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AP_Scheduler: added optional perf counters at SCHED_DEBUG >= 4

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This commit is contained in:
Andrew Tridgell 2016-04-21 14:50:15 +10:00
parent a7006a7784
commit ced4cce358
2 changed files with 32 additions and 12 deletions
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40
libraries/AP_Scheduler/AP_Scheduler.cpp
View File

@ -24,6 +24,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <stdio.h>
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
#define SCHEDULER_DEFAULT_LOOP_RATE 400 #define SCHEDULER_DEFAULT_LOOP_RATE 400
@ -99,6 +100,15 @@ void AP_Scheduler::run(uint16_t time_available)
uint32_t run_started_usec = AP_HAL::micros(); uint32_t run_started_usec = AP_HAL::micros();
uint32_t now = run_started_usec; uint32_t now = run_started_usec;
if (_debug > 3 && _perf_counters == nullptr) {
_perf_counters = new AP_HAL::Util::perf_counter_t[_num_tasks];
if (_perf_counters != nullptr) {
for (uint8_t i=0; i<_num_tasks; i++) {
_perf_counters[i] = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, _tasks[i].name);
}
}
}
for (uint8_t i=0; i<_num_tasks; i++) { for (uint8_t i=0; i<_num_tasks; i++) {
uint16_t dt = _tick_counter - _last_run[i]; uint16_t dt = _tick_counter - _last_run[i];
uint16_t interval_ticks = _loop_rate_hz / _tasks[i].rate_hz; uint16_t interval_ticks = _loop_rate_hz / _tasks[i].rate_hz;
@ -112,12 +122,12 @@ void AP_Scheduler::run(uint16_t time_available)
if (dt >= interval_ticks*2) { if (dt >= interval_ticks*2) {
// we've slipped a whole run of this task! // we've slipped a whole run of this task!
if (_debug > 1) { if (_debug > 1) {
hal.console->printf("Scheduler slip task[%u-%s] (%u/%u/%u)\n", ::printf("Scheduler slip task[%u-%s] (%u/%u/%u)\n",
(unsigned)i, (unsigned)i,
_tasks[i].name, _tasks[i].name,
(unsigned)dt, (unsigned)dt,
(unsigned)interval_ticks, (unsigned)interval_ticks,
(unsigned)_task_time_allowed); (unsigned)_task_time_allowed);
} }
} }
@ -125,7 +135,13 @@ void AP_Scheduler::run(uint16_t time_available)
// run it // run it
_task_time_started = now; _task_time_started = now;
current_task = i; current_task = i;
if (_debug > 3 && _perf_counters && _perf_counters[i]) {
hal.util->perf_begin(_perf_counters[i]);
}
_tasks[i].function(); _tasks[i].function();
if (_debug > 3 && _perf_counters && _perf_counters[i]) {
hal.util->perf_end(_perf_counters[i]);
}
current_task = -1; current_task = -1;
// record the tick counter when we ran. This drives // record the tick counter when we ran. This drives
@ -138,12 +154,12 @@ void AP_Scheduler::run(uint16_t time_available)
if (time_taken > _task_time_allowed) { if (time_taken > _task_time_allowed) {
// the event overran! // the event overran!
if (_debug > 2) { if (_debug > 4) {
hal.console->printf("Scheduler overrun task[%u-%s] (%u/%u)\n", ::printf("Scheduler overrun task[%u-%s] (%u/%u)\n",
(unsigned)i, (unsigned)i,
_tasks[i].name, _tasks[i].name,
(unsigned)time_taken, (unsigned)time_taken,
(unsigned)_task_time_allowed); (unsigned)_task_time_allowed);
} }
} }
if (time_taken >= time_available) { if (time_taken >= time_available) {

4
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -22,6 +22,7 @@
#pragma once #pragma once
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_HAL/Util.h>
#define AP_SCHEDULER_NAME_INITIALIZER(_name) .name = #_name, #define AP_SCHEDULER_NAME_INITIALIZER(_name) .name = #_name,
@ -126,4 +127,7 @@ 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;
// performance counters
AP_HAL::Util::perf_counter_t *_perf_counters;
}; };