flight/libraries/instrumentation.c

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       instrumentation.c
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
   6  * @brief      Instrumentation infrastructure
   7  *             UAVObject wrapper layer for PiOS instrumentation
   8  * @see        The GNU Public License (GPL) Version 3
   9  *
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26
  27 #include <openpilot.h>
  28 #include <instrumentation.h>
  29 #include <pios_instrumentation.h>
  30
  31 static uint8_t publishedCountersInstances = 0;
  32 static void counterCallback(const pios_perf_counter_t *counter, const int8_t index, void *context);
  33 static xSemaphoreHandle sem;
  34 void InstrumentationInit()
  35 {
  36     PerfCounterInitialize();
  37     publishedCountersInstances = 1;
  38     vSemaphoreCreateBinary(sem);
  39 }
  40
  41 void InstrumentationPublishAllCounters()
  42 {
  43     if (xSemaphoreTake(sem, 0) != pdTRUE) {
  44         return;
  45     }
  46     PIOS_Instrumentation_ForEachCounter(&counterCallback, NULL);
  47     xSemaphoreGive(sem);
  48 }
  49
  50 void counterCallback(const pios_perf_counter_t *counter, const int8_t index, __attribute__((unused)) void *context)
  51 {
  52     if (publishedCountersInstances < index + 1) {
  53         PerfCounterCreateInstance();
  54         publishedCountersInstances++;
  55     }
  56     PerfCounterData data;
  57     data.Id = counter->id;
  58     data.Counter.Max   = counter->max;
  59     data.Counter.Min   = counter->min;
  60     data.Counter.Value = counter->value;
  61     PerfCounterInstSet(index, &data);
  62 }