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Log the standard deviation of gyro cycle time in SCHEDULER_DETERMINISM and TIMING_ACCURACY (#13377)

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* Log the standard deviation of gyro cycle time in SCHEDULER_DETERMINISM and TIMING_ACCURACY

* Update src/main/scheduler/scheduler.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

* Update src/main/scheduler/scheduler.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Co-authored-by: Jan Post <Rm2k-Freak@web.de>
This commit is contained in:
Steve Evans 2024-02-26 22:29:09 +01:00 • committed by GitHub
parent 8a506d219f
commit 4f1b36fb30
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1 changed files with 43 additions and 13 deletions
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56
src/main/scheduler/scheduler.c
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@ -24,6 +24,7 @@
#include <stdint.h> #include <stdint.h>
#include <string.h> #include <string.h>
#include <limits.h> #include <limits.h>
#include <math.h>
#include "platform.h" #include "platform.h"
@ -63,6 +64,7 @@
// 4 - Minimum Gyro period in 100th of a us // 4 - Minimum Gyro period in 100th of a us
// 5 - Maximum Gyro period in 100th of a us // 5 - Maximum Gyro period in 100th of a us
// 6 - Span of Gyro period in 100th of a us // 6 - Span of Gyro period in 100th of a us
// 7 - Standard deviation of gyro cycle time in 100th of a us
// DEBUG_TIMING_ACCURACY, requires USE_LATE_TASK_STATISTICS to be defined // DEBUG_TIMING_ACCURACY, requires USE_LATE_TASK_STATISTICS to be defined
// 0 - % CPU busy // 0 - % CPU busy
@ -70,6 +72,7 @@
// 2 - Total lateness in last second in 10ths us // 2 - Total lateness in last second in 10ths us
// 3 - Total tasks run in last second // 3 - Total tasks run in last second
// 4 - 10ths % of tasks late in last second // 4 - 10ths % of tasks late in last second
// 7 - Standard deviation of gyro cycle time in 100th of a us
extern task_t tasks[]; extern task_t tasks[];
@ -110,6 +113,7 @@ static uint32_t lateTaskTotal = 0;
static int16_t taskCount = 0; static int16_t taskCount = 0;
static uint32_t lateTaskPercentage = 0; static uint32_t lateTaskPercentage = 0;
static uint32_t nextTimingCycles; static uint32_t nextTimingCycles;
static int32_t gyroCyclesNow;
#endif #endif
static timeMs_t lastFailsafeCheckMs = 0; static timeMs_t lastFailsafeCheckMs = 0;
@ -453,6 +457,12 @@ FAST_CODE void scheduler(void)
{ {
static uint32_t checkCycles = 0; static uint32_t checkCycles = 0;
static uint32_t scheduleCount = 0; static uint32_t scheduleCount = 0;
#if defined(USE_LATE_TASK_STATISTICS)
static uint32_t gyroCyclesMean = 0;
static uint32_t gyroCyclesCount = 0;
static uint64_t gyroCyclesTotal = 0;
static float devSquared = 0.0f;
#endif
#if !defined(UNIT_TEST) #if !defined(UNIT_TEST)
const timeUs_t schedulerStartTimeUs = micros(); const timeUs_t schedulerStartTimeUs = micros();
#endif #endif
@ -507,7 +517,6 @@ FAST_CODE void scheduler(void)
nowCycles = getCycleCounter(); nowCycles = getCycleCounter();
schedLoopRemainingCycles = cmpTimeCycles(nextTargetCycles, nowCycles); schedLoopRemainingCycles = cmpTimeCycles(nextTargetCycles, nowCycles);
} }
DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 0, clockCyclesTo10thMicros(cmpTimeCycles(nowCycles, lastTargetCycles)));
#endif #endif
currentTimeUs = micros(); currentTimeUs = micros();
taskExecutionTimeUs += schedulerExecuteTask(gyroTask, currentTimeUs); taskExecutionTimeUs += schedulerExecuteTask(gyroTask, currentTimeUs);
@ -533,6 +542,13 @@ FAST_CODE void scheduler(void)
} }
#if defined(USE_LATE_TASK_STATISTICS) #if defined(USE_LATE_TASK_STATISTICS)
gyroCyclesNow = cmpTimeCycles(nowCycles, lastTargetCycles);
gyroCyclesTotal += gyroCyclesNow;
gyroCyclesCount++;
DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 0, clockCyclesTo10thMicros(gyroCyclesNow));
int32_t deviationCycles = gyroCyclesNow - gyroCyclesMean;
devSquared += deviationCycles * deviationCycles;
// % CPU busy // % CPU busy
DEBUG_SET(DEBUG_TIMING_ACCURACY, 0, getAverageSystemLoadPercent()); DEBUG_SET(DEBUG_TIMING_ACCURACY, 0, getAverageSystemLoadPercent());
@ -550,6 +566,16 @@ FAST_CODE void scheduler(void)
