0; index < pios_instrumentation_last_used_counter + 1; index++) {
const pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[index];
callback(counter, index, context);
}
}

2
flight/pios/inc/pios_adc.h
View File

@ -32,7 +32,7 @@
#define PIOS_ADC_H
// Maximum of 50 oversampled points
#define PIOS_ADC_MAX_SAMPLES ((((PIOS_ADC_NUM_CHANNELS + PIOS_ADC_USE_ADC2) >> PIOS_ADC_USE_ADC2) << PIOS_ADC_USE_ADC2) * PIOS_ADC_MAX_OVERSAMPLING * 2)
#define PIOS_ADC_MAX_SAMPLES ((((PIOS_ADC_NUM_CHANNELS + PIOS_ADC_USE_ADC2) >> PIOS_ADC_USE_ADC2) << PIOS_ADC_USE_ADC2) * PIOS_ADC_MAX_OVERSAMPLING * 2 / 2)
typedef void (*ADCCallback)(float *data);

1
flight/pios/inc/pios_adxl345.h
View File

@ -72,6 +72,7 @@ int32_t PIOS_ADXL345_SelectRate(uint8_t rate);
int32_t PIOS_ADXL345_SetRange(uint8_t range);
int32_t PIOS_ADXL345_Init(uint32_t spi_id, uint32_t slave_num);
uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data *data);
int8_t PIOS_ADXL345_ReadAndAccumulateSamples(struct pios_adxl345_data *data, uint8_t samples);
int32_t PIOS_ADXL345_FifoElements();
int32_t PIOS_ADXL345_Test();

145
flight/pios/inc/pios_instrumentation.h Normal file
View File

@ -0,0 +1,145 @@
/**
******************************************************************************
*
* @file pios_instrumentation.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief PiOS instrumentation infrastructure
* Allow to collects performance indexes and execution times
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_INSTRUMENTATION_H
#define PIOS_INSTRUMENTATION_H
#include <pios.h>
#include <pios_debug.h>
#include <pios_delay.h>
#include <FreeRTOS.h>
typedef struct {
uint32_t id;
int32_t max;
int32_t min;
int32_t value;
uint32_t lastUpdateTS;
} pios_perf_counter_t;
extern pios_perf_counter_t *pios_instrumentation_perf_counters;
extern int8_t pios_instrumentation_last_used_counter;
/**
* Update a counter with a new value
* @param counterIdx index of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
* @param newValue the updated value.
*/
inline void PIOS_Instrumentation_updateCounter(int8_t counterIdx, int32_t newValue)
{
PIOS_Assert(pios_instrumentation_perf_counters && (counterIdx <= pios_instrumentation_last_used_counter));
vPortEnterCritical();
pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[counterIdx];
counter->value = newValue;
if (counter->value > counter->max) {
counter->max = counter->value;
}
if (counter->value < counter->min) {
counter->min = counter->value;
}
counter->lastUpdateTS = PIOS_DELAY_GetRaw();
vPortExitCritical();
}
/**
* Used to determine the time duration of a code block, mark the begin of the block. @see PIOS_Instrumentation_TimeEnd
* @param counterIdx counterIdx index of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/
inline void PIOS_Instrumentation_TimeStart(int8_t counterIdx)
{
vPortEnterCritical();
PIOS_Assert(pios_instrumentation_perf_counters && (counterIdx <= pios_instrumentation_last_used_counter));
pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[counterIdx];
counter->lastUpdateTS = PIOS_DELAY_GetRaw();
vPortExitCritical();
}
/**
* Used to determine the time duration of a code block, mark the end of the block. @see PIOS_Instrumentation_TimeStart
* @param counterIdx counterIdx index of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/
inline void PIOS_Instrumentation_TimeEnd(int8_t counterIdx)
{
PIOS_Assert(pios_instrumentation_perf_counters && (counterIdx <= pios_instrumentation_last_used_counter));
vPortEnterCritical();
pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[counterIdx];
counter->value = PIOS_DELAY_DiffuS(counter->lastUpdateTS);
if (counter->value > counter->max) {
counter->max = counter->value;
}
if (counter->value < counter->min) {
counter->min = counter->value;
}
counter->lastUpdateTS = PIOS_DELAY_GetRaw();
vPortExitCritical();
}
/**
* Used to determine the mean period between each call to the function
* @param counterIdx counterIdx index of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/
inline void PIOS_Instrumentation_TrackPeriod(int8_t counterIdx)
{
vPortEnterCritical();
PIOS_Assert(pios_instrumentation_perf_counters && (counterIdx <= pios_instrumentation_last_used_counter));
pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[counterIdx];
uint32_t period = PIOS_DELAY_DiffuS(counter->lastUpdateTS);
counter->lastUpdateTS = PIOS_DELAY_GetRaw();
counter->value = (counter->value * 14 + period * 2) / 16;
if (counter->value > counter->max) {
counter->max = counter->value;
}
if (counter->value < counter->min) {
counter->min = counter->value;
}
vPortExitCritical();
}
/**
* Initialize the Instrumentation infrastructure
* @param maxCounters maximum number of allowed counters
*/
void PIOS_Instrumentation_Init(int8_t maxCounters);
/**
* Create a new counter.
* @param id the unique id to assig to the counter
* @return the counter index to be used to manage its content
*/
int8_t PIOS_Instrumentation_CreateCounter(uint32_t id);
/**
* search a counter index by its unique Id
* @param id the unique id to assig to the counter
* @return the counter index to be used to manage its content
*/
int8_t PIOS_Instrumentation_SearchCounter(uint32_t id);
typedef void (*InstrumentationCounterCallback)(const pios_perf_counter_t *counter, const int8_t index, void *context);
/**
* Retrieve and execute the passed callback for each counter
* @param callback to be called for each counter
* @param context a context variable pointer that can be passed to the callback
*/
void PIOS_Instrumentation_ForEachCounter(InstrumentationCounterCallback callback, void *context);
#endif /* PIOS_INSTRUMENTATION_H */

