Hi Mateusz, Thanks very much for your help, I finally caught the problem by SystemView, I found the low priority FOC main task interrupt high priority FOC control pthread and the problem led to the failure to complete the control of this cycle, I think that's what caused my problem, but i don't know why,is puzzling!
Because my email always loses pictures,after send to "dev@nuttx.apache.org", whether pasted or attached, I have put the pictures in the link below: https://github.com/apache/incubator-nuttx/issues/6012 Best regard Zou ------------------ Original ------------------ From: "raiden00pl"<raiden0...@gmail.com>; Date: Sat, Apr 9, 2022 01:11 AM To: "dev"<dev@nuttx.apache.org>; Subject: Re: The real-time performance of nuttx For time sequence you have to enable the cycle counter, look at https://github.com/apache/incubator-nuttx/pull/5964 To enable ISR logging CONFIG_SCHED_INSTRUMENTATION_IRQHANDLER=y. In order to avoid the buffer overflow, I also recommend increasing CONFIG_SEGGER_SYSVIEW_RTT_BUFFER_SIZE pt., 8 kwi 2022 o 18:52 fft <f...@feedforward.com.cn> napisał(a): > > Hi Mateusz, > > Now i can use SystemView to monitor the create of task and thread, but > there's no time sequence diagram in Timeline of SystemView, and there's no > ISR info in event window of SystemView, maybe there's some issue of RTT > config on my nuttx. Thank you very much if you would like share the nuttx > RTT configuration of your STM32F446RE board with me. > My config about RTT as shown below: > > # > # Performance Monitoring > # > CONFIG_SCHED_SUSPENDSCHEDULER=y > CONFIG_SCHED_RESUMESCHEDULER=y > # CONFIG_SCHED_IRQMONITOR is not set > # CONFIG_SCHED_CRITMONITOR is not set > # CONFIG_SCHED_CPULOAD is not set > CONFIG_SCHED_INSTRUMENTATION=y > # CONFIG_SCHED_INSTRUMENTATION_SWITCH is not set > CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y > # CONFIG_SCHED_INSTRUMENTATION_PREEMPTION is not set > # CONFIG_SCHED_INSTRUMENTATION_CSECTION is not set > # CONFIG_SCHED_INSTRUMENTATION_SPINLOCKS is not set > # CONFIG_SCHED_INSTRUMENTATION_SYSCALL is not set > # CONFIG_SCHED_INSTRUMENTATION_IRQHANDLER is not set > # CONFIG_SCHED_INSTRUMENTATION_DUMP is not set > # CONFIG_SCHED_INSTRUMENTATION_HIRES is not set > # CONFIG_SCHED_INSTRUMENTATION_FILTER is not set > > CONFIG_DRIVER_NOTE=y > # CONFIG_DRIVER_NOTERAM is not set > # CONFIG_DRIVER_NOTEARCH is not set > # CONFIG_DRIVER_NOTELOG is not set > CONFIG_SEGGER_SYSVIEW=y > > # > # SYSLOG channels > # > # CONFIG_SYSLOG_CHAR is not set > CONFIG_SYSLOG_RTT=y > > CONFIG_SEGGER_RTT=y > CONFIG_SEGGER_RTT_CPU_CACHE_LINE_SIZE=0 > CONFIG_SEGGER_RTT_UNCACHED_OFF=0 > CONFIG_SEGGER_RTT_MAX_NUM_UP_BUFFERS=3 > CONFIG_SEGGER_RTT_MAX_NUM_DOWN_BUFFERS=3 > CONFIG_SEGGER_RTT_BUFFER_SIZE_UP=2048 > CONFIG_SEGGER_RTT_BUFFER_SIZE_DOWN=32 > CONFIG_SEGGER_SYSVIEW_RTT_BUFFER_SIZE=2048 > CONFIG_SEGGER_SYSVIEW_RAM_BASE=0 > > Best regard > Zou > > > ------------------ Original ------------------ > *From: * "raiden00pl"<raiden0...@gmail.com>; > *Date: * Sun, Apr 3, 2022 09:35 PM > *To: * "dev"<dev@nuttx.apache.org>; > *Subject: * Re: The real-time performance of nuttx > > Hi, > I just started analyzing the FOC example with SystemView and I found some > problems that can be connected with what you are observing. > > My configuration: > STM32F446RE > CPU freq 180MHz > CONFIG_EXAMPLES_FOC_PWM_FREQ=10000 > CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ=10000 > > Context: > ISR34 - FOC ADC handler > ISR72 - Aux ADC DMA handler (VBUS + POT) > ISR15 - SysTick > ISR3 - Hard Fault > pt-0x - FOC control pthread (priority 255) > foc - FOC main, aux low priority work (priority 100) > > 1. Normal operation - FOC control thread executed every 100us > > > > 2. The first problem - system timer (in my case Systick - ISR15) drifts > according to PWM / ADC trigger (ISR34) > > > > > > 3. Previous causes the aux threads being woken up in random moments in > relation to the FOC controller thread > > > > > > 4. In the worst cases, this extends the time between successive calls of > the FOC controller thread > > > > > > 6. The last diagram presents a case that I don't fully understand. The FOC > control thread (priority 255) is interrupted by low priority thread > (priority 100) - around 140.0 us > > > > niedz., 3 kwi 2022 o 09:56 fft <f...@feedforward.com.cn> napisał(a): > >> sorry, the picture of last email was lost! >> >> Hi team: >> >> I've been puzzled by a strange problem for a long time, when i use FOC >> motor control. It seems that the FOC control thread failed to be scheduled >> in real time. The code structure of ./apps/examples/foc/foc_float_thr.c can >> be simplified description is as follows: >> >> while (motor.mq.quit == false) >> { >> ...FOC control code... >> >> /* Get FOC device state */ >> ret = foc_dev_state_get(&dev); >> if (ret < 0) >> { >> PRINTF("ERROR: foc_dev_state_get failed %d!\n", ret); >> goto errout; >> } >> >> ...FOC control code... >> >> } >> >> where foc_dev_state_get will be periodic blocked by waiting semaphore, >> and ADC interrupt periodic give semaphore. >> My custom board is based on stm32f405 and my config about foc as shown >> below: >> >> CONFIG_EXAMPLE_FOC_PWM_FREQ=20000 >> CONFIG_EXAMPLE_FOC_NOTIFIER_FREQ=10000 >> CONFIG_EXAMPLE_FOC_CONTROL_PRIO=255 >> >> So, the FOC control code will be executed every 100us theoretically, In >> fact, this is true in most cases tested on real hardware, but there's >> sporadic unexpected states, that the execution interval between two FOC >> control is 120~170us, There's no effect when the motor speed is low, but >> when the motor speed is very high(up to 60000 erpm), this will cause >> serious problem, the motor may suddenly get stuck and burn. What puzzles me >> is the priority of FOC control thread already been set to the highest 255, >> and i have enabled the CONFIG_PRIORITY_INHERITANCE, why the FOC control >> threads was delayed so serious ? BTW, ther execution time of single FOC >> control loop is 60~70us, and there's 5 custom task in my case: >> >> Is my configuration incorrect or the real-time performance of nuttx can >> not meet the requirements? >> Does anyone else have the same problem? >> >> Best regard >> Zou >> >
