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[rtos_mon] fix computation of CPU load (#2739)

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CPU loaded is now correctly reported in RTOS_MON message, and value is
the same from message and shell command
This commit is contained in:
Gautier Hattenberger
2021-06-15 17:16:57 +02:00
committed by GitHub
parent 758f8ef221
commit c34df8abf4
1 changed files with 11 additions and 14 deletions
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sw/airborne/arch/chibios/modules/core/rtos_mon_arch.c
+11 -14
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@@ -33,7 +33,6 @@
#endif
static uint32_t thread_p_time[RTOS_MON_MAX_THREADS];
static uint32_t idle_counter, last_idle_counter;
static uint16_t get_stack_free(const thread_t *tp);
@@ -54,7 +53,7 @@ static void stampThreadCpuInfo (ThreadCpuInfo *ti)
{
const thread_t *tp = chRegFirstThread();
uint32_t idx=0;
ti->totalTicks =0;
do {
ti->ticks[idx] = (float) tp->stats.cumulative;
@@ -75,7 +74,7 @@ static void stampThreadCpuInfo (ThreadCpuInfo *ti)
static float stampThreadGetCpuPercent (const ThreadCpuInfo *ti, const uint32_t idx)
{
if (idx >= RTOS_MON_MAX_THREADS)
if (idx >= RTOS_MON_MAX_THREADS)
return -1.f;
return ti->cpu[idx];
@@ -95,14 +94,14 @@ static void cmd_threads(BaseSequentialStream *lchp, int argc,const char * const
float idleTicks=0;
static ThreadCpuInfo threadCpuInfo = {
.ticks = {[0 ... RTOS_MON_MAX_THREADS-1] = 0.f},
.cpu = {[0 ... RTOS_MON_MAX_THREADS-1] =-1.f},
.ticks = {[0 ... RTOS_MON_MAX_THREADS-1] = 0.f},
.cpu = {[0 ... RTOS_MON_MAX_THREADS-1] =-1.f},
.totalTicks = 0.f,
.totalISRTicks = 0.f
};
stampThreadCpuInfo (&threadCpuInfo);
chprintf (lchp, " addr stack frestk prio refs state time \t percent name\r\n");
uint32_t idx=0;
do {
@@ -117,11 +116,12 @@ static void cmd_threads(BaseSequentialStream *lchp, int argc,const char * const
totalTicks+= (float)tp->stats.cumulative;
if (strcmp(chRegGetThreadNameX(tp), "idle") == 0)
idleTicks = (float)tp->stats.cumulative;
idleTicks = (float)tp->stats.cumulative;
tp = chRegNextThread ((thread_t *)tp);
idx++;
} while (tp != NULL);
totalTicks += ch.kernel_stats.m_crit_isr.cumulative;
const float idlePercent = (idleTicks*100.f)/totalTicks;
const float cpuPercent = 100.f - idlePercent;
chprintf (lchp, "Interrupt Service Routine \t\t %9lu %.2f%% \tISR\r\n",
@@ -156,9 +156,6 @@ static void cmd_rtos_mon(shell_stream_t *sh, int argc, const char * const argv[]
void rtos_mon_init_arch(void)
{
idle_counter = 0;
last_idle_counter = 0;
#if USE_SHELL
shell_add_entry("rtos_mon", cmd_rtos_mon);
shell_add_entry("threads", cmd_threads);
@@ -181,6 +178,7 @@ void rtos_mon_periodic_arch(void)
// loop threads to find idle thread
// store info on other threads
thread_t *tp;
float idle_counter = 0.f;
float sum = 0.f;
rtos_mon.thread_name_idx = 0;
tp = chRegFirstThread();
@@ -200,7 +198,7 @@ void rtos_mon_periodic_arch(void)
// if current thread is 'idle' thread, store its value separately
if (tp == chSysGetIdleThreadX()) {
idle_counter = (uint32_t)tp->stats.cumulative;
idle_counter = (float)tp->stats.cumulative;
}
// get next thread
tp = chRegNextThread(tp);
@@ -217,8 +215,7 @@ void rtos_mon_periodic_arch(void)
// assume we call the counter once a second
// so the difference in seconds is always one
// NOTE: not perfectly precise, +-5% on average so take it into consideration
rtos_mon.cpu_load = (uint8_t)((1.f - ((float)idle_counter / sum)) * 100.f);
last_idle_counter = idle_counter;
rtos_mon.cpu_load = (uint8_t)((1.f - (idle_counter / sum)) * 100.f);
}
static uint16_t get_stack_free(const thread_t *tp)