cpuload: add nxsched_update_critmon() to handle thread busyloop

Signed-off-by: ligd <liguiding1@xiaomi.com>
Signed-off-by: lipengfei28 <lipengfei28@xiaomi.com>

sched/sched/sched.h

@@ -415,6 +415,7 @@ void nxsched_process_cpuload_ticks(clock_t ticks);
 #ifdef CONFIG_SCHED_CRITMONITOR
 void nxsched_resume_critmon(FAR struct tcb_s *tcb);
 void nxsched_suspend_critmon(FAR struct tcb_s *tcb);
+void nxsched_update_critmon(FAR struct tcb_s *tcb);
 #endif
 
 #if CONFIG_SCHED_CRITMONITOR_MAXTIME_PREEMPTION >= 0

sched/sched/sched_cpuload.c

@@ -224,6 +224,12 @@ int clock_cpuload(int pid, FAR struct cpuload_s *cpuload)
 
   DEBUGASSERT(cpuload);
 
+#ifdef CONFIG_SCHED_CPULOAD_CRITMONITOR
+  /* Update critmon in case of the target thread busyloop */
+
+  nxsched_update_critmon(nxsched_get_tcb(pid));
+#endif
+
   /* Momentarily disable interrupts.  We need (1) the task to stay valid
    * while we are doing these operations and (2) the tick counts to be
    * synchronized when read.

sched/sched/sched_critmonitor.c

@@ -445,3 +445,27 @@ void nxsched_suspend_critmon(FAR struct tcb_s *tcb)
     }
 #endif /* CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION */
 }
+
+void nxsched_update_critmon(FAR struct tcb_s *tcb)
+{
+  clock_t current = perf_gettime();
+  clock_t elapsed = current - tcb->run_start;
+
+  if (tcb->task_state != TSTATE_TASK_RUNNING)
+    {
+      return;
+    }
+
+#ifdef CONFIG_SCHED_CPULOAD_CRITMONITOR
+  clock_t tick = elapsed * CLOCKS_PER_SEC / perf_getfreq();
+  nxsched_process_taskload_ticks(tcb, tick);
+#endif
+
+  tcb->run_start = current;
+  tcb->run_time += elapsed;
+  if (elapsed > tcb->run_max)
+    {
+      tcb->run_max = elapsed;
+      CHECK_THREAD(tcb->pid, elapsed);
+    }
+}