2
flight/pios/stm32f10x/inc/pios_architecture.h
View File

@ -33,7 +33,7 @@
// defines for Temp measurements
#define PIOS_ADC_STM32_TEMP_V25 1.43f /* V */
#define PIOS_ADC_STM32_TEMP_AVG_SLOPE 4.3f /* mV/C */
#define PIOS_CONVERT_VOLT_TO_CPU_TEMP(x) ((PIOS_ADC_STM32_TEMP_V25 - x) * 1000.0f / PIOS_ADC_STM32_TEMP_AVG_SLOPE + 25.0f)
#define PIOS_CONVERT_VOLT_TO_CPU_TEMP(x) ((PIOS_ADC_STM32_TEMP_V25 - x) * (1000.0f / PIOS_ADC_STM32_TEMP_AVG_SLOPE) + 25.0f)
#endif /* PIOS_ARCHITECTURE_H */

49
flight/pios/stm32f10x/pios_adc.c
View File

@ -32,7 +32,6 @@
#ifdef PIOS_INCLUDE_ADC
#include <pios_adc_priv.h>
// Private types
enum pios_adc_dev_magic {
@ -47,12 +46,14 @@ struct pios_adc_dev {
#endif
volatile int16_t *valid_data_buffer;
volatile uint8_t adc_oversample;
volatile uint8_t adc_oversample_block_size;
uint8_t dma_block_size;
uint16_t dma_half_buffer_size;
#if defined(PIOS_INCLUDE_ADC)
int16_t fir_coeffs[PIOS_ADC_MAX_SAMPLES + 1] __attribute__((aligned(4)));
volatile int16_t raw_data_buffer[PIOS_ADC_MAX_SAMPLES] __attribute__((aligned(4))); // Double buffer that DMA just used
float downsampled_buffer[PIOS_ADC_NUM_CHANNELS] __attribute__((aligned(4)));
uint8_t downsampleStep; // allows to reduce the downsampling buffer by operating in two steps
#endif
enum pios_adc_dev_magic magic;
};
@ -135,7 +136,6 @@ int32_t PIOS_ADC_Init(const struct pios_adc_cfg *cfg)
}
PIOS_ADC_Config(PIOS_ADC_MAX_OVERSAMPLING);
return 0;
}
@ -145,8 +145,10 @@ int32_t PIOS_ADC_Init(const struct pios_adc_cfg *cfg)
*/
void PIOS_ADC_Config(uint32_t oversampling)
{
// Ensure oversample is an even number
PIOS_Assert(!(oversampling & 0x1));
pios_adc_dev->adc_oversample = (oversampling > PIOS_ADC_MAX_OVERSAMPLING) ? PIOS_ADC_MAX_OVERSAMPLING : oversampling;
pios_adc_dev->adc_oversample_block_size = pios_adc_dev->adc_oversample / 2;
ADC_DeInit(ADC1);
ADC_DeInit(ADC2);
@ -219,7 +221,7 @@ void PIOS_ADC_Config(uint32_t oversampling)
/* This makes sure we have an even number of transfers if using ADC2 */
pios_adc_dev->dma_block_size = ((PIOS_ADC_NUM_CHANNELS + PIOS_ADC_USE_ADC2) >> PIOS_ADC_USE_ADC2) << PIOS_ADC_USE_ADC2;
pios_adc_dev->dma_half_buffer_size = pios_adc_dev->dma_block_size * pios_adc_dev->adc_oversample;
pios_adc_dev->dma_half_buffer_size = pios_adc_dev->dma_block_size * pios_adc_dev->adc_oversample_block_size;
/* Configure DMA channel */
DMA_InitTypeDef dma_init = pios_adc_dev->cfg->dma.rx.init;
@ -324,23 +326,54 @@ void PIOS_ADC_SetFIRCoefficients(float *new_filter)
}
}
/**
* @brief Downsample the data for each of the channels then call
* callback function if installed
*/
__attribute__((optimize("O3")))
void PIOS_ADC_downsample_data()
{
uint16_t chan;
uint16_t sample;
float *downsampled_buffer = &pios_adc_dev->downsampled_buffer[0];
static int32_t sum[PIOS_ADC_NUM_CHANNELS] = { 0 };
if (pios_adc_dev->downsampleStep == 0) {
for (uint8_t i = 0; i < PIOS_ADC_NUM_CHANNELS; i++) {
sum[i] = 0;
}
}
for (sample = 0; sample < pios_adc_dev->adc_oversample_block_size; sample++) {
const uint16_t *buffer = (const uint16_t *)&pios_adc_dev->valid_data_buffer[sample * pios_adc_dev->dma_block_size];
