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[paparazzi-commits] [5182] added calculation of cpu_load in booz.
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From: |
Felix Ruess |
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Subject: |
[paparazzi-commits] [5182] added calculation of cpu_load in booz. |
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Date: |
Wed, 28 Jul 2010 01:07:52 +0000 |
Revision: 5182
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5182
Author: flixr
Date: 2010-07-28 01:07:51 +0000 (Wed, 28 Jul 2010)
Log Message:
-----------
added calculation of cpu_load in booz. Define CALC_CPU_LOAD to use it
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/booz2_flixr.xml
paparazzi3/trunk/conf/messages.xml
paparazzi3/trunk/sw/airborne/booz/booz2_main.c
paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2010-07-28 01:07:45 UTC
(rev 5181)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2010-07-28 01:07:51 UTC
(rev 5182)
@@ -245,6 +245,8 @@
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
+ ap.CFLAGS += -DCALC_CPU_LOAD
+
ap.CFLAGS += -DUSEMODULES
sim.CFLAGS += -DUSEMODULES
Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml 2010-07-28 01:07:45 UTC (rev 5181)
+++ paparazzi3/trunk/conf/messages.xml 2010-07-28 01:07:51 UTC (rev 5182)
@@ -1458,7 +1458,9 @@
<field name="ap_h_mode" type="uint8"
values="KILL|RATE|ATTITUDE|HOVER|NAV"/>
<field name="ap_v_mode" type="uint8"
values="KILL|RC_DIRECT|RC_CLIMB|CLIMB|HOVER|NAV"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
- <field name="cpu_time" type="uint16" unit="s"></field>
+ <field name="cpu_time" type="uint16" unit="s"/>
+ <field name="cpu_load_avg" type="uint8" unit="%"/>
+ <field name="cpu_load_max" type="uint8" unit="%"/>
</message>
<message name="BOOZ_SIM_RPMS" id="239">
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_main.c 2010-07-28 01:07:45 UTC
(rev 5181)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_main.c 2010-07-28 01:07:51 UTC
(rev 5182)
@@ -68,6 +68,8 @@
#endif
uint32_t startup_counter = 0;
+uint8_t cpu_load_avg = 0;
+uint8_t cpu_load_max = 0;
static inline void on_gyro_accel_event( void );
static inline void on_baro_event( void );
@@ -75,16 +77,49 @@
static inline void on_mag_event( void );
#ifndef SITL
+#ifdef CALC_CPU_LOAD
+/* estimate of time needed in idle main_event taks (no pending events) in TOTC
ticks */
+uint32_t main_event_idle_ticks = PERIODIC_TASK_PERIOD;
+
int main( void ) {
+ uint32_t load_counter = 0;
+ uint8_t cpu_load = 0;
+ uint16_t cpu_load_avg_sum = 0;
+
booz2_main_init();
while(1) {
+ if (sys_time_periodic()) {
+ if (load_counter > 0)
+ cpu_load = 100*(PERIODIC_TASK_PERIOD - (load_counter +
(load_counter-1)*main_event_idle_ticks)) / PERIODIC_TASK_PERIOD;
+ else
+ cpu_load = 100;
+ if (cpu_load > cpu_load_max)
+ cpu_load_max = cpu_load;
+ cpu_load_avg_sum += cpu_load;
+
+ booz2_main_periodic();
+
+ load_counter = 0;
+ RunOnceEvery(512, {cpu_load_avg = cpu_load_avg_sum/512; cpu_load_avg_sum
= 0; cpu_load_max = 0;});
+ }
+ load_counter++;
