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AP_HAL_ChibiOS: add %age of total to thread statistics

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don't display meaningless thread info
This commit is contained in:
Andy Piper 2021-04-13 21:47:36 +01:00 committed by Andrew Tridgell
parent a80d0800de
commit 558631918c
2 changed files with 63 additions and 28 deletions
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86
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -338,36 +338,66 @@ bool Util::was_watchdog_reset() const
*/
void Util::thread_info(ExpandingString &str)
{
// 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__);
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;
if (tp->wabase == (void*)&__main_thread_stack_base__) {
// main thread has its stack separated from the thread context
total_stack = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
} else {
// all other threads have their thread context pointer
// above the stack top
total_stack = uint32_t(tp) - uint32_t(tp->wabase);
}
#if HAL_ENABLE_THREAD_STATISTICS
str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u MIN=%4u AVG=%4u MAX=%4u\n",
tp->name, unsigned(tp->realprio), tp->wabase,
unsigned(stack_free(tp->wabase)), unsigned(total_stack), unsigned(RTC2US(STM32_HSECLK, tp->stats.best)),
unsigned(RTC2US(STM32_HSECLK, uint32_t(tp->stats.cumulative / uint64_t(tp->stats.n)))),
unsigned(RTC2US(STM32_HSECLK, tp->stats.worst)));
chTMObjectInit(&tp->stats); // reset counters to zero
#else
str.printf("%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
tp->name, unsigned(tp->realprio), tp->wabase,
unsigned(stack_free(tp->wabase)), unsigned(total_stack));
uint64_t cumulative_cycles = ch.kernel_stats.m_crit_isr.cumulative;
for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
if (tp->stats.best > 0) { // not run
cumulative_cycles += (uint64_t)tp->stats.cumulative;
}
}
#endif
}
// 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__);
#if HAL_ENABLE_THREAD_STATISTICS
str.printf("ThreadsV2\nISR PRI=255 sp=%p STACK=%u/%u LOAD=%4.1f%%\n",
&__main_stack_base__,
unsigned(stack_free(&__main_stack_base__)),
unsigned(isr_stack_size), 100.0f * float(ch.kernel_stats.m_crit_isr.cumulative) / float(cumulative_cycles));
ch.kernel_stats.m_crit_isr.cumulative = 0U;
#else
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));
#endif
for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
uint32_t total_stack;
if (tp->wabase == (void*)&__main_thread_stack_base__) {
// main thread has its stack separated from the thread context
total_stack = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
} else {
// all other threads have their thread context pointer
// above the stack top
total_stack = uint32_t(tp) - uint32_t(tp->wabase);
}
#if HAL_ENABLE_THREAD_STATISTICS
time_measurement_t stats = tp->stats;
if (tp->stats.best > 0) { // not run
str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u LOAD=%4.1f%%%s\n",
tp->name, unsigned(tp->realprio), tp->wabase,
unsigned(stack_free(tp->wabase)), unsigned(total_stack),
100.0f * float(stats.cumulative) / float(cumulative_cycles),
// more than a loop slice is bad for everyone else, warn on
// more than a 200Hz slice so that only the worst offenders are identified
// also don't do this for the main or idle threads
tp != chThdGetSelfX() && unsigned(RTC2US(STM32_HSECLK, stats.worst)) > 5000
&& tp != get_main_thread() && tp->realprio != 1 ? "*" : "");
} else {
str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u\n",
tp->name, unsigned(tp->realprio), tp->wabase, unsigned(stack_free(tp->wabase)), unsigned(total_stack));
}
// Giovanni thinks this is dangerous, but we can't get useable data without it
if (tp != chThdGetSelfX()) {
chTMObjectInit(&tp->stats); // reset counters to zero
} else {
tp->stats.cumulative = 0U;
}
#else
str.printf("%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
tp->name, unsigned(tp->realprio), tp->wabase,
unsigned(stack_free(tp->wabase)), unsigned(total_stack));
#endif
}
}
#endif // CH_DBG_ENABLE_STACK_CHECK == TRUE

5
libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
View File

@ -218,6 +218,11 @@ ifeq ($(ENABLE_MALLOC_GUARD),yes)
ASXFLAGS += -DHAL_CHIBIOS_ENABLE_MALLOC_GUARD
endif
ifeq ($(ENABLE_STATS),yes)
UDEFS += -DHAL_ENABLE_THREAD_STATISTICS
ASXFLAGS += -DHAL_ENABLE_THREAD_STATISTICS
endif
# Define ASM defines here
UADEFS =