const uint16_t firCoeff = pios_adc_dev->fir_coeffs[sample + PIOS_ADC_NUM_CHANNELS * pios_adc_dev->downsampleStep];
#if (PIOS_ADC_USE_TEMP_SENSOR)
for (chan = 1; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
#else
for (chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
int32_t sum = 0;
for (sample = 0; sample < pios_adc_dev->adc_oversample; sample++) {
sum += pios_adc_dev->valid_data_buffer[chan + sample * pios_adc_dev->dma_block_size] * pios_adc_dev->fir_coeffs[sample];
#endif
sum[chan] += buffer[chan] * firCoeff;
}
downsampled_buffer[chan] = (float)sum / pios_adc_dev->fir_coeffs[pios_adc_dev->adc_oversample];
}
// Full downsampling + fir filter is a little bit overwhelming for temp sensor.
if (pios_adc_dev->downsampleStep == 0) {
// first part of downsampling done. wait until the second block of samples is acquired
pios_adc_dev->downsampleStep = 1;
return;
}
pios_adc_dev->downsampleStep = 0;
#if (PIOS_ADC_USE_TEMP_SENSOR)
for (chan = 1; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
#else
for (chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
#endif
downsampled_buffer[chan] = (float)sum[chan] / (pios_adc_dev->fir_coeffs[pios_adc_dev->adc_oversample]);
}
#if (PIOS_ADC_USE_TEMP_SENSOR)
downsampled_buffer[0] = pios_adc_dev->valid_data_buffer[0];
#endif
#if defined(PIOS_INCLUDE_FREERTOS)
if (pios_adc_dev->data_queue) {

2
flight/targets/boards/coptercontrol/board_hw_defs.c
View File

@ -455,7 +455,7 @@ static const struct pios_adc_cfg pios_adc_cfg = {
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},

2
flight/targets/boards/coptercontrol/firmware/Makefile
View File

@ -72,6 +72,7 @@ ifndef TESTAPP
SRC += $(OPSYSTEM)/coptercontrol.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(FLIGHTLIB)/instrumentation.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
@ -126,6 +127,7 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
SRC += $(OPUAVSYNTHDIR)/airspeedstate.c
SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
SRC += $(OPUAVSYNTHDIR)/perfcounter.c
else
## Test Code
SRC += $(OPTESTS)/test_common.c

2
flight/targets/boards/coptercontrol/firmware/inc/FreeRTOSConfig.h
View File

@ -23,7 +23,7 @@
/* Notes: We use 5 task priorities */
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCPU_CLOCK_HZ ((unsigned long)72000000)

2
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -56,6 +56,8 @@
#define PIOS_INCLUDE_INITCALL
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
// #define PIOS_INCLUDE_INSTRUMENTATION
#define PIOS_INSTRUMENTATION_MAX_COUNTERS 5
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ

7
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -33,6 +33,9 @@
#include <gcsreceiver.h>
#include <taskinfo.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
#endif
/*
* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
@ -150,6 +153,10 @@ void PIOS_Board_Init(void)
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
#endif
#if defined(PIOS_INCLUDE_SPI)
/* Set up the SPI interface to the serial flash */

