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AP_Scheduler: pass log-performance-bit at init time rather than update time

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Peter Barker 2018-02-10 09:38:17 +11:00 committed by Andrew Tridgell
parent 4672e9d4eb
commit 73c0905b5e
2 changed files with 11 additions and 5 deletions
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9
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -74,7 +74,7 @@ AP_Scheduler::AP_Scheduler(scheduler_fastloop_fn_t fastloop_fn) :
} }
// initialise the scheduler // initialise the scheduler
void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks) void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit)
{ {
_tasks = tasks; _tasks = tasks;
_num_tasks = num_tasks; _num_tasks = num_tasks;
@ -86,6 +86,8 @@ void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks)
perf_info.set_loop_rate(get_loop_rate_hz()); perf_info.set_loop_rate(get_loop_rate_hz());
perf_info.reset(); perf_info.reset();
loop_start = AP_HAL::micros(); loop_start = AP_HAL::micros();
_log_performance_bit = log_performance_bit;
} }
// one tick has passed // one tick has passed
@ -242,12 +244,13 @@ void AP_Scheduler::loop()
perf_info.check_loop_time(AP_HAL::micros() - loop_start); perf_info.check_loop_time(AP_HAL::micros() - loop_start);
} }
void AP_Scheduler::update_logging(const bool log_to_dataflash) void AP_Scheduler::update_logging()
{ {
if (debug_flags()) { if (debug_flags()) {
perf_info.update_logging(); perf_info.update_logging();
} }
if (log_to_dataflash) { if (_log_performance_bit != (uint32_t)-1 &&
DataFlash_Class::instance()->should_log(_log_performance_bit)) {
Log_Write_Performance(); Log_Write_Performance();
} }
perf_info.set_loop_rate(get_loop_rate_hz()); perf_info.set_loop_rate(get_loop_rate_hz());

7
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -72,14 +72,14 @@ public:
}; };
// initialise scheduler // initialise scheduler
void init(const Task *tasks, uint8_t num_tasks); void init(const Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit);
// called by vehicle's main loop - which should be the only thing // called by vehicle's main loop - which should be the only thing
// that function does // that function does
void loop(); void loop();
// call to update any logging the scheduler might do; call at 1Hz // call to update any logging the scheduler might do; call at 1Hz
void update_logging(bool log_to_dataflash); void update_logging();
// write out PERF message to dataflash // write out PERF message to dataflash
void Log_Write_Performance(); void Log_Write_Performance();
@ -188,4 +188,7 @@ private:
// performance counters // performance counters
AP_HAL::Util::perf_counter_t *_perf_counters; AP_HAL::Util::perf_counter_t *_perf_counters;
// bitmask bit which indicates if we should log PERF message to dataflash
uint32_t _log_performance_bit;
}; };