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AP_Scheduler: make overtime margin definable 

Also warn about overtime on ESP32 which is most likely to hit it.
This commit is contained in:
Thomas Watson 2024-08-31 15:10:13 -05:00 committed by Andrew Tridgell
parent 50dba896ca
commit 6c2daabd21
1 changed files with 14 additions and 1 deletions
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15
libraries/AP_Scheduler/PerfInfo.cpp
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@ -17,6 +17,11 @@ extern const AP_HAL::HAL& hal;
// we measure the main loop time // we measure the main loop time
// //
// loops over time by this amount or more won't be counted in filtered loop time (and thus loop rate)
#ifndef AP_SCHEDULER_OVERTIME_MARGIN_US
#define AP_SCHEDULER_OVERTIME_MARGIN_US 10000UL
#endif
// reset - reset all records of loop time to zero // reset - reset all records of loop time to zero
void AP::PerfInfo::reset() void AP::PerfInfo::reset()
{ {
@ -140,8 +145,16 @@ void AP::PerfInfo::check_loop_time(uint32_t time_in_micros)
const uint32_t now = AP_HAL::micros(); const uint32_t now = AP_HAL::micros();
const uint32_t loop_time_us = now - last_check_us; const uint32_t loop_time_us = now - last_check_us;
last_check_us = now; last_check_us = now;
if (loop_time_us < overtime_threshold_micros + 10000UL) { if (loop_time_us < overtime_threshold_micros + AP_SCHEDULER_OVERTIME_MARGIN_US) {
filtered_loop_time = 0.99f * filtered_loop_time + 0.01f * loop_time_us * 1.0e-6f; filtered_loop_time = 0.99f * filtered_loop_time + 0.01f * loop_time_us * 1.0e-6f;
} else {
// esp32 is most likely to regularly trigger long loops, might be
// helpful for bringup of other boards too
#if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
#ifdef SCHEDDEBUG
DEV_PRINTF("way overtime: %dus\n", loop_time_us);
#endif
#endif
} }
} }