+ booz2_main_event();
+ }
+ return 0;
+}
+#else // Do not calculate cpu load
+int main( void ) {
+ booz2_main_init();
+
+ while(1) {
if (sys_time_periodic())
booz2_main_periodic();
booz2_main_event();
}
return 0;
}
+#endif /* CALC_CPU_LOAD */
#endif /* SITL */
#ifdef BOOZ_START_DELAY
@@ -196,6 +231,10 @@
}
STATIC_INLINE void booz2_main_event( void ) {
+#ifdef CALC_CPU_LOAD
+ /* start estimation of ticks needed if no events are processed */
+ SysTimeChronoStart();
+#endif
DatalinkEvent();
@@ -219,6 +258,12 @@
modules_event_task();
#endif
+#ifdef CALC_CPU_LOAD
+ /* remember lowest value -> no events processed */
+ SysTimeChronoStop();
+ if (sys_time_chrono < main_event_idle_ticks)
+ main_event_idle_ticks = sys_time_chrono;
+#endif
}
static inline void on_gyro_accel_event( void ) {
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-07-28 01:07:45 UTC
(rev 5181)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-07-28 01:07:51 UTC
(rev 5182)
@@ -56,41 +56,45 @@
extern uint8_t telemetry_mode_Main_DefaultChannel;
#ifdef USE_GPS
-#define PERIODIC_SEND_BOOZ_STATUS(_chan) { \
- uint32_t booz_imu_nb_err = 0; \
- uint8_t _twi_blmc_nb_err = 0; \
- DOWNLINK_SEND_BOOZ_STATUS(_chan, \
- &booz_imu_nb_err, \
- &_twi_blmc_nb_err, \
- &radio_control.status, \
- &booz_gps_state.fix, \
- &booz2_autopilot_mode, \
- &booz2_autopilot_in_flight, \
- &booz2_autopilot_motors_on, \
- &booz2_guidance_h_mode, \
- &booz2_guidance_v_mode, \
- &booz2_battery_voltage, \
- &cpu_time_sec \
- ); \
+#define PERIODIC_SEND_BOOZ_STATUS(_chan) { \
+ uint32_t booz_imu_nb_err = 0; \
+ uint8_t _twi_blmc_nb_err = 0; \
+ DOWNLINK_SEND_BOOZ_STATUS(_chan, \
+ &booz_imu_nb_err, \
+ &_twi_blmc_nb_err, \
+ &radio_control.status, \
+ &booz_gps_state.fix, \
+ &booz2_autopilot_mode, \
+ &booz2_autopilot_in_flight, \
+ &booz2_autopilot_motors_on, \
+ &booz2_guidance_h_mode, \
+ &booz2_guidance_v_mode, \
+ &booz2_battery_voltage, \
+ &cpu_time_sec, \
+ &cpu_load_avg, \
+ &cpu_load_max \
+ ); \
}
#else /* !USE_GPS */
-#define PERIODIC_SEND_BOOZ_STATUS(_chan) { \
- uint32_t booz_imu_nb_err = 0; \
- uint8_t twi_blmc_nb_err = 0; \
- uint8_t fix = BOOZ2_GPS_FIX_NONE; \
- DOWNLINK_SEND_BOOZ_STATUS(_chan, \
- &booz_imu_nb_err, \
- &twi_blmc_nb_err, \
- &radio_control.status, \
- &fix, \
- &booz2_autopilot_mode, \
- &booz2_autopilot_in_flight, \
- &booz2_autopilot_motors_on, \
- &booz2_guidance_h_mode, \
- &booz2_guidance_v_mode, \
- &booz2_battery_voltage, \
- &cpu_time_sec \
- ); \
+#define PERIODIC_SEND_BOOZ_STATUS(_chan) { \
+ uint32_t booz_imu_nb_err = 0; \
+ uint8_t twi_blmc_nb_err = 0; \
+ uint8_t fix = BOOZ2_GPS_FIX_NONE; \
+ DOWNLINK_SEND_BOOZ_STATUS(_chan, \
+ &booz_imu_nb_err, \
+ &twi_blmc_nb_err, \
+ &radio_control.status, \
+ &fix, \
+ &booz2_autopilot_mode, \
+ &booz2_autopilot_in_flight, \
+ &booz2_autopilot_motors_on, \
+ &booz2_guidance_h_mode, \
+ &booz2_guidance_v_mode, \
+ &booz2_battery_voltage, \
+ &cpu_time_sec, \
+ &cpu_load_avg, \
+ &cpu_load_max \
+ ); \
}
#endif /* USE_GPS */
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