mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.1 KiB
Plaintext
77 lines
2.1 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// high level performance monitoring
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//
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// we measure the main loop time
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//
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// 400hz loop update rate
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#define PERF_INFO_OVERTIME_THRESHOLD_MICROS 3000
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static uint16_t perf_info_loop_count;
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static uint32_t perf_info_max_time;
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static uint32_t perf_info_min_time;
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static uint16_t perf_info_long_running;
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static bool perf_ignore_loop = false;
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// perf_info_reset - reset all records of loop time to zero
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static void perf_info_reset()
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{
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perf_info_loop_count = 0;
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perf_info_max_time = 0;
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perf_info_min_time = 0;
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perf_info_long_running = 0;
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}
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// perf_ignore_loop - ignore this loop from performance measurements (used to reduce false positive when arming)
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static void perf_ignore_this_loop()
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{
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perf_ignore_loop = true;
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}
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// perf_info_check_loop_time - check latest loop time vs min, max and overtime threshold
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static void perf_info_check_loop_time(uint32_t time_in_micros)
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{
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perf_info_loop_count++;
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// exit if this loop should be ignored
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if (perf_ignore_loop) {
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perf_ignore_loop = false;
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return;
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}
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if( time_in_micros > perf_info_max_time) {
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perf_info_max_time = time_in_micros;
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}
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if( perf_info_min_time == 0 || time_in_micros < perf_info_min_time) {
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perf_info_min_time = time_in_micros;
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}
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if( time_in_micros > PERF_INFO_OVERTIME_THRESHOLD_MICROS ) {
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perf_info_long_running++;
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}
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}
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// perf_info_get_long_running_percentage - get number of long running loops as a percentage of the total number of loops
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static uint16_t perf_info_get_num_loops()
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{
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return perf_info_loop_count;
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}
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// perf_info_get_max_time - return maximum loop time (in microseconds)
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static uint32_t perf_info_get_max_time()
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{
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return perf_info_max_time;
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}
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// perf_info_get_max_time - return maximum loop time (in microseconds)
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static uint32_t perf_info_get_min_time()
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{
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return perf_info_min_time;
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}
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// perf_info_get_num_long_running - get number of long running loops
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static uint16_t perf_info_get_num_long_running()
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{
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return perf_info_long_running;
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}
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