Hi all,
I'm implementing an predictive control application to run on my powerpc
(MPC5200 - 400Mhz) with Xenomai patch. Now that I have it done, I wonder
estimate the computation time of some parts in my code.
I trying to use the Native/Xenomai API to get it but the results are weirds.
My task code is below:
void Simulator (void* c)
{
unsigned char n;
unsigned long overrun;
FILE *stream;
unsigned int i;
float v, t;
n = 20;
v = (float) V;
t = (float) T;
alfa = (float) sqrt(29);
stream = fopen("time.dat", "w+t"); // where I print the results
for(i=na_mfd;i<nref;i++)
{
*infoTempo = rt_timer_ticks2ns(rt_timer_read());
fprintf(stream, "%lld\n",infoTempo);*
// ------------- My control Code ---------------//
x_sys[i] = (float) (x_sys[i-1] + V*cos(teta_sys[i-1]+fi[i-1])*T);
y_sys[i] = (float) (y_sys[i-1] + V*sin(teta_sys[i-1]+fi[i-1])*T);
teta_sys[i] = (float) (teta_sys[i-1] + (V*sin(fi[i-1])*T)/LE);
y[0] = x_sys[i-1];
y[1] = y_sys[i-1];
abs2local(&y[0], &y[1], &x_sys[i], &y_sys[i], &teta_sys[i]);
y[0] = teta_sys[i];
purePursuit(r, &x_sys[i], &y_sys[i], &teta_sys[i], xref, yref, &n,
&nref, &alfa, &dg, &t, &v);
processFreeResponseOP(R, B, f, y, du, h, na_mfd, nb_mfd, nout, nin);
processCommand(K, r, f, du, 0, h, na_mfd, nb_mfd, nout, nin, n);
#ifdef DEBUG
printArray(f, TAILREF, "Resposta Livre:");
printArray(du, nb_mfd*nin, "du:");
#endif
fi[i] = fi[i-1] + du[nb_mfd-1];
infoTempo = rt_timer_ticks2ns(rt_timer_read());
//------------------------------------------------------------------------------//
}
fclose(stream);
}
That's the only one task I have on my system. I wonder compute the time to
process every single step of *for* loop. What you think?
Besides this, I'm looking some documents that say:
The selection
of the proper operation mode (oneshot or periodic) of the timer is made at
build time using the configuration switch
named *CONFIG_XENO_OPT_TIMING_PERIOD* from the nucleus section. A
zero value causes the native skin to operate in oneshot mode; otherwise,
periodic
mode is used according to the given duration of the clock tick, expressed in
nanoseconds. If support for periodic timing has been disabled at
configuration
level (i.e. *CONFIG_XENO_OPT_TIMING_PERIODIC* is unset), the timer mode
always defaults to oneshot.
What is *CONFIG_XENO_OPT_TIMING_PERIOD*? And where configure it?
I hope someone have some time for that.
Thanks a lot,
Breno
*
*
_______________________________________________
Xenomai-help mailing list
[email protected]
https://mail.gna.org/listinfo/xenomai-help
