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Improved CLI status and tasks commands

This commit is contained in:
Martin Budden 2017-01-08 21:07:05 +00:00
parent 964a402053
commit 40a2df60a0
1 changed files with 41 additions and 35 deletions
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76
src/main/fc/serial_cli.c
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@ -3172,33 +3172,22 @@ static void cliStatus(char *cmdline)
{
UNUSED(cmdline);
cliPrintf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery - %s), CPU:%d%%\r\n",
millis() / 1000,
getVbat(),
batteryCellCount,
getBatteryStateString(),
constrain(averageSystemLoadPercent, 0, 100)
);
cliPrintf("System Uptime: %d seconds\r\n", millis() / 1000);
cliPrintf("Voltage: %d * 0.1V (%dS battery - %s)\r\n", getVbat(), batteryCellCount, getBatteryStateString());
cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
#if (FLASH_SIZE > 64) && !defined(CLI_MINIMAL_VERBOSITY)
uint32_t mask;
uint32_t detectedSensorsMask = sensorsMask();
const uint32_t detectedSensorsMask = sensorsMask();
for (uint32_t i = 0; ; i++) {
if (sensorTypeNames[i] == NULL)
if (sensorTypeNames[i] == NULL) {
break;
mask = (1 << i);
}
const uint32_t mask = (1 << i);
if ((detectedSensorsMask & mask) && (mask & SENSOR_NAMES_MASK)) {
const char *sensorHardware;
uint8_t sensorHardwareIndex = detectedSensors[i];
sensorHardware = sensorHardwareNames[i][sensorHardwareIndex];
const uint8_t sensorHardwareIndex = detectedSensors[i];
const char *sensorHardware = sensorHardwareNames[i][sensorHardwareIndex];
cliPrintf(", %s=%s", sensorTypeNames[i], sensorHardware);
if (mask == SENSOR_ACC && acc.dev.revisionCode) {
cliPrintf(".%c", acc.dev.revisionCode);
}
@ -3207,10 +3196,14 @@ static void cliStatus(char *cmdline)
#endif
cliPrint("\r\n");
#ifdef USE_SDCARD
cliSdInfo(NULL);
#endif
#ifdef USE_I2C
uint16_t i2cErrorCounter = i2cGetErrorCounter();
const uint16_t i2cErrorCounter = i2cGetErrorCounter();
#else
uint16_t i2cErrorCounter = 0;
const uint16_t i2cErrorCounter = 0;
#endif
#ifdef STACK_CHECK
@ -3218,11 +3211,14 @@ static void cliStatus(char *cmdline)
#endif
cliPrintf("Stack size: %d, Stack address: 0x%x\r\n", stackTotalSize(), stackHighMem());
cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", getTaskDeltaTime(TASK_GYROPID), i2cErrorCounter, sizeof(master_t));
cliPrintf("I2C Errors: %d, config size: %d\r\n", i2cErrorCounter, sizeof(master_t));
const int gyroRate = getTaskDeltaTime(TASK_GYROPID) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYROPID)));
const int rxRate = getTaskDeltaTime(TASK_RX) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_RX)));
const int systemRate = getTaskDeltaTime(TASK_SYSTEM) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_SYSTEM)));
cliPrintf("CPU:%d%%, cycle time: %d, GYRO rate: %d, RX rate: %d, System rate: %d\r\n",
constrain(averageSystemLoadPercent, 0, 100), getTaskDeltaTime(TASK_GYROPID), gyroRate, rxRate, systemRate);
#ifdef USE_SDCARD
cliSdInfo(NULL);
#endif
}
#ifndef SKIP_TASK_STATISTICS
@ -3233,7 +3229,11 @@ static void cliTasks(char *cmdline)
int averageLoadSum = 0;
#ifndef CLI_MINIMAL_VERBOSITY
cliPrintf("Task list rate/hz max/us avg/us maxload avgload total/ms\r\n");
if (masterConfig.task_statistics) {
cliPrintf("Task list rate/hz max/us avg/us maxload avgload total/ms\r\n");
} else {
cliPrintf("Task list rate/hz\r\n");
}
#endif
for (cfTaskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
cfTaskInfo_t taskInfo;
@ -3254,24 +3254,30 @@ static void cliTasks(char *cmdline)
taskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
}
const int maxLoad = (taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
const int averageLoad = (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
const int maxLoad = taskInfo.maxExecutionTime == 0 ? 0 :(taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
const int averageLoad = taskInfo.averageExecutionTime == 0 ? 0 : (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
if (taskId != TASK_SERIAL) {
maxLoadSum += maxLoad;
averageLoadSum += averageLoad;
}
cliPrintf("%6d %7d %7d %4d.%1d%% %4d.%1d%% %9d\r\n",
taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
if (masterConfig.task_statistics) {
cliPrintf("%6d %7d %7d %4d.%1d%% %4d.%1d%% %9d\r\n",
taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
} else {
cliPrintf("%6d\r\n", taskFrequency);
}
if (taskId == TASK_GYROPID && pidConfig()->pid_process_denom > 1) {
cliPrintf(" - (%13s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
}
}
}
cfCheckFuncInfo_t checkFuncInfo;
getCheckFuncInfo(&checkFuncInfo);
cliPrintf("RX Check Function %17d %7d %25d\r\n", checkFuncInfo.maxExecutionTime, checkFuncInfo.averageExecutionTime, checkFuncInfo.totalExecutionTime / 1000);
cliPrintf("Total (excluding SERIAL) %23d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
if (masterConfig.task_statistics) {
cfCheckFuncInfo_t checkFuncInfo;
getCheckFuncInfo(&checkFuncInfo);
cliPrintf("RX Check Function %17d %7d %25d\r\n", checkFuncInfo.maxExecutionTime, checkFuncInfo.averageExecutionTime, checkFuncInfo.totalExecutionTime / 1000);
cliPrintf("Total (excluding SERIAL) %23d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
}
}
#endif