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Code Issues Wiki Activity

Cleaned up the scheduler.

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This commit is contained in:
mikeller 2020-03-15 13:28:30 +13:00
parent b729c3cc99
commit db4bd1f186
20 changed files with 326 additions and 392 deletions
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22
src/main/cli/cli.c
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@ -4670,14 +4670,14 @@ static void cliStatus(char *cmdline)
// Run status
const int gyroRate = getTaskDeltaTime(TASK_GYRO) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYRO)));
const int gyroRate = getTaskDeltaTimeUs(TASK_GYRO) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTimeUs(TASK_GYRO)));
int rxRate = getCurrentRxRefreshRate();
if (rxRate != 0) {
rxRate = (int)(1000000.0f / ((float)rxRate));
}
const int systemRate = getTaskDeltaTime(TASK_SYSTEM) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_SYSTEM)));
const int systemRate = getTaskDeltaTimeUs(TASK_SYSTEM) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTimeUs(TASK_SYSTEM)));
cliPrintLinef("CPU:%d%%, cycle time: %d, GYRO rate: %d, RX rate: %d, System rate: %d",
constrain(averageSystemLoadPercent, 0, 100), getTaskDeltaTime(TASK_GYRO), gyroRate, rxRate, systemRate);
constrain(getAverageSystemLoadPercent(), 0, LOAD_PERCENTAGE_ONE), getTaskDeltaTimeUs(TASK_GYRO), gyroRate, rxRate, systemRate);
// Battery meter
@ -4720,22 +4720,22 @@ static void cliTasks(char *cmdline)
cliPrintLine("Task list");
}
#endif
for (cfTaskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
cfTaskInfo_t taskInfo;
for (taskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
taskInfo_t taskInfo;
getTaskInfo(taskId, &taskInfo);
if (taskInfo.isEnabled) {
int taskFrequency = taskInfo.averageDeltaTime == 0 ? 0 : lrintf(1e6f / taskInfo.averageDeltaTime);
int taskFrequency = taskInfo.averageDeltaTimeUs == 0 ? 0 : lrintf(1e6f / taskInfo.averageDeltaTimeUs);
cliPrintf("%02d - (%15s) ", taskId, taskInfo.taskName);
const int maxLoad = taskInfo.maxExecutionTime == 0 ? 0 :(taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
const int averageLoad = taskInfo.averageExecutionTime == 0 ? 0 : (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
const int maxLoad = taskInfo.maxExecutionTimeUs == 0 ? 0 :(taskInfo.maxExecutionTimeUs * taskFrequency + 5000) / 1000;
const int averageLoad = taskInfo.averageExecutionTimeUs == 0 ? 0 : (taskInfo.averageExecutionTimeUs * taskFrequency + 5000) / 1000;
if (taskId != TASK_SERIAL) {
maxLoadSum += maxLoad;
averageLoadSum += averageLoad;
}
if (systemConfig()->task_statistics) {
cliPrintLinef("%6d %7d %7d %4d.%1d%% %4d.%1d%% %9d",
taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
taskFrequency, taskInfo.maxExecutionTimeUs, taskInfo.averageExecutionTimeUs,
maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTimeUs / 1000);
} else {
cliPrintLinef("%6d", taskFrequency);
}
@ -4746,7 +4746,7 @@ static void cliTasks(char *cmdline)
if (systemConfig()->task_statistics) {
cfCheckFuncInfo_t checkFuncInfo;
getCheckFuncInfo(&checkFuncInfo);
cliPrintLinef("RX Check Function %19d %7d %25d", checkFuncInfo.maxExecutionTime, checkFuncInfo.averageExecutionTime, checkFuncInfo.totalExecutionTime / 1000);
cliPrintLinef("RX Check Function %19d %7d %25d", checkFuncInfo.maxExecutionTimeUs, checkFuncInfo.averageExecutionTimeUs, checkFuncInfo.totalExecutionTimeUs / 1000);
cliPrintLinef("Total (excluding SERIAL) %25d.%1d%% %4d.%1d%%", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
schedulerResetCheckFunctionMaxExecutionTime();
}