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Gyro native rate sampling, filtering, and scheduler restructuring

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This commit is contained in:
Bruce Luckcuck 2020-01-06 07:52:35 -05:00
parent b11565efbe
commit f584780944
42 changed files with 718 additions and 421 deletions
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26
src/main/cli/cli.c
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@ -54,6 +54,7 @@ bool cliMode = false;
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/config.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
@ -94,7 +95,6 @@ bool cliMode = false;
#include "drivers/vtx_table.h"
#include "fc/board_info.h"
#include "config/config.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
@ -4680,11 +4680,11 @@ static void cliStatus(char *cmdline)
// Run status
const int gyroRate = getTaskDeltaTime(TASK_GYROPID) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYROPID)));
const int gyroRate = getTaskDeltaTime(TASK_GYRO) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYRO)));
const int rxRate = currentRxRefreshRate == 0 ? 0 : (int)(1000000.0f / ((float)currentRxRefreshRate));
const int systemRate = getTaskDeltaTime(TASK_SYSTEM) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_SYSTEM)));
cliPrintLinef("CPU:%d%%, cycle time: %d, GYRO rate: %d, RX rate: %d, System rate: %d",
constrain(averageSystemLoadPercent, 0, 100), getTaskDeltaTime(TASK_GYROPID), gyroRate, rxRate, systemRate);
constrain(averageSystemLoadPercent, 0, 100), getTaskDeltaTime(TASK_GYRO), gyroRate, rxRate, systemRate);
// Battery meter
@ -4731,21 +4731,8 @@ static void cliTasks(char *cmdline)
cfTaskInfo_t taskInfo;
getTaskInfo(taskId, &taskInfo);
if (taskInfo.isEnabled) {
int taskFrequency;
int subTaskFrequency = 0;
if (taskId == TASK_GYROPID) {
subTaskFrequency = taskInfo.movingAverageCycleTime == 0.0f ? 0.0f : (int)(1000000.0f / (taskInfo.movingAverageCycleTime));
taskFrequency = subTaskFrequency / pidConfig()->pid_process_denom;
if (pidConfig()->pid_process_denom > 1) {
cliPrintf("%02d - (%15s) ", taskId, taskInfo.taskName);
} else {
taskFrequency = subTaskFrequency;
cliPrintf("%02d - (%11s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
}
} else {
taskFrequency = taskInfo.averageDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.averageDeltaTime));
cliPrintf("%02d - (%15s) ", taskId, taskInfo.taskName);
}
int taskFrequency = taskInfo.averageDeltaTime == 0 ? 0 : lrintf(1e6f / taskInfo.averageDeltaTime);
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;
if (taskId != TASK_SERIAL) {
@ -4759,9 +4746,6 @@ static void cliTasks(char *cmdline)
} else {
cliPrintLinef("%6d", taskFrequency);
}
if (taskId == TASK_GYROPID && pidConfig()->pid_process_denom > 1) {
cliPrintLinef(" - (%15s) %6d", taskInfo.subTaskName, subTaskFrequency);
}
schedulerResetTaskMaxExecutionTime(taskId);
}