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Merge pull request #7457 from SteveCEvans/cpu_load 

Modify CPU load calculations to not assume constant task duration
This commit is contained in:
Michael Keller 2019-01-27 11:37:33 +13:00 committed by GitHub
parent 9e7e263abb faf33d1130
commit 90d801c5d8
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 11 additions and 1 deletions
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2
src/main/interface/cli.c
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@ -3775,7 +3775,7 @@ static void cliTasks(char *cmdline)
cliPrintf("%02d - (%11s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
}
} else {
taskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
taskFrequency = taskInfo.averageDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.averageDeltaTime));
cliPrintf("%02d - (%15s) ", taskId, taskInfo.taskName);
}
const int maxLoad = taskInfo.maxExecutionTime == 0 ? 0 :(taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;

7
src/main/scheduler/scheduler.c
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@ -144,12 +144,14 @@ void taskSystemLoad(timeUs_t currentTimeUs)
timeUs_t checkFuncMaxExecutionTime;
timeUs_t checkFuncTotalExecutionTime;
timeUs_t checkFuncMovingSumExecutionTime;
timeUs_t checkFuncMovingSumDeltaTime;
void getCheckFuncInfo(cfCheckFuncInfo_t *checkFuncInfo)
{
checkFuncInfo->maxExecutionTime = checkFuncMaxExecutionTime;
checkFuncInfo->totalExecutionTime = checkFuncTotalExecutionTime;
checkFuncInfo->averageExecutionTime = checkFuncMovingSumExecutionTime / MOVING_SUM_COUNT;
checkFuncInfo->averageDeltaTime = checkFuncMovingSumDeltaTime / MOVING_SUM_COUNT;
}
#endif
@ -164,6 +166,7 @@ void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo)
taskInfo->maxExecutionTime = cfTasks[taskId].maxExecutionTime;
taskInfo->totalExecutionTime = cfTasks[taskId].totalExecutionTime;
taskInfo->averageExecutionTime = cfTasks[taskId].movingSumExecutionTime / MOVING_SUM_COUNT;
taskInfo->averageDeltaTime = cfTasks[taskId].movingSumDeltaTime / MOVING_SUM_COUNT;
taskInfo->latestDeltaTime = cfTasks[taskId].taskLatestDeltaTime;
taskInfo->movingAverageCycleTime = cfTasks[taskId].movingAverageCycleTime;
#endif
@ -213,10 +216,12 @@ void schedulerResetTaskStatistics(cfTaskId_e taskId)
#if defined(USE_TASK_STATISTICS)
if (taskId == TASK_SELF) {
currentTask->movingSumExecutionTime = 0;
currentTask->movingSumDeltaTime = 0;
currentTask->totalExecutionTime = 0;
currentTask->maxExecutionTime = 0;
} else if (taskId < TASK_COUNT) {
cfTasks[taskId].movingSumExecutionTime = 0;
cfTasks[taskId].movingSumDeltaTime = 0;
cfTasks[taskId].totalExecutionTime = 0;
cfTasks[taskId].maxExecutionTime = 0;
}
@ -297,6 +302,7 @@ FAST_CODE void scheduler(void)
if (calculateTaskStatistics) {
const uint32_t checkFuncExecutionTime = micros() - currentTimeBeforeCheckFuncCall;
checkFuncMovingSumExecutionTime += checkFuncExecutionTime - checkFuncMovingSumExecutionTime / MOVING_SUM_COUNT;
checkFuncMovingSumDeltaTime += task->taskLatestDeltaTime - checkFuncMovingSumDeltaTime / MOVING_SUM_COUNT;
checkFuncTotalExecutionTime += checkFuncExecutionTime; // time consumed by scheduler + task
checkFuncMaxExecutionTime = MAX(checkFuncMaxExecutionTime, checkFuncExecutionTime);
}
@ -350,6 +356,7 @@ FAST_CODE void scheduler(void)
selectedTask->taskFunc(currentTimeBeforeTaskCall);
const timeUs_t taskExecutionTime = micros() - currentTimeBeforeTaskCall;
selectedTask->movingSumExecutionTime += taskExecutionTime - selectedTask->movingSumExecutionTime / MOVING_SUM_COUNT;
selectedTask->movingSumDeltaTime += selectedTask->taskLatestDeltaTime - selectedTask->movingSumDeltaTime / MOVING_SUM_COUNT;
selectedTask->totalExecutionTime += taskExecutionTime; // time consumed by scheduler + task
selectedTask->maxExecutionTime = MAX(selectedTask->maxExecutionTime, taskExecutionTime);
selectedTask->movingAverageCycleTime += 0.05f * (period - selectedTask->movingAverageCycleTime);

3
src/main/scheduler/scheduler.h
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@ -42,6 +42,7 @@ typedef struct {
timeUs_t maxExecutionTime;
timeUs_t totalExecutionTime;
timeUs_t averageExecutionTime;
timeUs_t averageDeltaTime;
} cfCheckFuncInfo_t;
typedef struct {
@ -54,6 +55,7 @@ typedef struct {
timeUs_t maxExecutionTime;
timeUs_t totalExecutionTime;
timeUs_t averageExecutionTime;
timeUs_t averageDeltaTime;
float movingAverageCycleTime;
} cfTaskInfo_t;
@ -165,6 +167,7 @@ typedef struct {
// Statistics
float movingAverageCycleTime;
timeUs_t movingSumExecutionTime; // moving sum over 32 samples
timeUs_t movingSumDeltaTime; // moving sum over 32 samples
timeUs_t maxExecutionTime;
timeUs_t totalExecutionTime; // total time consumed by task since boot
#endif