Revision 29:4e20b44251c6, committed 2013-04-10

Comitter:

madcowswe

Date:

Wed Apr 10 04:20:40 2013 +0000

Parent:

28:664e81033846

Child:

30:00e1493b44f0

Commit message:

Idle CPU measure implemented, not tested

Changed in this revision

--- a/Processes/MotorControl/MotorControl.cpp	Wed Apr 10 03:48:42 2013 +0000
+++ b/Processes/MotorControl/MotorControl.cpp	Wed Apr 10 04:20:40 2013 +0000
@@ -3,6 +3,7 @@
 #include "Encoder.h"
 #include "globals.h"
 #include <algorithm>
+#include "system.h"
 
 namespace MotorControl
 {

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/system.cpp	Wed Apr 10 04:20:40 2013 +0000
@@ -0,0 +1,34 @@
+
+#include "rtos.h"
+#include "mbed.h"
+#include "Printing.h"
+
+Timer SystemTime;
+
+Ticker CPUIdleMeasureTicker;
+volatile unsigned int nopctr = 0;
+const float s_per_nopcycle = 1.0f/24000000.0f;
+
+float CpuUsage = 0;
+
+void nopwait(int ms){
+while(ms--)
+    for (volatile int i = 0; i < 24000; i++);
+}
+
+void PostAndResetCPUIdle(){
+    CpuUsage = 1.0f - (s_per_nopcycle * nopctr);
+    Printing::updateval(10,CpuUsage);
+    nopctr = 0;
+}
+
+void measureCPUidle (void const*){
+    
+    osThreadSetPriority (osThreadGetId(), osPriorityIdle);
+    Printing::registerID(10, 1);
+    
+    CPUIdleMeasureTicker.attach(PostAndResetCPUIdle, 1);
+    
+    while(1)
+        nopctr++;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/system.h	Wed Apr 10 04:20:40 2013 +0000
@@ -0,0 +1,6 @@
+
+extern Timer SystemTime;
+extern float CpuUsage; //1.0f = completely busy, 0.0f = completely idle
+
+//run this on an "idle" priority thread to measure cpu usage
+void measureCPUidle (void const* = NULL);

--- a/globals.cpp	Wed Apr 10 03:48:42 2013 +0000
+++ b/globals.cpp	Wed Apr 10 04:20:40 2013 +0000
@@ -3,5 +3,4 @@
 
 //Store global objects here
 pos beaconpos[] = {{0,1}, {3,0}, {3,2}};
-Timer SystemTime;
 Waypoint* AI::current_waypoint;
\ No newline at end of file

--- a/globals.h	Wed Apr 10 03:48:42 2013 +0000
+++ b/globals.h	Wed Apr 10 04:20:40 2013 +0000
@@ -18,8 +18,6 @@
 const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
 const float angvarpertime = 0.001;
 
-extern Timer SystemTime;
-
 const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this
 const float MOTOR_MAX_POWER = 0.4f;
 

--- a/main.cpp	Wed Apr 10 03:48:42 2013 +0000
+++ b/main.cpp	Wed Apr 10 04:20:40 2013 +0000
@@ -12,6 +12,7 @@
 #include <algorithm>
 #include "motion.h"
 #include "MotorControl.h"
+#include "system.h"
 
 void motortest();
 void encodertest();
@@ -92,6 +93,7 @@
     Thread::wait(3500);
     Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048);
 
+    //measureCPUidle(); //repurpose thread for idle measurement
     Thread::wait(osWaitForever);
 
 }