mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 22:05:58 +08:00
add a system monitoring module for FW and Quads
This commit is contained in:
Gautier Hattenberger
+69
-4
@@ -229,6 +229,15 @@
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<field name="long" type="float" unit="deg"/>
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</message>
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<message name="SYS_MON" id="33">
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<field name="periodic_time" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
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<field name="periodic_cycle" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
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<field name="periodic_cycle_min" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
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<field name="periodic_cycle_max" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
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<field name="event_number" type="uint16"/>
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<field name="cpu_load" type="uint8" unit="%"/>
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</message>
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<message name="MOTOR" id="34">
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<field name="rpm" type="uint16" unit="Hz"/>
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<field name="current" type="int32" unit="mA"/>
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@@ -381,7 +390,23 @@
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</message>
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<message name="DEBUG_IR_I2C" id="53">
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<field name="ir1" type="int16" unit="adc"></field>
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<field name="ir2" type="int16" unit="adc"></field>
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<field name="top" type="int16" unit="adc"></field>
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<field name="phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
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<field name="theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
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</message>
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<message name="BARO_ETS" id="56">
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<field name="adc" type="uint16"/>
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<field name="offset" type="uint16"/>
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<field name="scaled" type="float"/>
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</message>
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<message name="AIRSPEED_ETS" id="57">
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<field name="adc" type="uint16"/>
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<field name="offset" type="uint16"/>
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<field name="scaled" type="float"/>
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</message>
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<message name="H_CTL_A" id="60">
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@@ -601,14 +626,19 @@
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<message name="TCAS_RA" id="121">
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<field name="ac_id" type="uint8"/>
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<field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
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</message>
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<message name="TCAS_DEBUG" id="122">
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<message name="TCAS_RESOLVED" ID="122">
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<field name="ac_id" type="uint8"/>
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</message>
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<message name="TCAS_DEBUG" id="123">
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<field name="ac_id" type="uint8"/>
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<field name="tau" type="float"/>
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</message>
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<message name="POTENTIAL" id="123">
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<message name="POTENTIAL" id="124">
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<field name="east" type="float"/>
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<field name="north" type="float"/>
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<field name="alt" type="float"/>
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@@ -616,7 +646,7 @@
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<field name="climb" type="float"/>
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</message>
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<message name="VERTICAL_ENERGY" id="124">
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<message name="VERTICAL_ENERGY" id="125">
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<field name="Epot_err" type="float"/>
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<field name="Ekin_err" type="float"/>
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<field name="Etot_err" type="float"/>
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@@ -873,7 +903,7 @@
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<field name="carrot_east" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
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<field name="carrot_north" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
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<field name="carrot_up" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
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<field name="carrot_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
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<field name="carrot_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
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<field name="thrust" type="int32"/>
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<field name="flight_time" type="uint16" unit="s"/>
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</message>
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@@ -882,6 +912,17 @@
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<field name="tbd" type="float"/>
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</message>
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<message name="BOOZ2_GUIDANCE_H_REF_INT" id="149">
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<field name="sp_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
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<field name="ref_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
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<field name="ref_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
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<field name="ref_xdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
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<field name="sp_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
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<field name="ref_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
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<field name="ref_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
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<field name="ref_ydd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
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</message>
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<message name="BOOZ2_TUNE_HOVER" id="150">
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<field name="rc_roll" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
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<field name="rc_pitch" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
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@@ -1686,6 +1727,12 @@
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<field name="ac_id" type="uint8"/>
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</message>
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<message name="TCAS_RESOLVE" id="17" link="forwarded">
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<field name="ac_id" type="uint8"/>
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<field name="ac_id_conflict" type="uint8"/>
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<field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
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</message>
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<message name="WINDTURBINE_STATUS" id="50" link="broadcasted">
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<field name="ac_id" type="uint8"/>
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<field name="tb_id" type="uint8"/>
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@@ -1721,6 +1768,24 @@
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<field name="h_sp_3" type="int32"/>
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<field name="ac_id" type="uint8"/>
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</message>
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<message name="BOOZ_NAV_STICK" id="150" link="forwarded">
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<field name="ac_id" type="uint8"/>
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<field name="vx_sp" type="int8"/>
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<field name="vy_sp" type="int8"/>
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<field name="vz_sp" type="int8"/>
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<field name="r_sp" type="int8"/>
