diff options
Diffstat (limited to 'robot/hypervisor.c')
| -rw-r--r-- | robot/hypervisor.c | 25 |
1 files changed, 18 insertions, 7 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index 2a6120b..8b9d727 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -14,6 +14,9 @@ unsigned long g_w2_hypervisor_ema_io_ms = 0; unsigned long g_w2_hypervisor_ema_mode_ms = 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; + unsigned int g_w2_ping_ms = 0; uint8_t g_w2_ping_id = 0; bool g_w2_ping_received = true; @@ -26,17 +29,17 @@ void w2_hypervisor_main() { if (DBG_ENABLE_CYCLEINFO) siminfo("cycle start\n"); #endif - g_w2_hypervisor_uptime_ms += get_ms(); - time_reset(); + g_w2_hypervisor_uptime_ms += w2_get_ms(); + w2_time_reset(); w2_sercomm_main(); - unsigned long sercomm_time = get_ms(); + unsigned long sercomm_time = w2_get_ms(); w2_errcatch_main(); - unsigned long errcatch_time = get_ms() - sercomm_time; - // w2_io_main(); - unsigned long io_time = get_ms() - errcatch_time; + unsigned long errcatch_time = w2_get_ms() - sercomm_time; + w2_io_main(); + unsigned long io_time = w2_get_ms() - errcatch_time; w2_modes_main(); - unsigned long mode_time = get_ms() - io_time; + unsigned long mode_time = w2_get_ms() - io_time; // calculate exponential moving averages g_w2_hypervisor_ema_sercomm_ms = @@ -58,6 +61,14 @@ void w2_hypervisor_main() { g_w2_hypervisor_cycles++; } +uint64_t w2_get_ms() { + return ticks_to_microseconds(get_ticks() - g_w2_hypervisor_ms_timer_offset) / 1e3; +} + +void w2_time_reset() { + g_w2_hypervisor_ms_timer_offset = get_ticks(); +} + void w2_hypervisor_time_start(uint8_t label) { g_w2_hypervisor_timers[label] = g_w2_hypervisor_uptime_ms; } |