yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

Load monitor: reduce scope of scheduler locking

Browse Source
This commit is contained in:
Andreas Antener
2016-12-07 19:58:13 +01:00
committed by Lorenz Meier
parent 806b8d3a67
commit 72f52c920c
1 changed files with 13 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
src/modules/load_mon/load_mon.cpp
View File

@@ -190,11 +190,7 @@ void LoadMon::_compute()
_cpuload.ram_usage = _ram_used();
#ifdef __PX4_NUTTX
perf_begin(_stack_perf);
sched_lock();
_stack_usage();
sched_unlock();
perf_end(_stack_perf);
#endif
if (_cpuload_pub == nullptr) {
@@ -242,11 +238,16 @@ void LoadMon::_stack_usage()
/* Scan maximum 3 tasks per cycle to reduce load. */
for (int i = _stack_task_index; i < _stack_task_index + 3; i++) {
task_index = i % CONFIG_MAX_TASKS;
unsigned stack_free = 0;
bool checked_task = false;
perf_begin(_stack_perf);
sched_lock();
if (system_load.tasks[task_index].valid && system_load.tasks[task_index].tcb->pid > 0) {
unsigned stack_size = (uintptr_t)system_load.tasks[task_index].tcb->adj_stack_ptr -
(uintptr_t)system_load.tasks[task_index].tcb->stack_alloc_ptr;
unsigned stack_free = 0;
uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[task_index].tcb->stack_alloc_ptr;
while (stack_free < stack_size) {
@@ -257,6 +258,13 @@ void LoadMon::_stack_usage()
stack_free++;
}
checked_task = true;
}
sched_unlock();
perf_end(_stack_perf);
if (checked_task) {
/*
* Found task low on stack, report and exit. Continue here in next cycle.
*/