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</message>
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<message name="EXTERNAL_FILTER_SOLUTION" id="151" link="forwarded">
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<field name="ac_id" type="uint8"/>
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<field name="status" type="uint8"/>
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<field name="x" type="float" unit="m"/>
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<field name="xd" type="float" unit="m"/>
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<field name="y" type="float" unit="m"/>
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<field name="yd" type="float" unit="m"/>
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</message>
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</class>
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@@ -0,0 +1,15 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="core">
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<header>
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<file name="sys_mon.h"/>
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</header>
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<init fun="init_sysmon()"/>
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<periodic fun="periodic_report_sysmon()" freq="1."/>
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<periodic fun="periodic_sysmon()"/>
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<event fun="event_sysmon()"/>
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<makefile>
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<file name="sys_mon.c"/>
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</makefile>
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</module>
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@@ -0,0 +1,102 @@
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/*
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* $Id: $
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*
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* Copyright (C) 2010 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#include "sys_mon.h"
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#include "sys_time.h"
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/* Global vars */
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uint8_t cpu_load;
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uint16_t periodic_time, periodic_cycle, periodic_cycle_min, periodic_cycle_max;
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uint16_t event_time, event_number;
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/* Local vars */
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uint16_t n_periodic, n_event;
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uint32_t time_periodic, time_event;
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uint32_t sum_time_periodic, sum_cycle_periodic, sum_time_event, sum_n_event;
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void init_sysmon(void) {
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cpu_load = 0;
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periodic_time = 0;
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periodic_cycle = 0;
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periodic_cycle_min = 0xFFFF;
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periodic_cycle_max = 0;
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event_time = 0;
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event_number = 0;
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n_periodic = 0;
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n_event = 0;
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sum_time_periodic = 0;
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sum_cycle_periodic = 0;
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sum_time_event = 0;
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sum_n_event = 0;
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}
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#include "uart.h"
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#include "messages.h"
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#include "downlink.h"
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void periodic_report_sysmon(void) {
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/** Report system status at low frequency */
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if (n_periodic > 0) {
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periodic_time = Max(sum_time_periodic / n_periodic, 1);
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periodic_cycle = sum_cycle_periodic / n_periodic;
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cpu_load = 100 * periodic_cycle / periodic_time;
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event_number = sum_n_event / n_periodic;
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DOWNLINK_SEND_SYS_MON(DefaultChannel,&periodic_time,&periodic_cycle,&periodic_cycle_min,&periodic_cycle_max,&event_number,&cpu_load);
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}
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n_periodic = 0;
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sum_time_periodic = 0;
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sum_cycle_periodic = 0;
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sum_n_event = 0;
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periodic_cycle_min = 0xFFFF;
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periodic_cycle_max = 0;
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}
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void periodic_sysmon(void) {
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/** Estimate periodic task cycle time */
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SysTimeTimerStop(time_periodic);
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periodic_time = USEC_OF_SYS_TICS(time_periodic);
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periodic_cycle = periodic_time - sum_time_event /* - sum_time_event/n_event */;
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if (periodic_cycle < periodic_cycle_min) periodic_cycle_min = periodic_cycle;
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if (periodic_cycle > periodic_cycle_max) periodic_cycle_max = periodic_cycle;
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sum_time_periodic += periodic_time;
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sum_cycle_periodic += periodic_cycle;
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n_periodic++;
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sum_n_event += n_event;
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n_event = 0;
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sum_time_event = 0;
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SysTimeTimerStart(time_periodic);
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}
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void event_sysmon(void) {
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/** Store event calls total time and number of calls between two periodic calls */
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if (n_event > 0) {
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sum_time_event += USEC_OF_SYS_TICS(SysTimeTimer(time_event));
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}
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SysTimeTimerStart(time_event);
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n_event++;
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}
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@@ -0,0 +1,57 @@
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/*
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* $Id: $
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*
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* Copyright (C) 2010 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/** \file sys_mon.h
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*
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* System monitoring
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* return cpu load, average exec time, ...
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*/
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#ifndef SYS_MON_H
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#define SYS_MON_H
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#include "std.h"
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extern uint8_t cpu_load;
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extern uint16_t periodic_time, periodic_cycle, periodic_cycle_min, periodic_cycle_max;
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extern uint16_t event_time, event_number;
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/** Init system monitoring
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*/
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void init_sysmon(void);
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/** Report system status
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*/
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void periodic_report_sysmon(void);
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/** Analyse periodic calls
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* Should be run at the highest frequency
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*/
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void periodic_sysmon(void);
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/** Analyse event calls
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*/
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void event_sysmon(void);
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#endif
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