Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: use ExpandingString for @SYS buffers

This commit is contained in:
Andrew Tridgell 2020-12-30 17:44:19 +11:00 committed by Peter Barker
parent 6da0212ce4
commit 42bc9adfb7
9 changed files with 76 additions and 114 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
View File

@ -46,6 +46,8 @@
#include <AP_Math/AP_Math.h>
# include <hal.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Common/ExpandingString.h>
# if defined(STM32H7XX)
#include "CANFDIface.h"
@ -929,14 +931,10 @@ bool CANIface::select(bool &read, bool &write,
}
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
uint32_t CANIface::get_stats(char* data, uint32_t max_size)
void CANIface::get_stats(ExpandingString &str)
{
if (data == nullptr) {
return 0;
}
CriticalSectionLocker lock;
uint32_t ret = snprintf(data, max_size,
"tx_requests: %lu\n"
str.printf("tx_requests: %lu\n"
"tx_rejected: %lu\n"
"tx_success: %lu\n"
"tx_timedout: %lu\n"
@ -956,7 +954,6 @@ uint32_t CANIface::get_stats(char* data, uint32_t max_size)
stats.rx_errors,
stats.num_busoff_err,
stats.num_events);
return ret;
}
#endif

2
libraries/AP_HAL_ChibiOS/CANFDIface.h
View File

@ -219,7 +219,7 @@ public:
// fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
uint32_t get_stats(char* data, uint32_t max_size) override;
void get_stats(ExpandingString &str) override;
#endif
/************************************
* Methods used inside interrupt *

2
libraries/AP_HAL_ChibiOS/CANIface.h
View File

@ -220,7 +220,7 @@ public:
// fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
uint32_t get_stats(char* data, uint32_t max_size) override;
void get_stats(ExpandingString &str) override;
#endif
/************************************
* Methods used inside interrupt *

10
libraries/AP_HAL_ChibiOS/CanIface.cpp
View File

@ -46,6 +46,7 @@
#include <AP_Math/AP_Math.h>
# include <hal.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Common/ExpandingString.h>
# if !defined(STM32H7XX)
#include "CANIface.h"
@ -902,14 +903,10 @@ bool CANIface::init(const uint32_t bitrate, const CANIface::OperatingMode mode)
}
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
uint32_t CANIface::get_stats(char* data, uint32_t max_size)
void CANIface::get_stats(ExpandingString &str)
{
if (data == nullptr) {
return 0;
}
CriticalSectionLocker lock;
uint32_t ret = snprintf(data, max_size,
"tx_requests: %lu\n"
str.printf("tx_requests: %lu\n"
"tx_rejected: %lu\n"
"tx_success: %lu\n"
"tx_timedout: %lu\n"
@ -930,7 +927,6 @@ uint32_t CANIface::get_stats(char* data, uint32_t max_size)
stats.num_busoff_err,
stats.num_events);
memset(&stats, 0, sizeof(stats));
return ret;
}
#endif

38
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -24,6 +24,7 @@
#include "hwdef/common/watchdog.h"
#include "hwdef/common/flash.h"
#include <AP_ROMFS/AP_ROMFS.h>
#include <AP_Common/ExpandingString.h>
#include "sdcard.h"
#include "shared_dma.h"
@ -299,20 +300,14 @@ bool Util::was_watchdog_reset() const
/*
display stack usage as text buffer for @SYS/threads.txt
*/
size_t Util::thread_info(char *buf, size_t bufsize)
void Util::thread_info(ExpandingString &str)
{
size_t total = 0;
// a header to allow for machine parsers to determine format
const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
int n = snprintf(buf, bufsize, "ThreadsV2\nISR PRI=255 sp=%p STACK=%u/%u\n",
&__main_stack_base__, stack_free(&__main_stack_base__), isr_stack_size);
if (n <= 0) {
return 0;
}
buf += n;
bufsize -= n;
total += n;
str.printf("ThreadsV2\nISR PRI=255 sp=%p STACK=%u/%u\n",
&__main_stack_base__,
unsigned(stack_free(&__main_stack_base__)),
unsigned(isr_stack_size));
for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
uint32_t total_stack;
@ -324,35 +319,26 @@ size_t Util::thread_info(char *buf, size_t bufsize)
// above the stack top
total_stack = uint32_t(tp) - uint32_t(tp->wabase);
}
if (bufsize > 0) {
#if HAL_ENABLE_THREAD_STATISTICS
n = snprintf(buf, bufsize, "%-13.13s PRI=%3u sp=%p STACK=%4u/%4u MIN=%4u AVG=%4u MAX=%4u\n",
str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u MIN=%4u AVG=%4u MAX=%4u\n",
tp->name, unsigned(tp->prio), tp->wabase,
stack_free(tp->wabase), total_stack, RTC2US(STM32_HSECLK, tp->stats.best),
RTC2US(STM32_HSECLK, uint32_t(tp->stats.cumulative / uint64_t(tp->stats.n))),
RTC2US(STM32_HSECLK, tp->stats.worst));
chTMObjectInit(&tp->stats); // reset counters to zero
#else
n = snprintf(buf, bufsize, "%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
str.printf("%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
tp->name, unsigned(tp->prio), tp->wabase,
stack_free(tp->wabase), total_stack);
unsigned(stack_free(tp->wabase)), unsigned(total_stack));
#endif
if (n > bufsize) {
n = bufsize;
}
buf += n;
bufsize -= n;
total += n;
}
}
return total;
}
#endif // CH_DBG_ENABLE_STACK_CHECK == TRUE
#if CH_CFG_USE_SEMAPHORES
// request information on dma contention
size_t Util::dma_info(char *buf, size_t bufsize) {
return ChibiOS::Shared_DMA::dma_info(buf, bufsize);
void Util::dma_info(ExpandingString &str)
{
ChibiOS::Shared_DMA::dma_info(str);
}
#endif

