rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #1674 from martinbudden/bf_task_instrumentation 

Improved scheduler and task timing instrumentation
This commit is contained in:
Martin Budden 2016-11-29 22:23:15 +01:00 committed by GitHub
parent d7a231f97b ce29cc8277
commit 975f355b51
10 changed files with 79 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/main/build/debug.h
View File

@ -60,5 +60,6 @@ typedef enum {
DEBUG_DTERM_FILTER,
DEBUG_ANGLERATE,
DEBUG_ESC_TELEMETRY,
DEBUG_SCHEDULER,
DEBUG_COUNT
} debugType_e;

2
src/main/fc/config.c
View File

@ -585,7 +585,7 @@ void createDefaultConfig(master_t *config)
config->gyroConfig.gyro_soft_notch_hz_2 = 200;
config->gyroConfig.gyro_soft_notch_cutoff_2 = 100;
config->debug_mode = DEBUG_NONE;
config->debug_mode = DEBUG_MODE;
resetAccelerometerTrims(&config->sensorTrims.accZero);

6
src/main/fc/fc_tasks.c
View File

@ -72,6 +72,10 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#ifdef USE_BST
void taskBstMasterProcess(uint32_t currentTime);
#endif
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
@ -295,7 +299,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_GYROPID] = {
.taskName = "PID",
.subTaskName = "GYRO",
.taskFunc = taskMainPidLoopCheck,
.taskFunc = taskMainPidLoop,
.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
.staticPriority = TASK_PRIORITY_REALTIME,
},

7
src/main/fc/fc_tasks.h
View File

@ -19,11 +19,4 @@
#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
void taskSystem(uint32_t currentTime);
void taskMainPidLoopCheck(uint32_t currentTime);
#ifdef USE_BST
void taskBstReadWrite(uint32_t currentTime);
void taskBstMasterProcess(uint32_t currentTime);
#endif
void fcTasksInit(void);

22
src/main/fc/mw.c
View File

@ -177,9 +177,7 @@ void calculateSetpointRate(int axis, int16_t rc) {
angleRate *= rcSuperfactor;
}
if (debugMode == DEBUG_ANGLERATE) {
debug[axis] = angleRate;
}
DEBUG_SET(DEBUG_ANGLERATE, axis, angleRate);
setpointRate[axis] = constrainf(angleRate, -1998.0f, 1998.0f); // Rate limit protection (deg/sec)
}
@ -687,7 +685,7 @@ void processRx(uint32_t currentTime)
void subTaskPidController(void)
{
uint32_t startTime;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {startTime = micros();}
// PID - note this is function pointer set by setPIDController()
pidController(
&currentProfile->pidProfile,
@ -695,7 +693,7 @@ void subTaskPidController(void)
&masterConfig.accelerometerTrims,
masterConfig.rxConfig.midrc
);
if (debugMode == DEBUG_PIDLOOP) {debug[2] = micros() - startTime;}
if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[1] = micros() - startTime;}
}
void subTaskMainSubprocesses(void)
@ -772,7 +770,7 @@ void subTaskMainSubprocesses(void)
#ifdef TRANSPONDER
transponderUpdate(startTime);
#endif
if (debugMode == DEBUG_PIDLOOP) {debug[1] = micros() - startTime;}
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
}
void subTaskMotorUpdate(void)
@ -798,7 +796,7 @@ void subTaskMotorUpdate(void)
if (motorControlEnable) {
writeMotors();
}
if (debugMode == DEBUG_PIDLOOP) {debug[3] = micros() - startTime;}
DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
}
uint8_t setPidUpdateCountDown(void)
@ -811,7 +809,7 @@ uint8_t setPidUpdateCountDown(void)
}
// Function for loop trigger
void taskMainPidLoopCheck(uint32_t currentTime)
void taskMainPidLoop(uint32_t currentTime)
{
UNUSED(currentTime);
@ -830,7 +828,15 @@ void taskMainPidLoopCheck(uint32_t currentTime)
runTaskMainSubprocesses = false;
}
// DEBUG_PIDLOOP, timings for:
// 0 - gyroUpdate()
// 1 - pidController()
// 2 - subTaskMainSubprocesses()
// 3 - subTaskMotorUpdate()
uint32_t startTime;
if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {startTime = micros();}
gyroUpdate();
if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[0] = micros() - startTime;}
if (pidUpdateCountdown) {
pidUpdateCountdown--;

1
src/main/fc/mw.h
View File

@ -31,3 +31,4 @@ void processRx(uint32_t currentTime);
void updateLEDs(void);
void updateRcCommands(void);
void taskMainPidLoop(uint32_t currentTime);

4
src/main/io/serial_cli.c
View File

@ -519,6 +519,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
"DFILTER",
"ANGLERATE",
"ESC_TELEMETRY",
"SCHEDULER",
};
#ifdef OSD
@ -3646,6 +3647,9 @@ static void cliTasks(char *cmdline)
}
}
}
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

46
src/main/scheduler/scheduler.c
View File

@ -32,6 +32,12 @@
#include "drivers/system.h"
// DEBUG_SCHEDULER, timings for:
// 0 - gyroUpdate()
// 1 - pidController()
// 2 - time spent in scheduler
// 3 - time spent executing check function
static cfTask_t *currentTask = NULL;
static uint32_t totalWaitingTasks;
@ -121,6 +127,18 @@ void taskSystem(uint32_t currentTime)
}
#ifndef SKIP_TASK_STATISTICS
#define MOVING_SUM_COUNT 32
uint32_t checkFuncMaxExecutionTime;
uint32_t checkFuncTotalExecutionTime;
uint32_t checkFuncMovingSumExecutionTime;
void getCheckFuncInfo(cfCheckFuncInfo_t *checkFuncInfo)
{
checkFuncInfo->maxExecutionTime = checkFuncMaxExecutionTime;
checkFuncInfo->totalExecutionTime = checkFuncTotalExecutionTime;
checkFuncInfo->averageExecutionTime = checkFuncMovingSumExecutionTime / MOVING_SUM_COUNT;
}
void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo)
{
taskInfo->taskName = cfTasks[taskId].taskName;
@ -130,7 +148,7 @@ void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo)
taskInfo->staticPriority = cfTasks[taskId].staticPriority;
taskInfo->maxExecutionTime = cfTasks[taskId].maxExecutionTime;
taskInfo->totalExecutionTime = cfTasks[taskId].totalExecutionTime;
taskInfo->averageExecutionTime = cfTasks[taskId].averageExecutionTime;
taskInfo->averageExecutionTime = cfTasks[taskId].movingSumExecutionTime / MOVING_SUM_COUNT;
taskInfo->latestDeltaTime = cfTasks[taskId].taskLatestDeltaTime;
}
#endif
@ -198,13 +216,25 @@ void scheduler(void)
for (cfTask_t *task = queueFirst(); task != NULL; task = queueNext()) {
// Task has checkFunc - event driven
if (task->checkFunc != NULL) {
const uint32_t currentTimeBeforeCheckFuncCall = micros();
// Increase priority for event driven tasks
if (task->dynamicPriority > 0) {
task->taskAgeCycles = 1 + ((currentTime - task->lastSignaledAt) / task->desiredPeriod);
task->dynamicPriority = 1 + task->staticPriority * task->taskAgeCycles;
waitingTasks++;
} else if (task->checkFunc(currentTime, currentTime - task->lastExecutedAt)) {
task->lastSignaledAt = currentTime;
} else if (task->checkFunc(currentTimeBeforeCheckFuncCall, currentTimeBeforeCheckFuncCall - task->lastExecutedAt)) {
#if defined(SCHEDULER_DEBUG) || !defined(SKIP_TASK_STATISTICS)
const uint32_t checkFuncExecutionTime = micros() - currentTimeBeforeCheckFuncCall;
#endif
#if defined(SCHEDULER_DEBUG)
DEBUG_SET(DEBUG_SCHEDULER, 3, checkFuncExecutionTime);
#endif
#ifndef SKIP_TASK_STATISTICS
checkFuncMovingSumExecutionTime += checkFuncExecutionTime - checkFuncMovingSumExecutionTime / MOVING_SUM_COUNT;
checkFuncTotalExecutionTime += checkFuncExecutionTime; // time consumed by scheduler + task
checkFuncMaxExecutionTime = MAX(checkFuncMaxExecutionTime, checkFuncExecutionTime);
#endif
task->lastSignaledAt = currentTimeBeforeCheckFuncCall;
task->taskAgeCycles = 1;
task->dynamicPriority = 1 + task->staticPriority;
waitingTasks++;
@ -247,17 +277,17 @@ void scheduler(void)
// Execute task
const uint32_t currentTimeBeforeTaskCall = micros();
selectedTask->taskFunc(currentTimeBeforeTaskCall);
const uint32_t taskExecutionTime = micros() - currentTimeBeforeTaskCall;
selectedTask->averageExecutionTime = ((uint32_t)selectedTask->averageExecutionTime * 31 + taskExecutionTime) / 32;
#ifndef SKIP_TASK_STATISTICS
const uint32_t taskExecutionTime = micros() - currentTimeBeforeTaskCall;
selectedTask->movingSumExecutionTime += taskExecutionTime - selectedTask->movingSumExecutionTime / MOVING_SUM_COUNT;
selectedTask->totalExecutionTime += taskExecutionTime; // time consumed by scheduler + task
selectedTask->maxExecutionTime = MAX(selectedTask->maxExecutionTime, taskExecutionTime);
#endif
#if defined SCHEDULER_DEBUG
debug[3] = (micros() - currentTime) - taskExecutionTime;
#if defined(SCHEDULER_DEBUG)
DEBUG_SET(DEBUG_SCHEDULER, 2, micros() - currentTime - taskExecutionTime); // time spent in scheduler
} else {
debug[3] = (micros() - currentTime);
DEBUG_SET(DEBUG_SCHEDULER, 2, micros() - currentTime);
#endif
}
}

18
src/main/scheduler/scheduler.h
View File

@ -17,8 +17,6 @@
#pragma once
//#define SCHEDULER_DEBUG
typedef enum {
TASK_PRIORITY_IDLE = 0, // Disables dynamic scheduling, task is executed only if no other task is active this cycle
TASK_PRIORITY_LOW = 1,
@ -28,6 +26,12 @@ typedef enum {
TASK_PRIORITY_MAX = 255
} cfTaskPriority_e;
typedef struct {
uint32_t maxExecutionTime;
uint32_t totalExecutionTime;
uint32_t averageExecutionTime;
} cfCheckFuncInfo_t;
typedef struct {
const char * taskName;
const char * subTaskName;
@ -114,11 +118,11 @@ typedef struct {
uint16_t taskAgeCycles;
uint32_t lastExecutedAt; // last time of invocation
uint32_t lastSignaledAt; // time of invocation event for event-driven tasks
uint32_t taskLatestDeltaTime;
/* Statistics */
uint32_t averageExecutionTime; // Moving average over 6 samples, used to calculate guard interval
uint32_t taskLatestDeltaTime; //
#ifndef SKIP_TASK_STATISTICS
/* Statistics */
uint32_t movingSumExecutionTime; // moving sum over 32 samples
uint32_t maxExecutionTime;
uint32_t totalExecutionTime; // total time consumed by task since boot
#endif
@ -127,13 +131,15 @@ typedef struct {
extern cfTask_t cfTasks[TASK_COUNT];
extern uint16_t averageSystemLoadPercent;
void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo);
void getCheckFuncInfo(cfCheckFuncInfo_t *checkFuncInfo);
void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t *taskInfo);
void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);
void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
uint32_t getTaskDeltaTime(cfTaskId_e taskId);
void schedulerInit(void);
void scheduler(void);
void taskSystem(uint32_t currentTime);
#define LOAD_PERCENTAGE_ONE 100

3
src/main/target/common.h
View File

@ -17,6 +17,9 @@
#pragma once
//#define SCHEDULER_DEBUG // define this to use scheduler debug[] values. Undefined by default for performance reasons
#define DEBUG_MODE DEBUG_NONE // change this to change initial debug mode
#define I2C1_OVERCLOCK true
#define I2C2_OVERCLOCK true