/****************************************************************************
* configs/px4fmu/src/up_leds.c
* arch/arm/src/board/up_leds.c
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <sys/time.h>
#include <sched.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include "cpuload.h"
#ifdef CONFIG_SCHED_INSTRUMENTATION
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
__EXPORT void sched_note_start(FAR _TCB *tcb);
__EXPORT void sched_note_stop(FAR _TCB *tcb);
__EXPORT void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
/****************************************************************************
* Name:
****************************************************************************/
__EXPORT struct system_load_s system_load;
extern FAR _TCB *sched_gettcb(pid_t pid);
void cpuload_initialize_once()
{
// if (!system_load.initialized)
// {
system_load.start_time = hrt_absolute_time();
int i;
for (i = 0; i < CONFIG_MAX_TASKS; i++)
{
system_load.tasks[i].valid = false;
}
system_load.total_count = 0;
uint64_t now = hrt_absolute_time();
/* initialize idle thread statically */
system_load.tasks[0].start_time = now;
system_load.tasks[0].total_runtime = 0;
system_load.tasks[0].curr_start_time = 0;
system_load.tasks[0].tcb = sched_gettcb(0);
system_load.tasks[0].valid = true;
system_load.total_count++;
/* initialize init thread statically */
system_load.tasks[1].start_time = now;
system_load.tasks[1].total_runtime = 0;
system_load.tasks[1].curr_start_time = 0;
system_load.tasks[1].tcb = sched_gettcb(1);
system_load.tasks[1].valid = true;
/* count init thread */
system_load.total_count++;
// }
}
void sched_note_start(FAR _TCB *tcb )
{
/* search first free slot */
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++)
{
if (!system_load.tasks[i].valid)
{
/* slot is available */
system_load.tasks[i].start_time = hrt_absolute_time();
system_load.tasks[i].total_runtime = 0;
system_load.tasks[i].curr_start_time = 0;
system_load.tasks[i].tcb = tcb;
system_load.tasks[i].valid = true;
system_load.total_count++;
break;
}
}
}
void sched_note_stop(FAR _TCB *tcb )
{
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++)
{
if (system_load.tasks[i].tcb->pid == tcb->pid)
{
/* mark slot as fee */
system_load.tasks[i].valid = false;
system_load.tasks[i].total_runtime = 0;
system_load.tasks[i].curr_start_time = 0;
system_load.tasks[i].tcb = NULL;
system_load.total_count--;
break;
}
}
}
void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
{
uint64_t new_time = hrt_absolute_time();
/* Kind of inefficient: find both tasks and update times */
uint8_t both_found = 0;
for (int i = 0; i < CONFIG_MAX_TASKS; i++)
{
/* Task ending its current scheduling run */
if (system_load.tasks[i].tcb->pid == pFromTcb->pid)
{
//if (system_load.tasks[i].curr_start_time != 0)
{
system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
}
both_found++;
}
else if (system_load.tasks[i].tcb->pid == pToTcb->pid)
{
system_load.tasks[i].curr_start_time = new_time;
both_found++;
}
/* Do only iterate as long as needed */
if (both_found == 2)
{
break;
}
}
}
#endif /* CONFIG_SCHED_INSTRUMENTATION */
