Add logic to meaure and calculate the CPU load percentage. From David Alessio

12 files changed, 525 insertions, 26 deletions

diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index 911692bc5..990d0932d 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -6654,4 +6654,6 @@
 	  where the apps/ directly will reside until configuration time (2014-2-21).
 	* arch/arm/src/sam34/chip/sam4e_pinmap.h:  SAM4E pin multiplexing
 	  definitions (2014-2-21).
-
+	* sched/sched_processtimer.c and fs/procfs/fs_procfscpuload.c:  Add
+	  logic to measure and calculate the CPU load percentage.  From David
+	  Alessio (2014-2-22).
diff --git a/nuttx/configs/sim/nsh/defconfig b/nuttx/configs/sim/nsh/defconfig
index 01cb4521a..37f2a1497 100644
--- a/nuttx/configs/sim/nsh/defconfig
+++ b/nuttx/configs/sim/nsh/defconfig
@@ -455,6 +455,8 @@ CONFIG_EXAMPLES_NSH=y
 # NSH Library
 #
 CONFIG_NSH_LIBRARY=y
+CONFIG_NSH_READLINE=y
+# CONFIG_NSH_CLE is not set
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_FILE_APPS=y
 
diff --git a/nuttx/configs/sim/nxlines/defconfig b/nuttx/configs/sim/nxlines/defconfig
index 046ca3e18..e3a68aacd 100644
--- a/nuttx/configs/sim/nxlines/defconfig
+++ b/nuttx/configs/sim/nxlines/defconfig
@@ -479,6 +479,9 @@ CONFIG_EXAMPLES_NXLINES_BPP=32
 # NSH Library
 #
 CONFIG_NSH_LIBRARY=y
+CONFIG_NSH_READLINE=y
+# CONFIG_NSH_CLE is not set
+
 
 #
 # Disable Individual commands
diff --git a/nuttx/configs/sim/nxwm/defconfig b/nuttx/configs/sim/nxwm/defconfig
index f5ead1cb2..5821f2c39 100644
--- a/nuttx/configs/sim/nxwm/defconfig
+++ b/nuttx/configs/sim/nxwm/defconfig
@@ -547,6 +547,8 @@ CONFIG_HAVE_CXX=y
 # NSH Library
 #
 CONFIG_NSH_LIBRARY=y
+CONFIG_NSH_READLINE=y
+# CONFIG_NSH_CLE is not set
 
 #
 # Disable Individual commands
diff --git a/nuttx/fs/procfs/Kconfig b/nuttx/fs/procfs/Kconfig
index 84df4a620..ff10519fe 100644
--- a/nuttx/fs/procfs/Kconfig
+++ b/nuttx/fs/procfs/Kconfig
@@ -17,16 +17,6 @@ if FS_PROCFS
 
 menu "Exclude individual procfs entries"
 
-config FS_PROCFS_EXCLUDE_MOUNTS
-	bool "Exclude mounts"
-	depends on !DISABLE_MOUNTPOINT
-	default n
-
-config FS_PROCFS_EXCLUDE_MTD
-	bool "Exclude mtd"
-	depends on MTD
-	default n
-
 config FS_PROCFS_EXCLUDE_PROCESS
 	bool "Exclude process information"
 	default n
@@ -39,6 +29,21 @@ config FS_PROCFS_EXCLUDE_UPTIME
 	bool "Exclude uptime"
 	default n
 
+config FS_PROCFS_EXCLUDE_CPULOAD
+	bool "Exclude CPU load"
+	default n
+	depends on SCHED_CPULOAD
+
+config FS_PROCFS_EXCLUDE_MOUNTS
+	bool "Exclude mounts"
+	default n
+	depends on !DISABLE_MOUNTPOINT
+
+config FS_PROCFS_EXCLUDE_MTD
+	bool "Exclude mtd"
+	depends on MTD
+	default n
+
 config FS_PROCFS_EXCLUDE_PARTITIONS
 	bool "Exclude partitions"
 	depends on MTD_PARTITION
diff --git a/nuttx/fs/procfs/Make.defs b/nuttx/fs/procfs/Make.defs
index 8b05cbb17..dfe17aff4 100644
--- a/nuttx/fs/procfs/Make.defs
+++ b/nuttx/fs/procfs/Make.defs
@@ -38,6 +38,7 @@ ifeq ($(CONFIG_FS_PROCFS),y)
 
