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Rework scheduler interaction with realtime process // Detailled task manager // Fix gyro sync (was broken)

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Fix cycletime calculations
This commit is contained in:
borisbstyle 2016-02-25 17:51:24 +01:00
parent 9e1f78075d
commit f7091f48d0
6 changed files with 86 additions and 16 deletions
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24
src/main/io/serial_cli.c
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@ -46,6 +46,7 @@
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
#include "drivers/sdcard.h"
#include "drivers/gyro_sync.h"
#include "drivers/buf_writer.h"
@ -2577,7 +2578,28 @@ static void cliTasks(char *cmdline)
for (taskId = 0; taskId < TASK_COUNT; taskId++) {
getTaskInfo(taskId, &taskInfo);
if (taskInfo.isEnabled) {
cliPrintf("%d - %s, max = %d us, avg = %d us, total = %d ms\r\n", taskId, taskInfo.taskName, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime, taskInfo.totalExecutionTime / 1000);
uint16_t taskFrequency;
uint16_t subTaskFrequency;
if (taskId == TASK_GYROPID) {
subTaskFrequency = (uint16_t)(1.0f / ((float)cycleTime * 0.000001f));
taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
} else {
taskFrequency = (uint16_t)(1.0f / ((float)taskInfo.latestDeltaTime * 0.000001f));
}
uint32_t taskTotalTime = taskInfo.totalExecutionTime / 1000;
cliPrintf("%d - (%s) max: %dus, avg: %dus, rate: %dhz, total: ", taskId, taskInfo.taskName, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime, taskFrequency);
if (taskTotalTime >= 1000) {
cliPrintf("%ds", taskTotalTime / 1000);
} else {
cliPrintf("%dms", taskTotalTime);
}
if (taskId == TASK_GYROPID) cliPrintf(" (%s rate: %dhz)", taskInfo.subTaskName, subTaskFrequency);
cliPrintf("\r\n", taskTotalTime);
}
}
}