4
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -60,11 +60,11 @@ public:
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
// request information on running threads
size_t thread_info(char *buf, size_t bufsize) override;
void thread_info(ExpandingString &str) override;
#endif
#if CH_CFG_USE_SEMAPHORES
// request information on dma contention
size_t dma_info(char *buf, size_t bufsize) override;
void dma_info(ExpandingString &str) override;
#endif
private:

1
libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
View File

@ -474,3 +474,4 @@ define STORAGE_FLASH_PAGE 1
# is "ROMFS ROMFS-filename source-filename". Paths are relative to the
# ardupilot root
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin

30
libraries/AP_HAL_ChibiOS/shared_dma.cpp
View File

@ -22,6 +22,8 @@
#if CH_CFG_USE_SEMAPHORES == TRUE
#include <AP_Common/ExpandingString.h>
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
@ -228,26 +230,16 @@ void Shared_DMA::lock_all(void)
}
// display dma contention statistics as text buffer for @SYS/dma.txt
size_t Shared_DMA::dma_info(char *buf, size_t bufsize)
void Shared_DMA::dma_info(ExpandingString &str)
{
size_t total = 0;
// no buffer allocated, start counting
if (_contention_stats == nullptr) {
_contention_stats = new dma_stats[SHARED_DMA_MAX_STREAM_ID+1];
return 0;
return;
}
// a header to allow for machine parsers to determine format
int n = hal.util->snprintf(buf, bufsize, "DMAV1\n");
if (n <= 0) {
return 0;
}
buf += n;
bufsize -= n;
total += n;
str.printf("DMAV1\n");
for (uint8_t i = 0; i < SHARED_DMA_MAX_STREAM_ID + 1; i++) {
if (locks[i].obj == nullptr) {
@ -257,21 +249,11 @@ size_t Shared_DMA::dma_info(char *buf, size_t bufsize)
const char* fmt = "DMA=%1u STRM=%1u ULCK=%8u CLCK=%8u CONT=%4.1f%%\n";
float cond_per = 100.0f * float(_contention_stats[i].contended_locks)
/ (1 + _contention_stats[i].contended_locks + _contention_stats[i].uncontended_locks);
n = hal.util->snprintf(buf, bufsize, fmt, i / 8 + 1, i % 8,
str.printf(fmt, i / 8 + 1, i % 8,
_contention_stats[i].uncontended_locks, _contention_stats[i].contended_locks, cond_per);
if (n <= 0) {
break;
}
buf += n;
bufsize -= n;
total += n;
_contention_stats[i].contended_locks = 0;
_contention_stats[i].uncontended_locks = 0;
}
return total;
}
#endif // CH_CFG_USE_SEMAPHORES

2
libraries/AP_HAL_ChibiOS/shared_dma.h
View File

@ -66,7 +66,7 @@ public:
static void lock_all(void);
// display dma contention statistics as text buffer for @SYS/dma.txt
static size_t dma_info(char *buf, size_t bufsize);
static void dma_info(ExpandingString &str);
private:
dma_allocate_fn_t allocate;