diff options
Diffstat (limited to 'robot/hypervisor.c')
| -rw-r--r-- | robot/hypervisor.c | 17 |
1 files changed, 16 insertions, 1 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index c4e7aba..0baa406 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,11 +1,17 @@ #include "hypervisor.h" +#include "../shared/util.h" #include "errcatch.h" #include "io.h" #include "modes.h" #include "orangutan_shim.h" #include "sercomm.h" -uint64_t g_w2_hypervisor_cycles = 0; +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; void w2_hypervisor_main() { #ifdef W2_SIM @@ -13,6 +19,7 @@ void w2_hypervisor_main() { if (DBG_ENABLE_CYCLEINFO) siminfo("cycle start\n"); #endif + g_w2_hypervisor_uptime_ms += get_ms(); time_reset(); w2_sercomm_main(); @@ -24,6 +31,14 @@ void w2_hypervisor_main() { w2_modes_main(); unsigned long mode_time = get_ms() - 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); + if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_E_WARN_CYCLE_EXPIRED); #ifdef W2_SIM |