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xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
commit beeec27afda9df6b37b7827a4ff2d8d8563607a4
Author: raiden00pl <raide...@railab.me>
AuthorDate: Fri Sep 20 18:46:43 2024 +0200
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
---
examples/foc/Kconfig | 18 +++++++
examples/foc/foc_device.c | 6 +++
examples/foc/foc_fixed16_thr.c | 13 +++--
examples/foc/foc_float_thr.c | 13 +++--
examples/foc/foc_perf.c | 110 ++++++++++++++++++++++++++++++++++++++---
examples/foc/foc_perf.h | 41 +++++++++++----
6 files changed, 172 insertions(+), 29 deletions(-)
diff --git a/examples/foc/Kconfig b/examples/foc/Kconfig
index c2bc7e07f..285870259 100644
--- a/examples/foc/Kconfig
+++ b/examples/foc/Kconfig
@@ -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
diff --git a/examples/foc/foc_device.c b/examples/foc/foc_device.c
index 5c39315be..e4075f1c4 100644
--- a/examples/foc/foc_device.c
+++ b/examples/foc/foc_device.c
@@ -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;
}
diff --git a/examples/foc/foc_fixed16_thr.c b/examples/foc/foc_fixed16_thr.c
index 6c5efe6a4..716cee3ff 100644
--- a/examples/foc/foc_fixed16_thr.c
+++ b/examples/foc/foc_fixed16_thr.c
@@ -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;
diff --git a/examples/foc/foc_float_thr.c b/examples/foc/foc_float_thr.c
index 05b4201ff..4fae5ba76 100644
--- a/examples/foc/foc_float_thr.c
+++ b/examples/foc/foc_float_thr.c
@@ -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;
diff --git a/examples/foc/foc_perf.c b/examples/foc/foc_perf.c
index 74e378f2c..3c64d3816 100644
--- a/examples/foc/foc_perf.c
+++ b/examples/foc/foc_perf.c
@@ -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;
+
+ if (p->per > 0)
+ {
+ 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;
- p->max_changed = false;
+ if (foc_perf_exec(p, &perf))
+ {
+ PRINTF_PERF("exec ticks=%" PRId32 "\n", perf);
+ }
- if (p->now > p->max)
+ if (foc_perf_per(p, &perf))
{
- p->max = p->now;
- p->max_changed = true;
+ 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");
+}
diff --git a/examples/foc/foc_perf.h b/examples/foc/foc_perf.h
index 9303c2b9f..9409e1057 100644
--- a/examples/foc/foc_perf.h
+++ b/examples/foc/foc_perf.h
@@ -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 */