 ASRCS +=
 CSRCS += fs_procfs.c fs_procfsutil.c fs_procfsproc.c fs_procfsuptime.c
+CSRCS += fs_procfscpuload.c
 
 # Include procfs build support
 
diff --git a/nuttx/fs/procfs/fs_procfs.c b/nuttx/fs/procfs/fs_procfs.c
index e52c6dca2..f1d98d0a7 100644
--- a/nuttx/fs/procfs/fs_procfs.c
+++ b/nuttx/fs/procfs/fs_procfs.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * fs/procfs/fs_procfs.c
  *
- *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -69,13 +69,14 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#define PROCFS_NATTRS     2
+#define PROCFS_NATTRS  2
 
 /****************************************************************************
  * External Definitons
  ****************************************************************************/
 
 extern const struct procfs_operations proc_operations;
+extern const struct procfs_operations cpuload_operations;
 extern const struct procfs_operations uptime_operations;
 extern const struct procfs_operations mtd_procfsoperations;
 extern const struct procfs_operations part_procfsoperations;
@@ -92,23 +93,31 @@ static const struct procfs_entry_s g_procfsentries[] =
   { "[0-9]*/**",        &proc_operations },
   { "[0-9]*",           &proc_operations },
 #endif
+
+#if defined(CONFIG_SCHED_CPULOAD) && !defined(CONFIG_FS_PROCFS_EXCLUDE_CPULOAD)
+  { "cpuload",          &cpuload_operations },
+#endif
+
 #if defined(CONFIG_FS_SMARTFS) && !defined(CONFIG_FS_PROCFS_EXCLUDE_SMARTFS)
 //{ "fs/smartfs",       &smartfs_procfsoperations },
   { "fs/smartfs**",     &smartfs_procfsoperations },
 #endif
+
 #if defined(CONFIG_MTD) && !defined(CONFIG_FS_PROCFS_EXCLUDE_MTD)
   { "mtd",              &mtd_procfsoperations },
 #endif
+
 #if defined(CONFIG_MTD_PARTITION) && !defined(CONFIG_FS_PROCFS_EXCLUDE_PARTITON)
   { "partitions",       &part_procfsoperations },
 #endif
+
 #if !defined(CONFIG_FS_PROCFS_EXCLUDE_UPTIME)
   { "uptime",           &uptime_operations },
 #endif
 };
 
 static const uint8_t g_procfsentrycount = sizeof(g_procfsentries) /
-                            sizeof(struct procfs_entry_s);
+                                          sizeof(struct procfs_entry_s);
 
