[modules] add min/max periodic time to sys_mon

paparazzi · Aug 23, 2013 · 3bf713a · 3bf713a
1 parent 8817bd5
commit 3bf713a
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Showing 3 changed files with 30 additions and 12 deletions.
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -255,6 +255,8 @@
 
   <message name="SYS_MON" id="33">
     <field name="periodic_time" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
+    <field name="periodic_time_min" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
+    <field name="periodic_time_max" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
     <field name="periodic_cycle" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
     <field name="periodic_cycle_min" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
     <field name="periodic_cycle_max" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>

diff --git a/sw/airborne/modules/core/sys_mon.c b/sw/airborne/modules/core/sys_mon.c
@@ -27,24 +27,26 @@
 #include "mcu_periph/usb_serial.h"
 #endif
 
-/* Global system monitor data (averaged over 1 sec) */
+/** Global system monitor data (averaged over 1 sec) */
 struct SysMon sys_mon;
 
 /* Local vars */
-uint16_t n_periodic;
-uint16_t n_event;
-uint32_t periodic_timer;
-uint32_t periodic_cycle;
-uint32_t event_timer;
-uint32_t sum_time_periodic;  ///< in usec
-uint32_t sum_cycle_periodic; ///< in usec
-uint32_t sum_time_event;     ///< in usec
-uint32_t min_time_event;     ///< in usec
-uint32_t sum_n_event;
+static uint16_t n_periodic;
+static uint16_t n_event;
+static uint32_t periodic_timer;
+static uint32_t periodic_cycle;
+static uint32_t event_timer;
+static uint32_t sum_time_periodic;  ///< in usec
+static uint32_t sum_cycle_periodic; ///< in usec
+static uint32_t sum_time_event;     ///< in usec
+static uint32_t min_time_event;     ///< in usec
+static uint32_t sum_n_event;
 
 void init_sysmon(void) {
   sys_mon.cpu_load = 0;
   sys_mon.periodic_time = 0;
+  sys_mon.periodic_time_min = 0xFFFF;
+  sys_mon.periodic_time_max = 0;
   sys_mon.periodic_cycle = 0;
   sys_mon.periodic_cycle_min = 0xFFFF;
   sys_mon.periodic_cycle_max = 0;
@@ -75,13 +77,19 @@ void periodic_report_sysmon(void) {
     sys_mon.cpu_load = 100 * sys_mon.periodic_cycle / sys_mon.periodic_time;
     sys_mon.event_number = sum_n_event / n_periodic;
 
-    DOWNLINK_SEND_SYS_MON(DefaultChannel, DefaultDevice, &sys_mon.periodic_time, &sys_mon.periodic_cycle, &sys_mon.periodic_cycle_min, &sys_mon.periodic_cycle_max, &sys_mon.event_number, &sys_mon.cpu_load);
+    DOWNLINK_SEND_SYS_MON(DefaultChannel, DefaultDevice, &sys_mon.periodic_time,
+                          &sys_mon.periodic_time_min, &sys_mon.periodic_time_max,
+                          &sys_mon.periodic_cycle, &sys_mon.periodic_cycle_min,
+                          &sys_mon.periodic_cycle_max, &sys_mon.event_number,
+                          &sys_mon.cpu_load);
   }
 
   n_periodic = 0;
   sum_time_periodic = 0;
   sum_cycle_periodic = 0;
   sum_n_event = 0;
+  sys_mon.periodic_time_min = 0xFFFF;
+  sys_mon.periodic_time_max = 0;
   sys_mon.periodic_cycle_min = 0xFFFF;
   sys_mon.periodic_cycle_max = 0;
 }
@@ -96,6 +104,12 @@ void periodic_sysmon(void) {
   periodic_cycle = periodic_usec - n_event * min_time_event;
   sum_cycle_periodic += periodic_cycle;
 
+  /* remember min and max periodic times */
+  if (periodic_usec < sys_mon.periodic_time_min)
+    sys_mon.periodic_time_min = periodic_usec;
+  if (periodic_usec > sys_mon.periodic_time_max)
+    sys_mon.periodic_time_max = periodic_usec;
+
   /* remember min and max periodic cycle times */
   if (periodic_cycle < sys_mon.periodic_cycle_min)
     sys_mon.periodic_cycle_min = periodic_cycle;

diff --git a/sw/airborne/modules/core/sys_mon.h b/sw/airborne/modules/core/sys_mon.h
@@ -34,6 +34,8 @@
 struct SysMon {
   uint8_t  cpu_load;
   uint16_t periodic_time;      ///< in usec
+  uint16_t periodic_time_min;  ///< in usec
+  uint16_t periodic_time_max;  ///< in usec
   uint16_t periodic_cycle;     ///< in usec
   uint16_t periodic_cycle_min; ///< in usec
   uint16_t periodic_cycle_max; ///< in usec