diff options
Diffstat (limited to 'robot/hypervisor.c')
| -rw-r--r-- | robot/hypervisor.c | 49 |
1 files changed, 26 insertions, 23 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index 50dc1ac..580ff55 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -7,15 +7,14 @@ #include "sercomm.h" uint64_t g_w2_hypervisor_cycles = 0; -uint64_t g_w2_hypervisor_uptime_ms = 0; -unsigned long g_w2_hypervisor_ema_sercomm_ms = 0; -unsigned long g_w2_hypervisor_ema_errcatch_ms = 0; -unsigned long g_w2_hypervisor_ema_io_ms = 0; -unsigned long g_w2_hypervisor_ema_mode_ms = 0; +uint64_t g_w2_hypervisor_uptime_qs = 0; +unsigned long g_w2_hypervisor_ema_sercomm_qs = 0; +unsigned long g_w2_hypervisor_ema_errcatch_qs = 0; +unsigned long g_w2_hypervisor_ema_io_qs = 0; +unsigned long g_w2_hypervisor_ema_mode_qs = 0; uint64_t g_w2_hypervisor_timers[W2_HYPERVISOR_TIMER_COUNT] = {0}; -uint64_t g_w2_hypervisor_ms_timer_offset = 0; -uint64_t g_w2_hypervisor_ms_timer_cpu_ticks = 0; +uint64_t g_w2_hypervisor_qs_timer_offset = 0; unsigned int g_w2_ping_ms = 0; uint8_t g_w2_ping_id = 0; @@ -31,27 +30,27 @@ void w2_hypervisor_main() { if (DBG_ENABLE_CYCLEINFO) siminfo("cycle start\n"); #endif - g_w2_hypervisor_uptime_ms += w2_get_ms(); + g_w2_hypervisor_uptime_qs += w2_get_qs(); w2_time_reset(); w2_sercomm_main(); - unsigned long sercomm_time = w2_get_ms(); + unsigned long sercomm_time = w2_get_qs(); w2_errcatch_main(); - unsigned long errcatch_time = w2_get_ms() - sercomm_time; + unsigned long errcatch_time = w2_get_qs() - sercomm_time; w2_io_main(); - unsigned long io_time = w2_get_ms() - errcatch_time; + unsigned long io_time = w2_get_qs() - errcatch_time; w2_modes_main(); - unsigned long mode_time = w2_get_ms() - io_time; + unsigned long mode_time = w2_get_qs() - io_time; // calculate exponential moving averages - g_w2_hypervisor_ema_sercomm_ms = - w2_util_exp_mov_avg(g_w2_hypervisor_ema_sercomm_ms, sercomm_time); - g_w2_hypervisor_ema_errcatch_ms = - w2_util_exp_mov_avg(g_w2_hypervisor_ema_errcatch_ms, errcatch_time); - g_w2_hypervisor_ema_io_ms = w2_util_exp_mov_avg(g_w2_hypervisor_ema_io_ms, io_time); - g_w2_hypervisor_ema_mode_ms = w2_util_exp_mov_avg(g_w2_hypervisor_ema_mode_ms, mode_time); + g_w2_hypervisor_ema_sercomm_qs = + w2_util_exp_mov_avg(g_w2_hypervisor_ema_sercomm_qs, sercomm_time); + g_w2_hypervisor_ema_errcatch_qs = + w2_util_exp_mov_avg(g_w2_hypervisor_ema_errcatch_qs, errcatch_time); + g_w2_hypervisor_ema_io_qs = w2_util_exp_mov_avg(g_w2_hypervisor_ema_io_qs, io_time); + g_w2_hypervisor_ema_mode_qs = w2_util_exp_mov_avg(g_w2_hypervisor_ema_mode_qs, mode_time); - if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_E_WARN_CYCLE_EXPIRED); + if ((mode_time / 1e3) > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_E_WARN_CYCLE_EXPIRED); #ifdef W2_SIM if (DBG_ENABLE_CYCLEINFO) siminfo("cycle end\n"); @@ -63,16 +62,20 @@ void w2_hypervisor_main() { g_w2_hypervisor_cycles++; } +uint64_t w2_get_qs() { + return ticks_to_microseconds(get_ticks()) - g_w2_hypervisor_qs_timer_offset; +} + uint64_t w2_get_ms() { - return ticks_to_microseconds(get_ticks() - g_w2_hypervisor_ms_timer_offset) / 1e3; + return w2_get_qs() / 1e3; } -void w2_time_reset() { g_w2_hypervisor_ms_timer_offset = get_ticks(); } +void w2_time_reset() { g_w2_hypervisor_qs_timer_offset = ticks_to_microseconds(get_ticks()); } void w2_hypervisor_time_start(uint8_t label) { - g_w2_hypervisor_timers[label] = g_w2_hypervisor_uptime_ms; + g_w2_hypervisor_timers[label] = g_w2_hypervisor_uptime_qs; } uint64_t w2_hypervisor_time_end(uint8_t label) { - return g_w2_hypervisor_uptime_ms - g_w2_hypervisor_timers[label]; + return (g_w2_hypervisor_uptime_qs - g_w2_hypervisor_timers[label]) / 1e3; } |