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AP_Scheduler: record and make available the last sample time

This commit is contained in:
Andy Piper 2024-08-28 21:19:38 +01:00 committed by Andrew Tridgell
parent 71a69367df
commit 64a1fda05a
2 changed files with 12 additions and 3 deletions
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3
libraries/AP_Scheduler/AP_Scheduler.cpp
View File

@ -347,7 +347,8 @@ void AP_Scheduler::loop()
_rsem.take_blocking(); _rsem.take_blocking();
hal.util->persistent_data.scheduler_task = -1; 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) { if (_loop_timer_start_us == 0) {
_loop_timer_start_us = sample_time_us; _loop_timer_start_us = sample_time_us;

12
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -176,6 +176,11 @@ public:
return _last_loop_time_s; 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 // get the amount of extra time being added on each loop
uint32_t get_extra_loop_us(void) const { uint32_t get_extra_loop_us(void) const {
return extra_loop_us; return extra_loop_us;
@ -240,12 +245,15 @@ private:
// number of ticks that _spare_micros is counted over // number of ticks that _spare_micros is counted over
uint8_t _spare_ticks; uint8_t _spare_ticks;
// start of loop timing // start of previous loop
uint32_t _loop_timer_start_us; uint32_t _loop_timer_start_us;
// time of last loop in seconds // time of last loop in seconds
float _last_loop_time_s; 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 // bitmask bit which indicates if we should log PERF message
uint32_t _log_performance_bit; uint32_t _log_performance_bit;