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Symson logging from mbriday #60

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55f5c92
[log timing] add time logs for tasks.
May 1, 2020
3823a6f
Fix logging for simu
May 1, 2020
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77 changes: 77 additions & 0 deletions sources/include/log_timings.h
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@@ -0,0 +1,77 @@
#ifndef LOG_TIMING_H
#define LOG_TIMING_H

/* The purpose of log timing is to measure:
* - time of each interrupt/task (=proc)
* - periodicity of procs
* It is useful during dev only, as it consums a few resources
*
* Hardware required: TIM6
* serial output : uart2
*
* in 'native mode', no behavior
*/

/* if the following line is commented, there is no log
* i.e, #define are expanded in nothing
*/
#define LOG_TIME

/* number of entries. 3 bytes per entry */
#define LOG_TIME_SIZE 1024

#define LOG_TIME_NB_TASKS 4

/* use msb of the id for start/stop */
#define LOG_TIME_EVENT_START 0x80
#define LOG_TIME_EVENT_STOP 0x00

/* id. 7 bits allowed */
#define LOG_TIME_TASK_BREATHING 0x0
#define LOG_TIME_TASK_MONITORING 0x1
#define LOG_TIME_TASK_CONTROLLER 0x2
#define LOG_TIME_TASK_HMI 0x3


typedef struct
{
uint8_t id; /* id: MSB=1 start, else end. 7 low bits = id. */
uint16_t date; /* date in us from TIM6. there are overflows */
} log_time_entry;

#ifdef LOG_TIME
#include <FreeRTOS.h>
#include <task.h> /*we need TaskHandle_t */
void log_time_initHw();
void log_time_start();
void log_time_event(int id);
void log_time_dump();
int log_time_full();

void log_time_init_task(const char *name, int id);
void log_time_event_task(TaskHandle_t t,int start);

/* should be called */
#define LOG_TIME_INIT_TIM6_HARDWARE() log_time_initHw();
#define LOG_TIME_START() log_time_start();
#define LOG_TIME_EVENT(id) log_time_event(id);
#define LOG_TIME_DUMP() log_time_dump();
#define LOG_TIME_FULL() log_time_full() /* no ';' here */

#define LOG_TIME_INIT_TASK(name,id) log_time_init_task(name,id);
#define LOG_TIME_EVENT_TASK(t,s) log_time_event_task(t,s);

#else /* no log */

#define LOG_TIME_INIT_TIM6_HARDWARE()
#define LOG_TIME_START()
#define LOG_TIME_EVENT(id)
#define LOG_TIME_DUMP()
#define LOG_TIME_FULL() 0

#define LOG_TIME_INIT_TASK(name,id)
#define LOG_TIME_EVENT_TASK(t,s)

#endif /* LOG_TIME */

#endif
1 change: 1 addition & 0 deletions sources/platforms/recovid_revB/CMakeLists.txt
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Expand Up @@ -21,6 +21,7 @@ add_library(recovid_revB OBJECT
pep_valve.c
gpio.c
bmp280.c
log_timings.c
)

target_include_directories(recovid_revB PUBLIC
Expand Down
1 change: 1 addition & 0 deletions sources/platforms/recovid_revB/FreeRTOSConfig.h
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Expand Up @@ -67,6 +67,7 @@ to exclude the API function. */
#define INCLUDE_xQueueGetMutexHolder 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xTaskGetHandle 1

/*
* The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
Expand Down
85 changes: 85 additions & 0 deletions sources/platforms/recovid_revB/log_timings.c
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@@ -0,0 +1,85 @@
#include <stdint.h>
#include <stdio.h>
#include "stm32f3xx.h"
#include "log_timings.h"
#include "common.h"
#include <string.h> /* strlen */

/* save logs before sending externally (through uart..)*/
/* 3 bytes per entry */
volatile log_time_entry log_time_tab[LOG_TIME_SIZE];
volatile int log_time_current_size; /* current size */


void log_time_initHw(){
//start TIM6
RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
__asm("nop");
RCC->APB1RSTR |= RCC_APB1RSTR_TIM6RST;
RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM6RST;
__asm("nop");

