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AP_HAL_ChibiOS: added stack logging

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This commit is contained in:
Andrew Tridgell 2021-09-06 14:46:19 +10:00
parent 8e729841e8
commit 84bbc707fc
2 changed files with 53 additions and 0 deletions
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50
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -35,6 +35,9 @@
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
#include <AP_InertialSensor/AP_InertialSensor.h>
#endif
#ifndef HAL_BOOTLOADER_BUILD
#include <AP_Logger/AP_Logger.h>
#endif
#if HAL_WITH_IO_MCU
#include <AP_BoardConfig/AP_BoardConfig.h>
@ -648,3 +651,50 @@ bool Util::get_true_random_vals(uint8_t* data, size_t size, uint32_t timeout_us)
return false;
#endif
}
/*
log info on stack usage. Called at 1Hz by logging thread, logs next
thread on each call
*/
void Util::log_stack_info(void)
{
#if !defined(HAL_BOOTLOADER_BUILD) && HAL_LOGGING_ENABLED
static thread_t *last_tp;
static uint8_t thread_id;
thread_t *tp = last_tp;
if (tp == nullptr) {
tp = chRegFirstThread();
thread_id = 0;
} else {
tp = chRegNextThread(last_tp);
thread_id++;
}
struct log_STAK pkt = {
LOG_PACKET_HEADER_INIT(LOG_STAK_MSG),
time_us : AP_HAL::micros64(),
};
if (tp == nullptr) {
pkt.thread_id = 255;
pkt.priority = 255;
const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
pkt.stack_total = isr_stack_size;
pkt.stack_free = stack_free(&__main_stack_base__);
strncpy_noterm(pkt.name, "ISR", sizeof(pkt.name));
} else {
if (tp->wabase == (void*)&__main_thread_stack_base__) {
// main thread has its stack separated from the thread context
pkt.stack_total = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
} else {
// all other threads have their thread context pointer
// above the stack top
pkt.stack_total = uint32_t(tp) - uint32_t(tp->wabase);
}
pkt.thread_id = thread_id;
pkt.priority = tp->realprio,
pkt.stack_free = stack_free(tp->wabase);
strncpy_noterm(pkt.name, tp->name, sizeof(pkt.name));
}
AP::logger().WriteBlock(&pkt, sizeof(pkt));
last_tp = tp;
#endif
}

3
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -132,4 +132,7 @@ private:
// save/load key persistent parameters in bootloader sector
bool get_persistent_params(ExpandingString &str) const;
#endif
// log info on stack usage
void log_stack_info(void) override;
};