From 64a1fda05a56769e771856b91295a1f275e6ce2a Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 28 Aug 2024 21:19:38 +0100 Subject: [PATCH] AP_Scheduler: record and make available the last sample time --- libraries/AP_Scheduler/AP_Scheduler.cpp | 3 ++- libraries/AP_Scheduler/AP_Scheduler.h | 12 ++++++++++-- 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp index 7d21cf015a..57f938a616 100644 --- a/libraries/AP_Scheduler/AP_Scheduler.cpp +++ b/libraries/AP_Scheduler/AP_Scheduler.cpp @@ -347,7 +347,8 @@ void AP_Scheduler::loop() _rsem.take_blocking(); hal.util->persistent_data.scheduler_task = -1; - const uint32_t sample_time_us = AP_HAL::micros(); + _loop_sample_time_us = AP_HAL::micros64(); + const uint32_t sample_time_us = uint32_t(_loop_sample_time_us); if (_loop_timer_start_us == 0) { _loop_timer_start_us = sample_time_us; diff --git a/libraries/AP_Scheduler/AP_Scheduler.h b/libraries/AP_Scheduler/AP_Scheduler.h index bf15592d49..baf5534d62 100644 --- a/libraries/AP_Scheduler/AP_Scheduler.h +++ b/libraries/AP_Scheduler/AP_Scheduler.h @@ -176,6 +176,11 @@ public: return _last_loop_time_s; } + // get the time in microseconds that the current loop started + uint64_t get_loop_start_time_us(void) const { + return _loop_sample_time_us; + } + // get the amount of extra time being added on each loop uint32_t get_extra_loop_us(void) const { return extra_loop_us; @@ -240,12 +245,15 @@ private: // number of ticks that _spare_micros is counted over uint8_t _spare_ticks; - // start of loop timing + // start of previous loop uint32_t _loop_timer_start_us; // time of last loop in seconds float _last_loop_time_s; - + + // start of current loop + uint64_t _loop_sample_time_us; + // bitmask bit which indicates if we should log PERF message uint32_t _log_performance_bit;