Moved last libs, drivers and headers, cleaned up IO build

1 files changed, 176 insertions, 0 deletions

diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
new file mode 100644
index 000000000..20b711fa6
--- /dev/null
+++ b/src/modules/systemlib/cpuload.c
@@ -0,0 +1,176 @@
+/****************************************************************************
+ * 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 */