//configure TIM6
TIM6->PSC = 72-1; //tick@1us
TIM6->EGR = TIM_EGR_UG; //update event => load PSC
TIM6->CR1 = TIM_CR1_CEN; //enable, all other fields to 0

log_time_current_size = 0;
}

void log_time_event(int id)
{
__disable_irq();
const uint16_t date = TIM6->CNT;
if(log_time_current_size < LOG_TIME_SIZE) {
log_time_tab[log_time_current_size].id = id;
log_time_tab[log_time_current_size].date = date;
log_time_current_size++;
}
__enable_irq();
}

void log_time_start()
{
log_time_current_size = 0;
}

void log_time_dump()
{
const int size = log_time_current_size;
dbg_printf("dump log timings\r\n");
for(int i = 0;i<size;i++)
{
char c;
if(log_time_tab[i].id & LOG_TIME_EVENT_START) c = 's';
else c = 'e';
dbg_printf("%c\t%d\t%d\r\n",c,log_time_tab[i].id & 0x7F,log_time_tab[i].date);
}
}

int log_time_full()
{
return (log_time_current_size == LOG_TIME_SIZE);
}

/* store the task handle of tasks */
TaskHandle_t idToTaskHandle[4];
void log_time_init_task(const char *name, int id)
{
TaskHandle_t handle = xTaskGetHandle(name);
if(id < LOG_TIME_NB_TASKS) {
idToTaskHandle[id] = handle;
}
}

void log_time_event_task(TaskHandle_t t,int start)
{
int i=0;
int found = 0;
while(i<LOG_TIME_NB_TASKS && !found)
{
found = (t==idToTaskHandle[i]);
if(!found) i++;
}
if(found) log_time_event(start | i);
}
3 changes: 3 additions & 0 deletions sources/platforms/recovid_revB/recovid_revB.c
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@@ -1,5 +1,7 @@
#include "recovid_revB.h"
#include "platform_config.h"
#include "log_timings.h"
#include <stdbool.h>


I2C_HandleTypeDef hi2c1;
Expand Down Expand Up @@ -61,6 +63,7 @@ void main()
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM7_Init();
LOG_TIME_INIT_TIM6_HARDWARE()

// Start the controller
// This function should never returns
Expand Down
1 change: 1 addition & 0 deletions sources/platforms/recovid_revB/sensors.c
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Expand Up @@ -2,6 +2,7 @@
#include "platform.h"
#include "platform_config.h"
#include "bmp280.h"
#include "log_timings.h"
#include <string.h>

/*
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10 changes: 7 additions & 3 deletions sources/platforms/recovid_revB/time.c
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@@ -1,6 +1,7 @@
#include "recovid_revB.h"
#include "platform.h"
#include "platform_config.h"
#include "log_timings.h"

#include <FreeRTOS.h>
#include <task.h>
Expand All @@ -12,10 +13,13 @@ uint32_t get_time_ms()

uint32_t wait_ms(uint32_t t_ms)
{
if(xTaskGetCurrentTaskHandle() != NULL)
TaskHandle_t handle = xTaskGetCurrentTaskHandle();
if(handle != NULL) {
LOG_TIME_EVENT_TASK(handle, LOG_TIME_EVENT_STOP)
vTaskDelay(t_ms/portTICK_PERIOD_MS);
else {
LOG_TIME_EVENT_TASK(handle, LOG_TIME_EVENT_START)
} else {
HAL_Delay(t_ms);
}
return get_time_ms();
}
}
1 change: 1 addition & 0 deletions sources/platforms/simu/CMakeLists.txt
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Expand Up @@ -40,6 +40,7 @@ add_library(simu OBJECT
time.c
uart.c
main.c
log_timings.c
)

if(NOT CMAKE_HOST_WIN32)
Expand Down
41 changes: 41 additions & 0 deletions sources/platforms/simu/log_timings.c
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@@ -0,0 +1,41 @@
#include <stdint.h>
#include <stdio.h>
#include "log_timings.h"
#include "common.h"
#include <string.h> /* strlen */



//TO NOT IMPLEMENTED
void log_time_initHw(){
}

//TO NOT IMPLEMENTED
void log_time_event(int id)
{
}

//TO NOT IMPLEMENTED
void log_time_start()
{
}

//TO NOT IMPLEMENTED
void log_time_dump()
{
}

//TO NOT IMPLEMENTED
int log_time_full()
{
}

//TO NOT IMPLEMENTED
void log_time_init_task(const char *name, int id)
{
}

//TO NOT IMPLEMENTED
void log_time_event_task(TaskHandle_t t,int start)
{
}
12 changes: 12 additions & 0 deletions sources/platforms/simu/main.c
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Expand Up @@ -3,7 +3,14 @@
#include "breathing.h"
#include "monitoring.h"
#include "hmi.h"
#include "platform.h"
#include "log_timings.h"

#define PRIORITY_LOW 8
#define PRIORITY_BELOW_NORMAL 16
#define PRIORITY_NORMAL 24
#define PRIORITY_ABOVE_NORMAL 32
#define PRIORITY_HIGH 40


TaskHandle_t breathingTaskHandle;
Expand Down Expand Up @@ -56,6 +63,11 @@ int main(int argc, char *argv)
HardFault_Handler();
}

