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AP_Logger: added stack logging

This commit is contained in:
Andrew Tridgell 2021-09-06 14:46:19 +10:00
parent 8157c24977
commit 1559f7aa2d
2 changed files with 34 additions and 7 deletions
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5
libraries/AP_Logger/AP_Logger.cpp
View File

@ -1340,6 +1340,7 @@ int16_t AP_Logger::Write_calc_msg_len(const char *fmt) const
void AP_Logger::io_thread(void) void AP_Logger::io_thread(void)
{ {
uint32_t last_run_us = AP_HAL::micros(); uint32_t last_run_us = AP_HAL::micros();
uint8_t counter = 0;
while (true) { while (true) {
uint32_t now = AP_HAL::micros(); uint32_t now = AP_HAL::micros();
@ -1353,6 +1354,10 @@ void AP_Logger::io_thread(void)
last_run_us = AP_HAL::micros(); last_run_us = AP_HAL::micros();
FOR_EACH_BACKEND(io_timer()); FOR_EACH_BACKEND(io_timer());
if (++counter % 4 == 0) {
hal.util->log_stack_info();
}
} }
} }

36
libraries/AP_Logger/LogStructure.h
View File

@ -676,6 +676,17 @@ struct PACKED log_PSCD {
float accel; float accel;
}; };
// thread stack usage
struct PACKED log_STAK {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t thread_id;
uint8_t priority;
uint16_t stack_total;
uint16_t stack_free;
char name[16];
};
// FMT messages define all message formats other than FMT // FMT messages define all message formats other than FMT
// UNIT messages define units which can be referenced by FMTU messages // UNIT messages define units which can be referenced by FMTU messages
// FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields // FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields
@ -1183,6 +1194,15 @@ struct PACKED log_PSCD {
// @Field: TAD: Target acceleration Down // @Field: TAD: Target acceleration Down
// @Field: AD: Acceleration Down // @Field: AD: Acceleration Down
// @LoggerMessage: STAK
// @Description: Stack information
// @Field: TimeUS: Time since system startup
// @Field: Id: thread ID
// @Field: Pri: thread priority
// @Field: Total: total stack
// @Field: Free: free stack
// @Field: Name: thread name
// messages for all boards // messages for all boards
#define LOG_COMMON_STRUCTURES \ #define LOG_COMMON_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \ { LOG_FORMAT_MSG, sizeof(log_Format), \
@ -1290,12 +1310,14 @@ LOG_STRUCTURE_FROM_VISUALODOM \
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" }, \ "ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" }, \
{ LOG_WINCH_MSG, sizeof(log_Winch), \ { LOG_WINCH_MSG, sizeof(log_Winch), \
"WINC", "QBBBBBfffHfb", "TimeUS,Heal,ThEnd,Mov,Clut,Mode,DLen,Len,DRate,Tens,Vcc,Temp", "s-----mmn?vO", "F-----000000" }, \ "WINC", "QBBBBBfffHfb", "TimeUS,Heal,ThEnd,Mov,Clut,Mode,DLen,Len,DRate,Tens,Vcc,Temp", "s-----mmn?vO", "F-----000000" }, \
{ LOG_PSCN_MSG, sizeof(log_PSCN), \ { LOG_PSCN_MSG, sizeof(log_PSCN), \
"PSCN", "Qffffffff", "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", "smmnnnooo", "F00000000" }, \ "PSCN", "Qffffffff", "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", "smmnnnooo", "F00000000" }, \
{ LOG_PSCE_MSG, sizeof(log_PSCE), \ { LOG_PSCE_MSG, sizeof(log_PSCE), \
"PSCE", "Qffffffff", "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", "smmnnnooo", "F00000000" }, \ "PSCE", "Qffffffff", "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", "smmnnnooo", "F00000000" }, \
{ LOG_PSCD_MSG, sizeof(log_PSCD), \ { LOG_PSCD_MSG, sizeof(log_PSCD), \
"PSCD", "Qffffffff", "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", "smmnnnooo", "F00000000" }, \ "PSCD", "Qffffffff", "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", "smmnnnooo", "F00000000" }, \
{ LOG_STAK_MSG, sizeof(log_STAK), \
"STAK", "QBBHHN", "TimeUS,Id,Pri,Total,Free,Name", "s#----", "F-----", true }, \
LOG_STRUCTURE_FROM_AIS \ LOG_STRUCTURE_FROM_AIS \
// message types 0 to 63 reserved for vehicle specific use // message types 0 to 63 reserved for vehicle specific use
@ -1373,7 +1395,7 @@ enum LogMessages : uint8_t {
LOG_RAW_PROXIMITY_MSG, LOG_RAW_PROXIMITY_MSG,
LOG_IDS_FROM_PRECLAND, LOG_IDS_FROM_PRECLAND,
LOG_IDS_FROM_AIS, LOG_IDS_FROM_AIS,
LOG_STAK_MSG,
_LOG_LAST_MSG_ _LOG_LAST_MSG_
}; };