Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Scheduler: put scheduler debug on console

Browse Source
This commit is contained in:
Andrew Tridgell 2018-01-19 12:27:43 +11:00
parent 73418519eb
commit 8dcf89b2b7
1 changed files with 13 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
libraries/AP_Scheduler/AP_Scheduler.cpp
View File

@ -31,6 +31,8 @@
#define SCHEDULER_DEFAULT_LOOP_RATE 50
#endif
#define debug(level, fmt, args...) do { if ((level) <= _debug.get()) { hal.console->printf(fmt, ##args); }} while (0)
extern const AP_HAL::HAL& hal;
int8_t AP_Scheduler::current_task = -1;
@ -113,14 +115,12 @@ void AP_Scheduler::run(uint32_t time_available)
if (dt >= interval_ticks*2) {
// we've slipped a whole run of this task!
if (_debug > 4) {
::printf("Scheduler slip task[%u-%s] (%u/%u/%u)\n",
(unsigned)i,
_tasks[i].name,
(unsigned)dt,
(unsigned)interval_ticks,
(unsigned)_task_time_allowed);
}
debug(2, "Scheduler slip task[%u-%s] (%u/%u/%u)\n",
(unsigned)i,
_tasks[i].name,
(unsigned)dt,
(unsigned)interval_ticks,
(unsigned)_task_time_allowed);
}
if (_task_time_allowed <= time_available) {
@ -146,13 +146,11 @@ void AP_Scheduler::run(uint32_t time_available)
if (time_taken > _task_time_allowed) {
// the event overran!
if (_debug > 4) {
::printf("Scheduler overrun task[%u-%s] (%u/%u)\n",
(unsigned)i,
_tasks[i].name,
(unsigned)time_taken,
(unsigned)_task_time_allowed);
}
debug(3, "Scheduler overrun task[%u-%s] (%u/%u)\n",
(unsigned)i,
_tasks[i].name,
(unsigned)time_taken,
(unsigned)_task_time_allowed);
}
if (time_taken >= time_available) {
goto update_spare_ticks;