2
flight/targets/boards/coptercontrol/pios_board.h
View File

@ -210,7 +210,7 @@ extern uint32_t pios_com_hkosd_id;
// PCKL2 = HCLK / 16
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
#define PIOS_ADC_MAX_OVERSAMPLING 36
#define PIOS_ADC_MAX_OVERSAMPLING 48
#define PIOS_ADC_TEMPERATURE_PIN 0

2
flight/targets/boards/discoveryf4bare/firmware/Makefile
View File

@ -75,12 +75,14 @@ ifndef TESTAPP
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
#ifeq ($(DEBUG), YES)
SRC += $(OPSYSTEM)/dcc_stdio.c
SRC += $(OPSYSTEM)/cm3_fault_handlers.c
#endif
## Misc library functions
SRC += $(FLIGHTLIB)/instrumentation.c
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/plans.c
SRC += $(FLIGHTLIB)/WorldMagModel.c

1
flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
View File

@ -114,6 +114,7 @@ UAVOBJSRCFILENAMES += poilearnsettings
UAVOBJSRCFILENAMES += mpu6000settings
UAVOBJSRCFILENAMES += txpidsettings
UAVOBJSRCFILENAMES += takeofflocation
UAVOBJSRCFILENAMES += perfcounter
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

3
flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
View File

@ -56,6 +56,9 @@
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INSTRUMENTATION_MAX_COUNTERS 10
#define PIOS_INCLUDE_INSTRUMENTATION
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_RTC

10
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -36,6 +36,11 @@
#include <pios_oplinkrcvr_priv.h>
#include <taskinfo.h>
#include <pios_callbackscheduler.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
#endif
/*
* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
@ -340,6 +345,11 @@ void PIOS_Board_Init(void)
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
#endif
#if false
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {

1
flight/targets/boards/revolution/firmware/Makefile
View File

@ -73,6 +73,7 @@ ifndef TESTAPP
SRC += $(OPSYSTEM)/revolution.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(FLIGHTLIB)/instrumentation.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c

1
flight/targets/boards/revolution/firmware/UAVObjects.inc
View File

@ -114,6 +114,7 @@ UAVOBJSRCFILENAMES += poilearnsettings
UAVOBJSRCFILENAMES += mpu6000settings
UAVOBJSRCFILENAMES += txpidsettings
UAVOBJSRCFILENAMES += takeofflocation
UAVOBJSRCFILENAMES += perfcounter
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

3
flight/targets/boards/revolution/firmware/inc/pios_config.h
View File

@ -56,6 +56,9 @@
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INCLUDE_INSTRUMENTATION
#define PIOS_INSTRUMENTATION_MAX_COUNTERS 10
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_RTC

10
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -37,6 +37,11 @@
#include <taskinfo.h>
#include <pios_ws2811.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
#endif
/*
* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
@ -353,6 +358,11 @@ void PIOS_Board_Init(void)
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
#endif
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);

7
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -126,7 +126,8 @@ HEADERS += \
$$UAVOBJECT_SYNTHETICS/waypoint.h \
$$UAVOBJECT_SYNTHETICS/waypointactive.h \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.h \
$$UAVOBJECT_SYNTHETICS/takeofflocation.h
$$UAVOBJECT_SYNTHETICS/takeofflocation.h \
$$UAVOBJECT_SYNTHETICS/perfcounter.h
SOURCES += \
$$UAVOBJECT_SYNTHETICS/accelgyrosettings.cpp \
@ -229,4 +230,6 @@ SOURCES += \
$$UAVOBJECT_SYNTHETICS/waypoint.cpp \
$$UAVOBJECT_SYNTHETICS/waypointactive.cpp \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp \
$$UAVOBJECT_SYNTHETICS/takeofflocation.cpp
$$UAVOBJECT_SYNTHETICS/takeofflocation.cpp \
$$UAVOBJECT_SYNTHETICS/perfcounter.cpp

1
make/apps-defs.mk
View File

@ -100,6 +100,7 @@ SRC += $(PIOSCOMMON)/pios_usb_util.c
SRC += $(PIOSCOMMON)/pios_task_monitor.c
SRC += $(PIOSCOMMON)/pios_callbackscheduler.c
SRC += $(PIOSCOMMON)/pios_notify.c
SRC += $(PIOSCOMMON)/pios_instrumentation.c
## Misc library functions
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/sanitycheck.c

11
shared/uavobjectdefinition/perfcounter.xml Normal file
View File

@ -0,0 +1,11 @@
<xml>
<object name="PerfCounter" singleinstance="false" settings="false" category="System">
<description>A single performance counter, used to instrument flight code</description>
<field name="Id" units="hex" type="uint32" elements="1" />
<field name="Counter" units="" type="int32" elementnames="Value, Min, Max"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="manual" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>