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[paparazzi-commits] [5271] remove cpu_load computation for booz again.
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From: |
Felix Ruess |
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Subject: |
[paparazzi-commits] [5271] remove cpu_load computation for booz again. |
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Date: |
Fri, 06 Aug 2010 19:07:28 +0000 |
Revision: 5271
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5271
Author: flixr
Date: 2010-08-06 19:07:28 +0000 (Fri, 06 Aug 2010)
Log Message:
-----------
remove cpu_load computation for booz again. The sys_mon module provides a
cleaner way.
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/booz2_flixr.xml
paparazzi3/trunk/conf/messages.xml
paparazzi3/trunk/sw/airborne/booz/booz2_main.c
paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2010-08-06 18:01:48 UTC
(rev 5270)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2010-08-06 19:07:28 UTC
(rev 5271)
@@ -246,8 +246,6 @@
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
- #ap.CFLAGS += -DCALC_CPU_LOAD
-
ap.CFLAGS += -DUSE_MODULES
sim.CFLAGS += -DUSE_MODULES
Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml 2010-08-06 18:01:48 UTC (rev 5270)
+++ paparazzi3/trunk/conf/messages.xml 2010-08-06 19:07:28 UTC (rev 5271)
@@ -1525,9 +1525,7 @@
<field name="ap_h_mode" type="uint8"
values="KILL|RATE|ATTITUDE|HOVER|NAV"/>
<field name="ap_v_mode" type="uint8"
values="KILL|RC_DIRECT|RC_CLIMB|CLIMB|HOVER|NAV"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
- <field name="cpu_time" type="uint16" unit="s"/>
- <field name="cpu_load_avg" type="uint8" unit="%"/>
- <field name="cpu_load_max" type="uint8" unit="%"/>
+ <field name="cpu_time" type="uint16" unit="s"></field>
</message>
<message name="BOOZ_SIM_RPMS" id="239">
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_main.c 2010-08-06 18:01:48 UTC
(rev 5270)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_main.c 2010-08-06 19:07:28 UTC
(rev 5271)
@@ -68,8 +68,6 @@
#endif
uint32_t startup_counter = 0;
-uint8_t cpu_load_avg = 0;
-uint8_t cpu_load_max = 0;
static inline void on_gyro_accel_event( void );
static inline void on_baro_event( void );
@@ -77,47 +75,16 @@
static inline void on_mag_event( void );
#ifndef SITL
-#ifdef CALC_CPU_LOAD
-/* estimate of time needed in idle main_event taks (no pending events) in TOTC
ticks */
-uint32_t main_event_idle_ticks = PERIODIC_TASK_PERIOD;
-
int main( void ) {
- uint32_t load_counter = 0;
- uint8_t cpu_load = 0;
- uint8_t cpu_load_max_tmp = 0;
- uint16_t cpu_load_avg_sum = 0;
-
booz2_main_init();
while(1) {
- if (sys_time_periodic()) {
- cpu_load = 100*(PERIODIC_TASK_PERIOD -
(load_counter-1)*main_event_idle_ticks) / PERIODIC_TASK_PERIOD;
- if (cpu_load > cpu_load_max_tmp)
- cpu_load_max_tmp = cpu_load;
- cpu_load_avg_sum += cpu_load;
-
- booz2_main_periodic();
-
- load_counter = 0;
- RunOnceEvery(512, {cpu_load_avg=cpu_load_avg_sum/512;
cpu_load_max=cpu_load_max_tmp; cpu_load_avg_sum=0; cpu_load_max_tmp=0;});
- }
- load_counter++;
- booz2_main_event();
- }
- return 0;
-}
-#else // Do not calculate cpu load
-int main( void ) {
- booz2_main_init();
-
- while(1) {
if (sys_time_periodic())
booz2_main_periodic();
booz2_main_event();
}
return 0;
}
-#endif /* CALC_CPU_LOAD */
#endif /* SITL */
#ifdef BOOZ_START_DELAY
@@ -229,10 +196,6 @@
}
STATIC_INLINE void booz2_main_event( void ) {
-#ifdef CALC_CPU_LOAD
- /* start estimation of ticks needed if no events are processed */
- SysTimeChronoStart();
-#endif
DatalinkEvent();
@@ -256,12 +219,6 @@
modules_event_task();
#endif
-#ifdef CALC_CPU_LOAD
- /* remember lowest value -> no events processed */
- SysTimeChronoStop();
- if (sys_time_chrono < main_event_idle_ticks)
- main_event_idle_ticks = sys_time_chrono;
-#endif
}
static inline void on_gyro_accel_event( void ) {
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-08-06 18:01:48 UTC
(rev 5270)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-08-06 19:07:28 UTC
(rev 5271)
@@ -56,45 +56,41 @@
extern uint8_t telemetry_mode_Main_DefaultChannel;
#ifdef USE_GPS
-#define PERIODIC_SEND_BOOZ_STATUS(_chan) { \
- uint32_t booz_imu_nb_err = 0; \
- uint8_t _twi_blmc_nb_err = 0; \
- DOWNLINK_SEND_BOOZ_STATUS(_chan, \
- &booz_imu_nb_err, \
- &_twi_blmc_nb_err, \
- &radio_control.status, \
- &booz_gps_state.fix, \
- &booz2_autopilot_mode, \
- &booz2_autopilot_in_flight, \
- &booz2_autopilot_motors_on, \
- &booz2_guidance_h_mode, \
- &booz2_guidance_v_mode, \
- &booz2_battery_voltage, \
- &cpu_time_sec, \
- &cpu_load_avg, \
- &cpu_load_max \
- ); \
+#define PERIODIC_SEND_BOOZ_STATUS(_chan) { \
+ uint32_t booz_imu_nb_err = 0; \
+ uint8_t _twi_blmc_nb_err = 0; \
+ DOWNLINK_SEND_BOOZ_STATUS(_chan, \
+ &booz_imu_nb_err, \
+ &_twi_blmc_nb_err, \
+ &radio_control.status, \
+ &booz_gps_state.fix, \
+ &booz2_autopilot_mode, \
+ &booz2_autopilot_in_flight, \
+ &booz2_autopilot_motors_on, \
+ &booz2_guidance_h_mode, \
+ &booz2_guidance_v_mode, \
+ &booz2_battery_voltage, \
+ &cpu_time_sec \
+ ); \
}
#else /* !USE_GPS */
-#define PERIODIC_SEND_BOOZ_STATUS(_chan) { \
- uint32_t booz_imu_nb_err = 0; \
- uint8_t twi_blmc_nb_err = 0; \
- uint8_t fix = BOOZ2_GPS_FIX_NONE; \
- DOWNLINK_SEND_BOOZ_STATUS(_chan, \
- &booz_imu_nb_err, \
- &twi_blmc_nb_err, \
- &radio_control.status, \
- &fix, \
- &booz2_autopilot_mode, \
- &booz2_autopilot_in_flight, \
- &booz2_autopilot_motors_on, \
- &booz2_guidance_h_mode, \
- &booz2_guidance_v_mode, \
- &booz2_battery_voltage, \
- &cpu_time_sec, \
- &cpu_load_avg, \
- &cpu_load_max \
- ); \
+#define PERIODIC_SEND_BOOZ_STATUS(_chan) { \
+ uint32_t booz_imu_nb_err = 0; \
+ uint8_t twi_blmc_nb_err = 0; \
+ uint8_t fix = BOOZ2_GPS_FIX_NONE; \
+ DOWNLINK_SEND_BOOZ_STATUS(_chan, \
+ &booz_imu_nb_err, \
+ &twi_blmc_nb_err, \
+ &radio_control.status, \
+ &fix, \
+ &booz2_autopilot_mode, \
+ &booz2_autopilot_in_flight, \
+ &booz2_autopilot_motors_on, \
+ &booz2_guidance_h_mode, \
+ &booz2_guidance_v_mode, \
+ &booz2_battery_voltage, \
+ &cpu_time_sec \
+ ); \
}
#endif /* USE_GPS */
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