LOG_TIME_INIT_TASK("Breathing" , LOG_TIME_TASK_BREATHING)
LOG_TIME_INIT_TASK("Monitoring" , LOG_TIME_TASK_MONITORING)
LOG_TIME_INIT_TASK("Controller" , LOG_TIME_TASK_CONTROLLER)
LOG_TIME_INIT_TASK("HMI" , LOG_TIME_TASK_HMI)

// start scheduler
vTaskStartScheduler();

Expand Down
6 changes: 4 additions & 2 deletions sources/src/breathing.c
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@@ -1,6 +1,7 @@
#include "controller.h"
#include "breathing.h"
#include "platform.h"
#include "log_timings.h"

#include <compute_motor.h>
#include <math.h>
Expand Down Expand Up @@ -53,10 +54,12 @@ static void enter_state(BreathingState newState);
void breathing_run(void *args) {
UNUSED(args);
EventBits_t events;

LOG_TIME_EVENT(LOG_TIME_EVENT_START | LOG_TIME_TASK_BREATHING)
while(true) {
brth_printf("BRTH: Standby\n");
LOG_TIME_EVENT(LOG_TIME_EVENT_STOP | LOG_TIME_TASK_BREATHING)
events= xEventGroupWaitBits(ctrlEventFlags, BREATHING_RUN_FLAG, pdFALSE, pdTRUE, portMAX_DELAY );
LOG_TIME_EVENT(LOG_TIME_EVENT_START | LOG_TIME_TASK_BREATHING)
brth_printf("BRTH: Started\n");

// _flow_samples_count=0;
Expand Down Expand Up @@ -180,7 +183,6 @@ void breathing_run(void *args) {

wait_ms(200);
xEventGroupSetBits(ctrlEventFlags, BREATHING_STOPPED_FLAG);

}
}

Expand Down
12 changes: 10 additions & 2 deletions sources/src/controller.c
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Expand Up @@ -3,6 +3,7 @@
#include "monitoring.h"
#include "platform.h"
#include "defaults.h"
#include "log_timings.h"


#include <math.h>
Expand Down Expand Up @@ -56,6 +57,11 @@ void controller_main()
return;
}

LOG_TIME_INIT_TASK("Breathing" , LOG_TIME_TASK_BREATHING)
LOG_TIME_INIT_TASK("Monitoring" , LOG_TIME_TASK_MONITORING)
LOG_TIME_INIT_TASK("Controller" , LOG_TIME_TASK_CONTROLLER)
LOG_TIME_INIT_TASK("HMI" , LOG_TIME_TASK_HMI)

// start scheduler
vTaskStartScheduler();

Expand Down Expand Up @@ -111,6 +117,7 @@ static int self_tests();

void controller_run(void* args) {
UNUSED(args);
LOG_TIME_EVENT(LOG_TIME_EVENT_START | LOG_TIME_TASK_CONTROLLER)

EventBits_t events;

Expand All @@ -119,13 +126,13 @@ void controller_run(void* args) {
#endif

while(true) {


// TODO: Implemente the actual startup process

ctrl_printf("CTRL: Waiting for failsafe signal\n");
while(is_Failsafe_Enabled()) wait_ms(200);


ctrl_printf("CTRL: Initializing system\n");

reset_settings();
Expand Down Expand Up @@ -159,7 +166,6 @@ void controller_run(void* args) {
// TODO Implement controller logic
// check monitoring process
// check breathing process

wait_ms(20);
}

Expand All @@ -170,7 +176,9 @@ void controller_run(void* args) {
ctrl_printf("CTRL: Waiting for breathing, monitoring and hmi tasks to stop\n");
do {
// TODO implement retry logic and eventually kill tasks !!
LOG_TIME_EVENT(LOG_TIME_EVENT_STOP | LOG_TIME_TASK_CONTROLLER)
sync = xEventGroupWaitBits(ctrlEventFlags, (BREATHING_STOPPED_FLAG | MONITORING_STOPPED_FLAG | HMI_STOPPED_FLAG), pdTRUE, pdTRUE, 200/portTICK_PERIOD_MS);
LOG_TIME_EVENT(LOG_TIME_EVENT_START | LOG_TIME_TASK_CONTROLLER)
} while( (sync & (BREATHING_STOPPED_FLAG | MONITORING_STOPPED_FLAG | HMI_STOPPED_FLAG)) != (BREATHING_STOPPED_FLAG | MONITORING_STOPPED_FLAG | HMI_STOPPED_FLAG));

ctrl_printf("CTRL: breathing, monitoring and hmi tasks stopped\n");
Expand Down
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