 /****************************************************************************
  * Private Function Prototypes
diff --git a/nuttx/fs/procfs/fs_procfscpuload.c b/nuttx/fs/procfs/fs_procfscpuload.c
new file mode 100644
index 000000000..a1f8179bf
--- /dev/null
+++ b/nuttx/fs/procfs/fs_procfscpuload.c
@@ -0,0 +1,358 @@
+/****************************************************************************
+ * fs/procfs/fs_procfscpuload.c
+ *
+ *   Copyright (C) 2014 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 <sys/types.h>
+#include <sys/statfs.h>
+#include <sys/stat.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <string.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/clock.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/fs/fs.h>
+#include <nuttx/fs/procfs.h>
+
+#if !defined(CONFIG_DISABLE_MOUNTPOINT) && defined(CONFIG_FS_PROCFS)
+#ifndef CONFIG_FS_PROCFS_EXCLUDE_CPULOAD
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Determines the size of an intermediate buffer that must be large enough
+ * to handle the longest line generated by this logic.
+ */
+
+#define CPULOAD_LINELEN 16
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/* This structure describes one open "file" */
+
+struct cpuload_file_s
+{
+  struct procfs_file_s  base;   /* Base open file structure */
+  unsigned int linesize;        /* Number of valid characters in line[] */
+  char line[CPULOAD_LINELEN];   /* Pre-allocated buffer for formatted lines */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/* File system methods */
+
+static int     cpuload_open(FAR struct file *filep, FAR const char *relpath,
+                 int oflags, mode_t mode);
+static int     cpuload_close(FAR struct file *filep);
+static ssize_t cpuload_read(FAR struct file *filep, FAR char *buffer,
+                 size_t buflen);
+static int     cpuload_dup(FAR const struct file *oldp,
+                 FAR struct file *newp);
+static int     cpuload_stat(FAR const char *relpath, FAR struct stat *buf);
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Variables
+ ****************************************************************************/
+
+/* See fs_mount.c -- this structure is explicitly externed there.
+ * We use the old-fashioned kind of initializers so that this will compile
+ * with any compiler.
+ */
+
+const struct procfs_operations cpuload_operations =
+{
+  cpuload_open,       /* open */
+  cpuload_close,      /* close */
+  cpuload_read,       /* read */
+  NULL,               /* write */
+
+  cpuload_dup,        /* dup */
+
+  NULL,              /* opendir */
+  NULL,              /* closedir */
+  NULL,              /* readdir */
+  NULL,              /* rewinddir */
+
+  cpuload_stat        /* stat */
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: cpuload_open
+ ****************************************************************************/
+
+static int cpuload_open(FAR struct file *filep, FAR const char *relpath,
+                      int oflags, mode_t mode)
+{
+  FAR struct cpuload_file_s *attr;
+
+  fvdbg("Open '%s'\n", relpath);
+
+  /* PROCFS is read-only.  Any attempt to open with any kind of write
+   * access is not permitted.
+   *
+   * REVISIT:  Write-able proc files could be quite useful.
+   */
+
+  if ((oflags & O_WRONLY) != 0 || (oflags & O_RDONLY) == 0)
+    {
+      fdbg("ERROR: Only O_RDONLY supported\n");
+      return -EACCES;
+    }
+
+  /* "cpuload" is the only acceptable value for the relpath */
+
+  if (strcmp(relpath, "cpuload") != 0)
+    {
+      fdbg("ERROR: relpath is '%s'\n", relpath);
+      return -ENOENT;
+    }
+
+  /* Allocate a container to hold the file attributes */
+
+  attr = (FAR struct cpuload_file_s *)kzalloc(sizeof(struct cpuload_file_s));
+  if (!attr)
+    {
+      fdbg("ERROR: Failed to allocate file attributes\n");
+      return -ENOMEM;
+    }
+
+  /* Save the attributes as the open-specific state in filep->f_priv */
+
+  filep->f_priv = (FAR void *)attr;
+  return OK;
+}
+
+/****************************************************************************
+ * Name: cpuload_close
+ ****************************************************************************/
+
+static int cpuload_close(FAR struct file *filep)
+{
+  FAR struct cpuload_file_s *attr;
+
+  /* Recover our private data from the struct file instance */
+
+  attr = (FAR struct cpuload_file_s *)filep->f_priv;
+  DEBUGASSERT(attr);
+
+  /* Release the file attributes structure */
+
+  kfree(attr);
+  filep->f_priv = NULL;
+  return OK;
+}
+
+/****************************************************************************
+ * Name: cpuload_read
+ ****************************************************************************/
+
