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Add some simple interrupt latency tracking.

This commit is contained in:
px4dev 2012-08-22 16:56:52 -07:00
parent 88f0080a0f
commit e0a9024b64
1 changed files with 39 additions and 2 deletions
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41
nuttx/configs/px4fmu/src/up_hrt.c
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@ -244,9 +244,21 @@
*/
static struct sq_queue_s callout_queue;
/* latency baseline (last compare value applied) */
static uint16_t latency_baseline;
/* timer count at interrupt (for latency purposes) */
static uint16_t latency_actual;
/* latency histogram */
#define LATENCY_BUCKET_COUNT 8
static const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
static uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
/* timer-specific functions */
static void hrt_tim_init(void);
static int hrt_tim_isr(int irq, void *context);
static void hrt_latency_update(void);
/* callout list manipulation */
static void hrt_call_internal(struct hrt_call *entry,
@ -502,6 +514,9 @@ hrt_tim_isr(int irq, void *context)
{
uint32_t status;
/* grab the timer for latency tracking purposes */
latency_actual = rCNT;
/* copy interrupt status */
status = rSR;
@ -516,6 +531,10 @@ hrt_tim_isr(int irq, void *context)
/* was this a timer tick? */
if (status & SR_INT_HRT) {
/* do latency calculations */
hrt_latency_update();
/* run any callouts that have met their deadline */
hrt_call_invoke();
@ -799,8 +818,26 @@ hrt_call_reschedule()
}
//lldbg("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff));
/* set the new compare value */
rCCR_HRT = deadline & 0xffff;
/* set the new compare value and remember it for latency tracking */
rCCR_HRT = latency_baseline = deadline & 0xffff;
}
static void
hrt_latency_update(void)
{
uint16_t latency = latency_actual - latency_baseline;
unsigned index;
/* bounded buckets */
for (index = 0; index < LATENCY_BUCKET_COUNT; index++) {
if (latency <= latency_buckets[index]) {
latency_counters[index]++;
return;
}
}
/* catch-all at the end */
latency_counters[index]++;
}
#endif /* CONFIG_HRT_TIMER */