// 10ths % of tasks late in last second // 10ths % of tasks late in last second
DEBUG_SET(DEBUG_TIMING_ACCURACY, 4, lateTaskPercentage); DEBUG_SET(DEBUG_TIMING_ACCURACY, 4, lateTaskPercentage);
float gyroCyclesStdDev = sqrt(devSquared/gyroCyclesCount);
int32_t gyroCyclesStdDev100thus = clockCyclesTo100thMicros((int32_t)gyroCyclesStdDev);
DEBUG_SET(DEBUG_TIMING_ACCURACY, 7, gyroCyclesStdDev100thus);
DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 7, gyroCyclesStdDev100thus);
gyroCyclesMean = gyroCyclesTotal/gyroCyclesCount;
devSquared = 0.0f;
gyroCyclesTotal = 0;
gyroCyclesCount = 0;
lateTaskCount = 0; lateTaskCount = 0;
lateTaskTotal = 0; lateTaskTotal = 0;
taskCount = 0; taskCount = 0;
@ -581,10 +607,6 @@ FAST_CODE void scheduler(void)
// Track the actual gyro rate over given number of cycle times and remove skew // Track the actual gyro rate over given number of cycle times and remove skew
static uint32_t terminalGyroLockCount = 0; static uint32_t terminalGyroLockCount = 0;
static int32_t accGyroSkew = 0; static int32_t accGyroSkew = 0;
static int32_t minGyroPeriod = (int32_t)INT_MAX;
static int32_t maxGyroPeriod = (int32_t)INT_MIN;
static uint32_t lastGyroSyncEXTI;
int32_t gyroCycles;
int32_t gyroSkew = cmpTimeCycles(nextTargetCycles, gyro->gyroSyncEXTI) % desiredPeriodCycles; int32_t gyroSkew = cmpTimeCycles(nextTargetCycles, gyro->gyroSyncEXTI) % desiredPeriodCycles;
if (gyroSkew > (desiredPeriodCycles / 2)) { if (gyroSkew > (desiredPeriodCycles / 2)) {
@ -593,22 +615,28 @@ FAST_CODE void scheduler(void)
accGyroSkew += gyroSkew; accGyroSkew += gyroSkew;
gyroCycles = cmpTimeCycles(gyro->gyroSyncEXTI, lastGyroSyncEXTI); #if defined(USE_LATE_TASK_STATISTICS)
static int32_t minGyroPeriod = (int32_t)INT_MAX;
static int32_t maxGyroPeriod = (int32_t)INT_MIN;
static uint32_t lastGyroSyncEXTI;
if (gyroCycles) { gyroCyclesNow = cmpTimeCycles(gyro->gyroSyncEXTI, lastGyroSyncEXTI);
if (gyroCyclesNow) {
lastGyroSyncEXTI = gyro->gyroSyncEXTI; lastGyroSyncEXTI = gyro->gyroSyncEXTI;
// If we're syncing to a short cycle, divide by eight // If we're syncing to a short cycle, divide by eight
if (gyro->gyroShortPeriod != 0) { if (gyro->gyroShortPeriod != 0) {
gyroCycles /= 8; gyroCyclesNow /= 8;
} }
if (gyroCycles < minGyroPeriod) { if (gyroCyclesNow < minGyroPeriod) {
minGyroPeriod = gyroCycles; minGyroPeriod = gyroCyclesNow;
} }
// Crude detection of missed cycles caused by configurator traffic // Crude detection of missed cycles caused by configurator traffic
if ((gyroCycles > maxGyroPeriod) && (gyroCycles < (1.5 * minGyroPeriod))) { if ((gyroCyclesNow > maxGyroPeriod) && (gyroCyclesNow < (1.5 * minGyroPeriod))) {
maxGyroPeriod = gyroCycles; maxGyroPeriod = gyroCyclesNow;
} }
} }
#endif
if (terminalGyroLockCount == 0) { if (terminalGyroLockCount == 0) {
terminalGyroLockCount = gyro->detectedEXTI + GYRO_LOCK_COUNT; terminalGyroLockCount = gyro->detectedEXTI + GYRO_LOCK_COUNT;
@ -620,13 +648,15 @@ FAST_CODE void scheduler(void)
// Move the desired start time of the gyroTask // Move the desired start time of the gyroTask
lastTargetCycles -= (accGyroSkew/GYRO_LOCK_COUNT); lastTargetCycles -= (accGyroSkew/GYRO_LOCK_COUNT);
#if defined(USE_LATE_TASK_STATISTICS)
DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 3, clockCyclesTo10thMicros(accGyroSkew/GYRO_LOCK_COUNT)); DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 3, clockCyclesTo10thMicros(accGyroSkew/GYRO_LOCK_COUNT));
DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 4, clockCyclesTo100thMicros(minGyroPeriod)); DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 4, clockCyclesTo100thMicros(minGyroPeriod));
DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 5, clockCyclesTo100thMicros(maxGyroPeriod)); DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 5, clockCyclesTo100thMicros(maxGyroPeriod));
DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 6, clockCyclesTo100thMicros(maxGyroPeriod - minGyroPeriod)); DEBUG_SET(DEBUG_SCHEDULER_DETERMINISM, 6, clockCyclesTo100thMicros(maxGyroPeriod - minGyroPeriod));
accGyroSkew = 0;
minGyroPeriod = INT_MAX; minGyroPeriod = INT_MAX;
maxGyroPeriod = INT_MIN; maxGyroPeriod = INT_MIN;
#endif
accGyroSkew = 0;
} }
} }
} }