+static ssize_t cpuload_read(FAR struct file *filep, FAR char *buffer,
+                           size_t buflen)
+{
+  FAR struct cpuload_file_s *attr;
+  uint32_t cpuload;
+  uint32_t cpuload_int;
+  uint32_t cpuload_frac;
+  size_t linesize;
+  off_t offset;
+  ssize_t ret;
+
+  fvdbg("buffer=%p buflen=%d\n", buffer, (int)buflen);
+
+  /* Recover our private data from the struct file instance */
+
+  attr = (FAR struct cpuload_file_s *)filep->f_priv;
+  DEBUGASSERT(attr);
+
+  /* If f_pos is zero, then sample the system time.  Otherwise, use
+   * the cached system time from the previous read().  It is necessary
+   * save the cached value in case, for example, the user is reading
+   * the time one byte at a time.  In that case, the time must remain
+   * stable throughout the reads.
+   */
+
+  if (filep->f_pos == 0)
+    {
+      uint32_t idle;
+      uint32_t busycnt;
+      uint32_t verify;
+
+      /* Sample the counts, repeatedly if necessary to assure that they are
+       * in sync.
+       */
+
+      do
+        {
+          busycnt = g_cpuload.cnt;
+          idle    = g_cpuload.idle;
+          verify  = g_cpuload.cnt;
+        }
+      while (busycnt != verify);
+
+      /* On the simulator, you may hit busycnt == 0, but probably never on
+       * real hardware.
+       */
+
+      if (busycnt > 0)
+        {
+          cpuload      = 1000 - (1000 * idle) / busycnt;
+          cpuload_int  = cpuload / 10;
+          cpuload_frac = cpuload - 10 * cpuload_int;
+        }
+      else
+        {
+          cpuload_int  = 0;
+          cpuload_frac = 0;
+        }
+
+      linesize = snprintf(attr->line, CPULOAD_LINELEN, "%3d.%01d%%\n",
+                          cpuload_int, cpuload_frac);
+
+      /* Save the linesize in case we are re-entered with f_pos > 0 */
+
+      attr->linesize = linesize;
+    }
+
+  /* Transfer the system up time to user receive buffer */
+
+  offset = filep->f_pos;
+  ret    = procfs_memcpy(attr->line, attr->linesize, buffer, buflen, &offset);
+
+  /* Update the file offset */
+
+  if (ret > 0)
+    {
+      filep->f_pos += ret;
+    }
+
+  return ret;
+}
+
+/****************************************************************************
+ * Name: cpuload_dup
+ *
+ * Description:
+ *   Duplicate open file data in the new file structure.
+ *
+ ****************************************************************************/
+
+static int cpuload_dup(FAR const struct file *oldp, FAR struct file *newp)
+{
+  FAR struct cpuload_file_s *oldattr;
+  FAR struct cpuload_file_s *newattr;
+
+  fvdbg("Dup %p->%p\n", oldp, newp);
+
+  /* Recover our private data from the old struct file instance */
+
+  oldattr = (FAR struct cpuload_file_s *)oldp->f_priv;
+  DEBUGASSERT(oldattr);
+
+  /* Allocate a new container to hold the task and attribute selection */
+
+  newattr = (FAR struct cpuload_file_s *)kmalloc(sizeof(struct cpuload_file_s));
+  if (!newattr)
+    {
+      fdbg("ERROR: Failed to allocate file attributes\n");
+      return -ENOMEM;
+    }
+
+  /* The copy the file attributes from the old attributes to the new */
+
+  memcpy(newattr, oldattr, sizeof(struct cpuload_file_s));
+
+  /* Save the new attributes in the new file structure */
+
+  newp->f_priv = (FAR void *)newattr;
+  return OK;
+}
+
+/****************************************************************************
+ * Name: cpuload_stat
+ *
+ * Description: Return information about a file or directory
+ *
+ ****************************************************************************/
+
+static int cpuload_stat(const char *relpath, struct stat *buf)
+{
+  /* "cpuload" is the only acceptable value for the relpath */
+
+  if (strcmp(relpath, "cpuload") != 0)
+    {
+      fdbg("ERROR: relpath is '%s'\n", relpath);
+      return -ENOENT;
+    }
+
+  /* "cpuload" is the name for a read-only file */
+
+  buf->st_mode    = S_IFREG|S_IROTH|S_IRGRP|S_IRUSR;
+  buf->st_size    = 0;
+  buf->st_blksize = 0;
+  buf->st_blocks  = 0;
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+#endif /* CONFIG_FS_PROCFS_EXCLUDE_CPULOAD */
+#endif /* !CONFIG_DISABLE_MOUNTPOINT && CONFIG_FS_PROCFS */
diff --git a/nuttx/fs/procfs/fs_procfsproc.c b/nuttx/fs/procfs/fs_procfsproc.c
index bd87f21b2..1fc90b096 100644
--- a/nuttx/fs/procfs/fs_procfsproc.c
+++ b/nuttx/fs/procfs/fs_procfsproc.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * fs/procfs/fs_procfsproc.c
  *
- *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -68,7 +68,7 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
-/* Determines the size of an intermeidate buffer that must be large enough
+/* Determines the size of an intermediate buffer that must be large enough
  * to handle the longest line generated by this logic.
  */
 
