mirror of
https://github.com/apache/nuttx-apps.git
synced 2026-08-03 21:29:05 +00:00
examples/foc: improve perf monitor
improve FOC perf monitor: - add options to choose when perf result should be printed - measure the controller thread call period
This commit is contained in:
raiden00pl
Xiang Xiao
parent
5c166edf63
commit
beeec27afd
6 changed files with 173 additions and 30 deletions
|
|
@ -47,6 +47,24 @@ config EXAMPLES_FOC_PERF
|
|||
bool "Enable performance meassurements"
|
||||
default n
|
||||
|
||||
if EXAMPLES_FOC_PERF
|
||||
|
||||
config EXAMPLES_FOC_PERF_LIVE
|
||||
bool "Print FOC perf results on each max value change"
|
||||
default n
|
||||
---help---
|
||||
With this option perf results are printed every time the maximum value
|
||||
changes. The disadvantage of this method is that printing can directly
|
||||
affect the pref result but it gives results in real time.
|
||||
|
||||
config EXAMPLES_FOC_PERF_EXIT
|
||||
bool "Print FOC perf results on thread exit"
|
||||
default y
|
||||
---help---
|
||||
With this option perf results are printed on control thread exit.
|
||||
|
||||
endif # EXAMPLES_FOC_PERF
|
||||
|
||||
choice
|
||||
prompt "FOC modulation selection"
|
||||
default EXAMPLES_FOC_MODULATION_SVM3
|
||||
|
|
|
|||
|
|
@ -209,6 +209,12 @@ int foc_dev_params_set(FAR struct foc_device_s *dev)
|
|||
foc_perf_end(&dev->perf);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_EXAMPLES_FOC_PERF_LIVE
|
||||
/* Print perf live stats */
|
||||
|
||||
foc_perf_live(&dev->perf);
|
||||
#endif
|
||||
|
||||
errout:
|
||||
return ret;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -503,13 +503,6 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
|
|||
/* Increase counter */
|
||||
|
||||
motor.time += 1;
|
||||
|
||||
#ifdef CONFIG_EXAMPLES_FOC_PERF
|
||||
if (dev.perf.max_changed)
|
||||
{
|
||||
PRINTF_PERF("max=%" PRId32 "\n", dev.perf.max);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
errout:
|
||||
|
|
@ -532,6 +525,12 @@ errout:
|
|||
PRINTF("ERROR: foc_device_deinit %d failed %d\n", envp->id, ret);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_EXAMPLES_FOC_PERF_EXIT
|
||||
/* Print final perf stats */
|
||||
|
||||
foc_perf_exit(&dev.perf);
|
||||
#endif
|
||||
|
||||
PRINTF("foc_fixed16_thr %d exit\n", envp->id);
|
||||
|
||||
return ret;
|
||||
|
|
|
|||
|
|
@ -516,13 +516,6 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
|
|||
/* Increase counter */
|
||||
|
||||
motor.time += 1;
|
||||
|
||||
#ifdef CONFIG_EXAMPLES_FOC_PERF
|
||||
if (dev.perf.max_changed)
|
||||
{
|
||||
PRINTF_PERF("max=%" PRId32 "\n", dev.perf.max);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
errout:
|
||||
|
|
@ -545,6 +538,12 @@ errout:
|
|||
PRINTF("ERROR: foc_device_deinit %d failed %d\n", envp->id, ret);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_EXAMPLES_FOC_PERF_EXIT
|
||||
/* Print final perf stats */
|
||||
|
||||
foc_perf_exit(&dev.perf);
|
||||
#endif
|
||||
|
||||
PRINTF("foc_float_thr %d exit\n", envp->id);
|
||||
|
||||
return ret;
|
||||
|
|
|
|||
|
|
@ -27,11 +27,50 @@
|
|||
#include <assert.h>
|
||||
#include <stdbool.h>
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include "foc_perf.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define PRINTF_PERF(format, ...) printf(format, ##__VA_ARGS__)
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_perf_exec
|
||||
****************************************************************************/
|
||||
|
||||
static bool foc_perf_exec(struct foc_perf_s *p, FAR uint32_t *exec)
|
||||
{
|
||||
bool tmp = p->exec_max_changed;
|
||||
|
||||
*exec = p->exec_max;
|
||||
p->exec_max_changed = false;
|
||||
|
||||
return tmp;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_perf_per
|
||||
****************************************************************************/
|
||||
|
||||
static bool foc_perf_per(struct foc_perf_s *p, FAR uint32_t *per)
|
||||
{
|
||||
bool tmp = p->per_max_changed;
|
||||
|
||||
*per = p->per_max;
|
||||
p->per_max_changed = false;
|
||||
|
||||
return tmp;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
|
