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AP_HAL_ChibiOS: add support for idle-hook based true CPU load

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allow idle stats to be turned off
This commit is contained in:
Andy Piper
2025-10-16 06:20:54 +11:00
committed by Andrew Tridgell
parent 2a9318fe58
commit 6e86351aeb
9 changed files with 431 additions and 13 deletions
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libraries/AP_HAL_ChibiOS/Util.cpp
+31 -3
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@@ -20,6 +20,7 @@
#include <hal.h>
#include "Util.h"
#include <ch.h>
#include <sysperf.h>
#include "RCOutput.h"
#include "UARTDriver.h"
#include "hwdef/common/stm32_util.h"
@@ -42,8 +43,8 @@
#include <AP_Logger/AP_Logger.h>
#endif
#if HAL_WITH_IO_MCU
#include <AP_BoardConfig/AP_BoardConfig.h>
#if HAL_WITH_IO_MCU
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
@@ -380,14 +381,20 @@ __RAMFUNC__ void Util::thread_info(ExpandingString &str)
#endif
// a header to allow for machine parsers to determine format
const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
#if AP_CPU_IDLE_STATS_ENABLED && HAL_USE_LOAD_MEASURE
if (AP_BoardConfig::use_idle_stats()) {
str.printf("%-13.13s LOAD=%4.1f%% PEAK=%4.1f%%\n", "ThreadsV3", (sysGetCPUAverageLoad() / 100.0f), (sysGetCPUPeakLoad() / 100.0f));
} else
#endif
str.printf("ThreadsV2\n");
#if HAL_ENABLE_THREAD_STATISTICS
str.printf("ThreadsV2\nISR PRI=255 sp=%p STACK=%u/%u LOAD=%4.1f%%\n",
str.printf("ISR PRI=255 sp=%p STACK=%u/%u LOAD=%4.1f%%\n",
&__main_stack_base__,
unsigned(stack_free(&__main_stack_base__)),
unsigned(isr_stack_size), 100.0f * float(currcore->kernel_stats.m_crit_isr.cumulative) / float(cumulative_cycles));
currcore->kernel_stats.m_crit_isr.cumulative = 0U;
#else
str.printf("ThreadsV2\nISR PRI=255 sp=%p STACK=%u/%u\n",
str.printf("ISR PRI=255 sp=%p STACK=%u/%u\n",
&__main_stack_base__,
unsigned(stack_free(&__main_stack_base__)),
unsigned(isr_stack_size));
@@ -430,9 +437,30 @@ __RAMFUNC__ void Util::thread_info(ExpandingString &str)
unsigned(stack_free(tp->wabase)), unsigned(total_stack));
#endif
}
#if AP_CPU_IDLE_STATS_ENABLED && HAL_USE_LOAD_MEASURE
if (AP_BoardConfig::use_idle_stats()) {
sysStopLoadMeasure();
sysStartLoadMeasure();
}
#endif
}
#endif // CH_DBG_ENABLE_STACK_CHECK == TRUE
// get the system load
bool Util::get_system_load(float& avg_load, float& peak_load) const
{
#if AP_CPU_IDLE_STATS_ENABLED && HAL_USE_LOAD_MEASURE
if (AP_BoardConfig::use_idle_stats()) {
avg_load = sysGetCPUAverageLoad() / 100.0f;
peak_load = sysGetCPUPeakLoad() / 100.0f;
return true;
}
#endif
return false;
}
#if CH_CFG_USE_SEMAPHORES
// request information on dma contention
void Util::dma_info(ExpandingString &str)