/**
* Called periodically to update the system stats
*/
static void updateStats()
{
static portTickType lastTickCount = 0;
SystemStatsData stats;
// Get stats and update
SystemStatsGet(&stats);
stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
// POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
stats.HeapRemaining = 10240;
#else
stats.HeapRemaining = xPortGetFreeHeapSize();
#endif
// Get Irq stack status
stats.IRQStackRemaining = GetFreeIrqStackSize();
// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
if (idleCounterClear) {
idleCounter = 0;
}
portTickType now = xTaskGetTickCount();
if (now > lastTickCount) {
uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS; // in ms
stats.CPULoad =
100 - (uint8_t) roundf(100.0f * ((float)idleCounter / ((float)dT / 1000.0f)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
} //else: TickCount has wrapped, do not calc now
lastTickCount = now;
idleCounterClear = 1;
#if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
#if defined(STM32F2XX) || defined(STM32F4XX)
// STM32F2XX and STM32F4XX sensor values
float temp_voltage = 3.3f * PIOS_ADC_PinGet(5) / ((1 << 12) - 1);
const float STM32_TEMP_V25 = 0.76f; /* V */
const float STM32_TEMP_AVG_SLOPE = 2.5f; /* mV/C */
stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000.0f / STM32_TEMP_AVG_SLOPE + 25.0f;
#else
float temp_voltage = 3.3f * PIOS_ADC_PinGet(0) / ((1 << 12) - 1);
const float STM32_TEMP_V25 = 1.43f; /* V */
const float STM32_TEMP_AVG_SLOPE = 4.3f; /* mV/C */
stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000.0f / STM32_TEMP_AVG_SLOPE + 25.0f;
#endif
#endif
SystemStatsSet(&stats);
}
/**
* Called periodically to update the system stats
*/
static void updateStats()
{
static uint32_t lastTickCount = 0;
SystemStatsData stats;
// Get stats and update
SystemStatsGet(&stats);
stats.FlightTime = PIOS_Thread_Systime();
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
// POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
stats.HeapRemaining = 10240;
#else
stats.HeapRemaining = PIOS_heap_get_free_size();
#endif
// Get Irq stack status
stats.IRQStackRemaining = GetFreeIrqStackSize();
// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
if (idleCounterClear) {
idleCounter = 0;
}
uint32_t now = PIOS_Thread_Systime();
if (now > lastTickCount) {
float dT = (PIOS_Thread_Systime() - lastTickCount) / 1000.0f;
// In the case of a slightly miscalibrated max idle count, make sure CPULoad does
// not go negative and set an alarm inappropriately.
float idleFraction = ((float)idleCounter / dT) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD;
if (idleFraction > 1)
stats.CPULoad = 0;
else
stats.CPULoad = 100 - roundf(100.0f * idleFraction);
} //else: TickCount has wrapped, do not calc now
lastTickCount = now;
idleCounterClear = 1;
#if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
float temp_voltage = 3.3 * PIOS_ADC_DevicePinGet(PIOS_INTERNAL_ADC, 0) / ((1 << 12) - 1);
const float STM32_TEMP_V25 = 1.43; /* V */
const float STM32_TEMP_AVG_SLOPE = 4.3; /* mV/C */
stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;
#endif
SystemStatsSet(&stats);
}
