HAL_PX4: added scheduler performance counters

This commit is contained in:
Andrew Tridgell 2013-01-24 15:02:50 +11:00
parent 0e79b93289
commit 70227d5d93
2 changed files with 46 additions and 11 deletions

View File

@ -15,6 +15,7 @@
#include <nuttx/arch.h> #include <nuttx/arch.h>
#include <systemlib/systemlib.h> #include <systemlib/systemlib.h>
#include <poll.h> #include <poll.h>
#include "UARTDriver.h" #include "UARTDriver.h"
#include "Storage.h" #include "Storage.h"
@ -24,7 +25,9 @@ extern const AP_HAL::HAL& hal;
extern bool _px4_thread_should_exit; extern bool _px4_thread_should_exit;
PX4Scheduler::PX4Scheduler() PX4Scheduler::PX4Scheduler() :
_perf_timers(perf_alloc(PC_ELAPSED, "APM_timers")),
_perf_delay(perf_alloc(PC_ELAPSED, "APM_delay"))
{} {}
void PX4Scheduler::init(void *unused) void PX4Scheduler::init(void *unused)
@ -33,20 +36,26 @@ void PX4Scheduler::init(void *unused)
// setup the timer thread - this will call tasks at 1kHz // setup the timer thread - this will call tasks at 1kHz
pthread_attr_t thread_attr; pthread_attr_t thread_attr;
struct sched_param param;
pthread_attr_init(&thread_attr); pthread_attr_init(&thread_attr);
pthread_attr_setstacksize(&thread_attr, 2048); pthread_attr_setstacksize(&thread_attr, 2048);
// the timer thread needs a higher priority than the main code, so param.sched_priority = APM_TIMER_PRIORITY;
// it runs as soon as its poll() delay returns
struct sched_param param;
param.sched_priority = SCHED_PRIORITY_DEFAULT + 1;
(void)pthread_attr_setschedparam(&thread_attr, &param); (void)pthread_attr_setschedparam(&thread_attr, &param);
// we run as a FIFO task as we don't want the main task to preempt
// us. This keeps the locking much simpler between the two threads
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO); pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
pthread_create(&_thread, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_timer_thread, this); pthread_create(&_timer_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_timer_thread, this);
// the IO thread runs at lower priority
pthread_attr_init(&thread_attr);
pthread_attr_setstacksize(&thread_attr, 2048);
param.sched_priority = APM_IO_PRIORITY;
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_io_thread, this);
} }
uint32_t PX4Scheduler::micros() uint32_t PX4Scheduler::micros()
@ -65,10 +74,12 @@ void PX4Scheduler::delay_microseconds(uint16_t usec)
::printf("ERROR: delay_microseconds() from timer process\n"); ::printf("ERROR: delay_microseconds() from timer process\n");
return; return;
} }
perf_begin(_perf_delay);
uint32_t start = micros(); uint32_t start = micros();
while (micros() - start < usec) { while (micros() - start < usec) {
up_udelay(usec - (micros() - start)); up_udelay(usec - (micros() - start));
} }
perf_end(_perf_delay);
} }
void PX4Scheduler::delay(uint16_t ms) void PX4Scheduler::delay(uint16_t ms)
@ -77,6 +88,7 @@ void PX4Scheduler::delay(uint16_t ms)
::printf("ERROR: delay() from timer process\n"); ::printf("ERROR: delay() from timer process\n");
return; return;
} }
perf_begin(_perf_delay);
uint64_t start = hrt_absolute_time(); uint64_t start = hrt_absolute_time();
while ((hrt_absolute_time() - start)/1000 < ms && while ((hrt_absolute_time() - start)/1000 < ms &&
@ -89,6 +101,7 @@ void PX4Scheduler::delay(uint16_t ms)
} }
} }
} }
perf_end(_perf_delay);
if (_px4_thread_should_exit) { if (_px4_thread_should_exit) {
exit(1); exit(1);
} }
@ -171,11 +184,20 @@ void PX4Scheduler::_run_timers(bool called_from_timer_thread)
void *PX4Scheduler::_timer_thread(void) void *PX4Scheduler::_timer_thread(void)
{ {
while (!_px4_thread_should_exit) { while (!_px4_thread_should_exit) {
// run timers at 1kHz
poll(NULL, 0, 1); poll(NULL, 0, 1);
// run registered timers // run registered timers
perf_begin(_perf_timers);
_run_timers(true); _run_timers(true);
perf_end(_perf_timers);
}
return NULL;
}
void *PX4Scheduler::_io_thread(void)
{
while (!_px4_thread_should_exit) {
poll(NULL, 0, 1);
// process any pending serial bytes // process any pending serial bytes
((PX4UARTDriver *)hal.uartA)->_timer_tick(); ((PX4UARTDriver *)hal.uartA)->_timer_tick();

View File

@ -8,9 +8,15 @@
#include <sys/time.h> #include <sys/time.h>
#include <signal.h> #include <signal.h>
#include <pthread.h> #include <pthread.h>
#include <systemlib/perf_counter.h>
#define PX4_SCHEDULER_MAX_TIMER_PROCS 8 #define PX4_SCHEDULER_MAX_TIMER_PROCS 8
#define APM_MAIN_PRIORITY 200
#define APM_TIMER_PRIORITY 201
#define APM_IO_PRIORITY 60
#define APM_OVERTIME_PRIORITY 10
/* Scheduler implementation: */ /* Scheduler implementation: */
class PX4::PX4Scheduler : public AP_HAL::Scheduler { class PX4::PX4Scheduler : public AP_HAL::Scheduler {
public: public:
@ -39,7 +45,6 @@ private:
AP_HAL::Proc _delay_cb; AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms; uint16_t _min_delay_cb_ms;
AP_HAL::TimedProc _failsafe; AP_HAL::TimedProc _failsafe;
pthread_t _thread;
volatile bool _timer_pending; volatile bool _timer_pending;
uint64_t _sketch_start_time; uint64_t _sketch_start_time;
@ -48,9 +53,17 @@ private:
uint8_t _num_timer_procs; uint8_t _num_timer_procs;
volatile bool _in_timer_proc; volatile bool _in_timer_proc;
volatile bool _timer_event_missed; volatile bool _timer_event_missed;
pthread_t _timer_thread_ctx;
pthread_t _io_thread_ctx;
void *_timer_thread(void); void *_timer_thread(void);
void *_io_thread(void);
void _run_timers(bool called_from_timer_thread); void _run_timers(bool called_from_timer_thread);
perf_counter_t _perf_timers;
perf_counter_t _perf_delay;
}; };
#endif #endif
#endif // __AP_HAL_PX4_SCHEDULER_H__ #endif // __AP_HAL_PX4_SCHEDULER_H__