sched/cpuload: fix SMP situation CPULOAD statistics are inaccurate

When statistics when sched_cpuload_critMonitor, thread switching only
calculates the current CPU's running time. Other CPU running threads
are updated for updates

Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>

sched/sched/sched_critmonitor.c

@@ -118,6 +118,59 @@ static clock_t g_crit_start[CONFIG_SMP_NCPUS];
 clock_t g_premp_max[CONFIG_SMP_NCPUS];
 clock_t g_crit_max[CONFIG_SMP_NCPUS];
 
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxsched_critmon_cpuload
+ *
+ * Description:
+ *   Update the running time of all running threads when switching threads
+ *
+ * Input Parameters:
+ *   tcb   - The task that we are performing the load operations on.
+ *   current - The current time
+ *   tick - The ticks that we process in this cpuload.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SCHED_CPULOAD_CRITMONITOR
+static void nxsched_critmon_cpuload(FAR struct tcb_s *tcb, clock_t current,
+                                    clock_t tick)
+{
+  int i;
+  UNUSED(i);
+
+  /* Update the cpuload of the thread ready to be suspended */
+
+  nxsched_process_taskload_ticks(tcb, tick);
+
+  /* Update the cpuload of threads running on other CPUs */
+
+#  ifdef CONFIG_SMP
+  for (i = 0; i < CONFIG_SMP_NCPUS; i++)
+    {
+      FAR struct tcb_s *rtcb = current_task(i);
+
+      if (tcb->cpu == rtcb->cpu)
+        {
+          continue;
+        }
+
+      nxsched_process_taskload_ticks(rtcb, tick);
+
+      /* Update start time, avoid repeated statistics when the next call */
+
+      rtcb->run_start = current;
+    }
+#  endif
+}
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -302,7 +355,7 @@ void nxsched_suspend_critmon(FAR struct tcb_s *tcb)
 
 #ifdef CONFIG_SCHED_CPULOAD_CRITMONITOR
   clock_t tick = elapsed * CLOCKS_PER_SEC / perf_getfreq();
-  nxsched_process_taskload_ticks(tcb, tick);
+  nxsched_critmon_cpuload(tcb, current, tick);
 #endif
 
   tcb->run_time += elapsed;