diff --git a/nuttx/include/nuttx/clock.h b/nuttx/include/nuttx/clock.h
index e640ecd2e..d0fd9220f 100644
--- a/nuttx/include/nuttx/clock.h
+++ b/nuttx/include/nuttx/clock.h
@@ -1,7 +1,7 @@
 /****************************************************************************
  * include/nuttx/clock.h
  *
- *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009, 2011-2012, 2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -47,7 +47,7 @@
 #include <nuttx/compiler.h>
 
 /****************************************************************************
- * Pro-processor Definitions
+ * Pre-processor Definitions
  ****************************************************************************/
 /* Configuration ************************************************************/
 /* Efficient, direct access to OS global timer variables will be supported
@@ -122,7 +122,20 @@
 #define TICK2SEC(tick)        (((tick)+(TICK_PER_SEC/2))/TICK_PER_SEC)   /* Rounds */
 
 /****************************************************************************
- * Global Data
+ * Public Types
+ ****************************************************************************/
+/* This structure is used when CONFIG_SCHED_CPULOAD to sample CPU usage */
+
+#ifdef CONFIG_SCHED_CPULOAD
+struct cpuload_s
+{
+  volatile uint32_t cnt;   /* Total number of clock ticks */
+  volatile uint32_t idle;  /* Total number of clocks ticks with CPU IDLE */
+};
+#endif
+
+/****************************************************************************
+ * Public Data
  ****************************************************************************/
 
 #if !defined(CONFIG_DISABLE_CLOCK)
@@ -149,8 +162,15 @@ extern volatile uint32_t g_system_timer;
 #  endif
 #endif
 
+/* CPU Load Measurements ***************************************************/
+/* This structure is used when CONFIG_SCHED_CPULOAD to sample CPU usage */
+
+#ifdef CONFIG_SCHED_CPULOAD
+extern volatile struct cpuload_s g_cpuload;
+#endif
+
 /****************************************************************************
- * Global Function Prototypes
+ * Public Function Prototypes
  ****************************************************************************/
 
 #ifdef __cplusplus
diff --git a/nuttx/sched/Kconfig b/nuttx/sched/Kconfig
index 8aeda33ea..a6b661e05 100644
--- a/nuttx/sched/Kconfig
+++ b/nuttx/sched/Kconfig
@@ -60,6 +60,30 @@ config RR_INTERVAL
 		The round robin timeslice will be set this number of milliseconds;
 		Round robin scheduling can be disabled by setting this value to zero.
 
+config SCHED_CPULOAD
+	bool "Enable CPU load monitoring"
+	default n
+	---help---
+		If this option is selected, the timer interrupt handler will monitor
+		if the system is IDLE or busy at the time of that the timer interrupt
+		occurs.  This is a very coarse measurement, but over a period of time,
+		it can very accurately determined the percentage of the time that the
+		CPU is IDLE.
+
+		The statistics collected in this could be used, for example in the
+		PROCFS file system to provide CPU load measurements when read.
+
+if SCHED_CPULOAD
+
+config SCHED_CPULOAD_TIMECONSTANT
+	int "CPU load time constant"
+	default 2
+	---help---
+		The accumulated CPU count is divided by two when the accumulated
+		tick count exceeds this time constant.
+
+endif # SCHED_CPULOAD
+
 config SCHED_INSTRUMENTATION
 	bool "Monitor system performance"
 	default n
diff --git a/nuttx/sched/sched_processtimer.c b/nuttx/sched/sched_processtimer.c
index a065d007e..b07994cb4 100644
--- a/nuttx/sched/sched_processtimer.c
+++ b/nuttx/sched/sched_processtimer.c
@@ -1,7 +1,7 @@
 /************************************************************************
  * sched/sched_processtimer.c
  *
- *   Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2009, 2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -39,6 +39,7 @@
 
 #include <nuttx/config.h>
 #include <nuttx/compiler.h>
+#include <time.h>
 
 #if CONFIG_RR_INTERVAL > 0
 # include <sched.h>
@@ -50,8 +51,12 @@
 #include "clock_internal.h"
 
 /************************************************************************
- * Definitions
+ * Pre-processor Definitions
  ************************************************************************/
+ 
+#ifndef CONFIG_SCHED_CPULOAD_TIMECONSTANT
+#  define CONFIG_SCHED_CPULOAD_TIMECONSTANT 2
+#endif
 
 /************************************************************************
  * Private Type Declarations
@@ -61,6 +66,12 @@
  * Global Variables
  ************************************************************************/
 
+/* This structure is used when CONFIG_SCHED_CPULOAD to sample CPU usage */
+
+#ifdef CONFIG_SCHED_CPULOAD
+volatile struct cpuload_s g_cpuload;
+#endif
+
 /************************************************************************
  * Private Variables
  ************************************************************************/
@@ -69,16 +80,29 @@
  * Private Functions
  ************************************************************************/
 
-static void sched_process_timeslice(void)
-{
+/************************************************************************
+ * Name:  sched_process_timeslice
+ *
+ * Description:
+ *   Check if the currently executing task has exceeded its time slice.
+ *
+ * Inputs:
+ *   None
+ *
+ * Return Value:
+ *   None
+ *
+ ************************************************************************/
+
 #if CONFIG_RR_INTERVAL > 0
-  struct tcb_s *rtcb;
+static inline void sched_process_timeslice(void)
+{
+  FAR struct tcb_s *rtcb  = (FAR struct tcb_s*)g_readytorun.head;
 
   /* Check if the currently executing task uses round robin
    * scheduling.
    */
 
-  rtcb = (struct tcb_s*)g_readytorun.head;
   if ((rtcb->flags & TCB_FLAG_ROUND_ROBIN) != 0)
     {
       /* Yes, check if decrementing the timeslice counter
@@ -127,8 +151,51 @@ static void sched_process_timeslice(void)
           rtcb->timeslice--;
         }
     }
+}
+#else
+#  define sched_process_timeslice()
 #endif
+
+/************************************************************************
+ * Name: sched_process_cpuload
+ *
+ * Description:
+ *   Collect data that can be used for CPU load measurements.
+ *
+ * Inputs:
+ *   None
+ *
+ * Return Value:
+ *   None
+ *
+ ************************************************************************/
+
+#if defined(CONFIG_SCHED_CPULOAD)
+static inline void sched_process_cpuload(void)
+{
+  FAR struct tcb_s *rtcb  = (FAR struct tcb_s*)g_readytorun.head;
+
+  /* Gather stats for cpuload.  cpuload is percent of time cpu is not idle. */
+  /* Is the idle task running */
+
+  if (rtcb->pid == 0)
+    {
+      ++g_cpuload.idle;
+    }
+
+  /* Increment tick count.  If the accumulated tick value exceed a time
+   * constant, then shift the accumulators.
+   */
+
+  if (++g_cpuload.cnt > (CONFIG_SCHED_CPULOAD_TIMECONSTANT * CLOCKS_PER_SEC))
+    {
+      g_cpuload.cnt  >>= 1;
+      g_cpuload.idle >>= 1;
+    }
 }
+#else
+#  define sched_process_cpuload()
+#endif
 
 /************************************************************************
  * Public Functions
@@ -173,6 +240,12 @@ void sched_process_timer(void)
     }
 #endif
 
+  /* Perform CPU load measurements (before any timer-initiated context switches
+   * can occur)
+   */
+
+  sched_process_cpuload();
+
   /* Process watchdogs (if in the link) */
 
 #ifdef CONFIG_HAVE_WEAKFUNCTIONS