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LibrePilot/flight/pios/inc/pios_instrumentation.h

183 lines
6.7 KiB
C

/**
******************************************************************************
*
* @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;
typedef void *pios_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 counter_handle handle of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
* @param newValue the updated value.
*/
static inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, int32_t newValue)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical();
pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;
counter->value = newValue;
counter->max--;
if (counter->value > counter->max) {
counter->max = counter->value;
}
counter->min++;
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 counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/
static 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;
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 counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/
static 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;
counter->value = PIOS_DELAY_DiffuS(counter->lastUpdateTS);
counter->max--;
if (counter->value > counter->max) {
counter->max = counter->value;
}
counter->min++;
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 counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/
static 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) {
vPortEnterCritical();
uint32_t period = PIOS_DELAY_DiffuS(counter->lastUpdateTS);
counter->value = (counter->value * 15 + period) / 16;
counter->max--;
if ((int32_t)period > counter->max) {
counter->max = period;
}
counter->min++;
if ((int32_t)period < counter->min) {
counter->min = period;
}
vPortExitCritical();
}
counter->lastUpdateTS = PIOS_DELAY_GetRaw();
}
/**
* Increment a counter with a value
* @param counter_handle handle of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
* @param increment the value to increment counter with.
*/
static inline void PIOS_Instrumentation_incrementCounter(pios_counter_t counter_handle, int32_t increment)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical();
pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;
counter->value += increment;
counter->max--;
if (counter->value > counter->max) {
counter->max = counter->value;
}
counter->min++;
if (counter->value < counter->min) {
counter->min = counter->value;
}
counter->lastUpdateTS = PIOS_DELAY_GetRaw();
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 assign to the counter
* @return the counter handle to be used to manage its content
*/
pios_counter_t PIOS_Instrumentation_CreateCounter(uint32_t id);
/**
* search a counter index by its unique Id
* @param id the unique id to assign to the counter.
* If a counter with the same id exists, the previous instance is returned
* @return the counter handle to be used to manage its content
*/
pios_counter_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 */