diff options
Diffstat (limited to 'nuttx/configs/px4fmu/src/up_cpuload.c')
-rw-r--r-- | nuttx/configs/px4fmu/src/up_cpuload.c | 182 |
1 files changed, 182 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/src/up_cpuload.c b/nuttx/configs/px4fmu/src/up_cpuload.c new file mode 100644 index 000000000..750ec4852 --- /dev/null +++ b/nuttx/configs/px4fmu/src/up_cpuload.c @@ -0,0 +1,182 @@ +/**************************************************************************** + * 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 <arch/board/board.h> +#include <arch/board/up_hrt.h> +#include <arch/board/up_cpuload.h> + +#include "chip.h" +#include "up_arch.h" +#include "up_internal.h" +#include "stm32_internal.h" +#include "px4fmu-internal.h" + +/**************************************************************************** + * Definitions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: + ****************************************************************************/ + +#ifdef CONFIG_SCHED_INSTRUMENTATION + +struct system_load_s system_load; + +extern FAR _TCB *sched_gettcb(pid_t pid); + +void cpuload_initialize_once(void); + +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 */ |