Merge branch 'master' of github.com:PX4/Firmware into fmuv2_bringup

1 files changed, 21 insertions, 21 deletions

diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
index 8fdff8ac0..afc5b072c 100644
--- a/src/modules/systemlib/cpuload.c
+++ b/src/modules/systemlib/cpuload.c
@@ -71,8 +71,6 @@ extern FAR struct _TCB *sched_gettcb(pid_t pid);
 
 void cpuload_initialize_once()
 {
-//	if (!system_load.initialized)
-//	{
 	system_load.start_time = hrt_absolute_time();
 	int i;
 
@@ -80,27 +78,29 @@ void cpuload_initialize_once()
 		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++;
-	//	}
+	int static_tasks_count = 2;	// there are at least 2 threads that should be initialized statically - "idle" and "init"
+
+#ifdef CONFIG_PAGING
+	static_tasks_count++;	// include paging thread in initialization
+#endif /* CONFIG_PAGING */
+#if CONFIG_SCHED_WORKQUEUE
+	static_tasks_count++;	// include high priority work0 thread in initialization
+#endif /* CONFIG_SCHED_WORKQUEUE */
+#if CONFIG_SCHED_LPWORK
+	static_tasks_count++;	// include low priority work1 thread in initialization
+#endif /* CONFIG_SCHED_WORKQUEUE */
+
+	// perform static initialization of "system" threads
+	for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++)
+	{
+		system_load.tasks[system_load.total_count].start_time = now;
+		system_load.tasks[system_load.total_count].total_runtime = 0;
+		system_load.tasks[system_load.total_count].curr_start_time = 0;
+		system_load.tasks[system_load.total_count].tcb = sched_gettcb(system_load.total_count);	// it is assumed that these static threads have consecutive PIDs
+		system_load.tasks[system_load.total_count].valid = true;
+	}
 }
 
 void sched_note_start(FAR struct tcb_s *tcb)