@ -53,7 +92,7 @@ int foc_perf_init(struct foc_perf_s *p)
|
|||
|
||||
void foc_perf_start(struct foc_perf_s *p)
|
||||
{
|
||||
p->now = perf_gettime();
|
||||
p->exec = perf_gettime();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
|
|
@ -62,13 +101,72 @@ void foc_perf_start(struct foc_perf_s *p)
|
|||
|
||||
void foc_perf_end(struct foc_perf_s *p)
|
||||
{
|
||||
p->now = perf_gettime() - p->now;
|
||||
uint32_t now = perf_gettime();
|
||||
uint32_t tmp = 0;
|
||||
|
||||
p->max_changed = false;
|
||||
|
||||
if (p->now > p->max)
|
||||
if (p->per > 0)
|
||||
{
|
||||
p->max = p->now;
|
||||
p->max_changed = true;
|
||||
tmp = now - p->per;
|
||||
}
|
||||
|
||||
p->per = now;
|
||||
p->exec = now - p->exec;
|
||||
|
||||
p->exec_max_changed = false;
|
||||
p->per_max_changed = false;
|
||||
|
||||
if (p->exec > p->exec_max)
|
||||
{
|
||||
p->exec_max = p->exec;
|
||||
p->exec_max_changed = true;
|
||||
}
|
||||
|
||||
if (tmp > p->per_max)
|
||||
{
|
||||
p->per_max = tmp;
|
||||
p->per_max_changed = true;
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_perf_live
|
||||
****************************************************************************/
|
||||
|
||||
void foc_perf_live(struct foc_perf_s *p)
|
||||
{
|
||||
uint32_t perf = 0;
|
||||
|
||||
if (foc_perf_exec(p, &perf))
|
||||
{
|
||||
PRINTF_PERF("exec ticks=%" PRId32 "\n", perf);
|
||||
}
|
||||
|
||||
if (foc_perf_per(p, &perf))
|
||||
{
|
||||
PRINTF_PERF("per ticks=%" PRId32 "\n", perf);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_perf_exit
|
||||
****************************************************************************/
|
||||
|
||||
void foc_perf_exit(struct foc_perf_s *p)
|
||||
{
|
||||
struct timespec ts;
|
||||
uint32_t max = 0;
|
||||
|
||||
PRINTF_PERF("===============================\n");
|
||||
|
||||
foc_perf_exec(p, &max);
|
||||
perf_convert(max, &ts);
|
||||
PRINTF_PERF("exec ticks=%" PRId32 "\n", max);
|
||||
PRINTF_PERF(" nsec=%" PRId32 "\n", ts.tv_nsec);
|
||||
|
||||
foc_perf_per(p, &max);
|
||||
perf_convert(max, &ts);
|
||||
PRINTF_PERF("per ticks=%" PRId32 "\n", max);
|
||||
PRINTF_PERF(" nsec=%" PRId32 "\n", ts.tv_nsec);
|
||||
|
||||
PRINTF_PERF("===============================\n");
|
||||
}
|
||||
|
|
|
|||
|
|
@ -27,21 +27,42 @@
|
|||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define PRINTF_PERF(format, ...) printf(format, ##__VA_ARGS__)
|
||||
|
||||
/****************************************************************************
|
||||
* Public Type Definition
|
||||
****************************************************************************/
|
||||
|
||||
/* The diagram below illustrates the operation of a simple FOC ocntroller
|
||||
* performance measurement tool:
|
||||
*
|
||||
* | notify | notify | notify
|
||||
* v v v
|
||||
* ctrl ctrl
|
||||
* |------| |------| |---
|
||||
* | BUSY | wait | BUSY | wait |
|
||||
* ____| |------| |------|
|
||||
*
|
||||
* ^ ^ ^
|
||||
* | exec | |
|
||||
* |<---->| |
|
||||
* | |
|
||||
* | per |
|
||||
* |<----------->|
|
||||
*
|
||||
*
|
||||
* exec - FOC control loop execution time
|
||||
* per - FOC control loop period
|
||||
* notify - notification event from FOC device,
|
||||
* called with CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ frequency
|
||||
*/
|
||||
|
||||
struct foc_perf_s
|
||||
{
|
||||
bool max_changed;
|
||||
uint32_t max;
|
||||
uint32_t now;
|
||||
bool exec_max_changed; /* Max execution time changed */
|
||||
bool per_max_changed; /* Max period changed */
|
||||
uint32_t exec_max; /* Control loop execution max */
|
||||
uint32_t per_max; /* Control loop period max */
|
||||
uint32_t exec; /* Temporary storage */
|
||||
uint32_t per; /* Temporary storage */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
|
|
@ -51,5 +72,7 @@ struct foc_perf_s
|
|||
int foc_perf_init(struct foc_perf_s *p);
|
||||
void foc_perf_start(struct foc_perf_s *p);
|
||||
void foc_perf_end(struct foc_perf_s *p);
|
||||
void foc_perf_live(struct foc_perf_s *p);
|
||||
void foc_perf_exit(struct foc_perf_s *p);
|
||||
|
||||
#endif /* __APPS_EXAMPLES_FOC_FOC_PERF_H */
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue