flight/pios/common/pios_instrumentation.c

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pios_instrumentation.c
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
   6  * @brief      PiOS instrumentation infrastructure
   7  *             Allow to collects performance indexes and execution times
   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 <pios_instrumentation.h>
  28
  29 pios_perf_counter_t *pios_instrumentation_perf_counters = NULL;
  30 int8_t pios_instrumentation_max_counters = -1;
  31 int8_t pios_instrumentation_last_used_counter = -1;
  32
  33 void PIOS_Instrumentation_Init(int8_t maxCounters)
  34 {
  35     PIOS_Assert(maxCounters >= 0);
  36     if (maxCounters > 0) {
  37         pios_instrumentation_perf_counters = (pios_perf_counter_t *)pvPortMalloc(sizeof(pios_perf_counter_t) * maxCounters);
  38         PIOS_Assert(pios_instrumentation_perf_counters);
  39         memset(pios_instrumentation_perf_counters, 0, sizeof(pios_perf_counter_t) * maxCounters);
  40         pios_instrumentation_max_counters  = maxCounters;
  41     } else {
  42         pios_instrumentation_perf_counters = NULL;
  43         pios_instrumentation_max_counters  = -1;
  44     }
  45 }
  46
  47 pios_counter_t PIOS_Instrumentation_CreateCounter(uint32_t id)
  48 {
  49     PIOS_Assert(pios_instrumentation_perf_counters && (pios_instrumentation_max_counters > pios_instrumentation_last_used_counter));
  50
  51     pios_counter_t counter_handle = PIOS_Instrumentation_SearchCounter(id);
  52     if (!counter_handle) {
  53         pios_perf_counter_t *newcounter = &pios_instrumentation_perf_counters[++pios_instrumentation_last_used_counter];
  54         newcounter->id  = id;
  55         newcounter->max = INT32_MIN + 1;
  56         newcounter->min = INT32_MAX - 1;
  57         counter_handle  = (pios_counter_t)newcounter;
  58     }
  59     return counter_handle;
  60 }
  61
  62 pios_counter_t PIOS_Instrumentation_SearchCounter(uint32_t id)
  63 {
  64     PIOS_Assert(pios_instrumentation_perf_counters);
  65     uint8_t i = 0;
  66     while (i < pios_instrumentation_last_used_counter && pios_instrumentation_perf_counters[i].id != id) {
  67         i++;
  68     }
  69     if (pios_instrumentation_perf_counters[i].id != id) {
  70         return NULL;
  71     }
  72     return (pios_counter_t)&pios_instrumentation_perf_counters[i];
  73 }
  74
  75 void PIOS_Instrumentation_ForEachCounter(InstrumentationCounterCallback callback, void *context)
  76 {
  77     PIOS_Assert(pios_instrumentation_perf_counters);
  78     for (int8_t index = 0; index < pios_instrumentation_last_used_counter + 1; index++) {
  79         const pios_perf_counter_t *counter = &pios_instrumentation_perf_counters[index];
  80         callback(counter, index, context);
  81     }
  82 }