altos: profiling on STM32L

Add sample-based profiling, using a 1kHz timer

Signed-off-by: Keith Packard <keithp@keithp.com>

5 files changed, 230 insertions, 3 deletions

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index aa4f6961..64c95063 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -115,7 +115,7 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
diff --git a/src/core/ao_sample_profile.c b/src/core/ao_sample_profile.c
new file mode 100644
index 00000000..1d9ed414
--- /dev/null
+++ b/src/core/ao_sample_profile.c
@@ -0,0 +1,173 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_sample_profile.h>
+#include <ao_task.h>
+
+#ifndef AO_SAMPLE_PROFILE_LOW_PC
+#define AO_SAMPLE_PROFILE_LOW_PC	0x08000000
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_HIGH_PC
+#define AO_SAMPLE_PROFILE_HIGH_PC	(AO_SAMPLE_PROFILE_LOW_PC + 44 * 1024)
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_SHIFT
+#define AO_SAMPLE_PROFILE_SHIFT		6
+#endif
+
+#define AO_SAMPLE_PROFILE_RANGE		(AO_SAMPLE_PROFILE_HIGH_PC - AO_SAMPLE_PROFILE_LOW_PC)
+#define AO_SAMPLE_PROFILE_NUM		(AO_SAMPLE_PROFILE_RANGE >> AO_SAMPLE_PROFILE_SHIFT)
+
+static uint16_t	prev_tick;
+static uint16_t	samples[AO_SAMPLE_PROFILE_NUM];
+static uint8_t missed[AO_SAMPLE_PROFILE_NUM/8];
+static uint16_t max_miss;
+static uint32_t task, isr, os, idle;
+
+extern uint8_t ao_idle_loc;
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr)
+{
+	uint16_t	delta = tick - prev_tick;
+
+	if (pc < AO_SAMPLE_PROFILE_LOW_PC)
+		return;
+	if (pc >= AO_SAMPLE_PROFILE_HIGH_PC)
+		return;
+	if (ao_cur_task) {
+		uint8_t		*sp;
+		int32_t		sp_delta;
+		
+		asm("mov %0,sp" : "=&r" (sp));
+		sp_delta = sp - (uint8_t *) ao_cur_task->stack;
+		if (-96 < sp_delta && sp_delta < 16)
+			ao_panic(AO_PANIC_STACK);
+	}
+
+	if (in_isr)
+		isr += delta;
+	else if (ao_cur_task) {
+		ao_cur_task->ticks += delta;
+		task += delta;
+	} else if (pc == (uint32_t) &ao_idle_loc)
+		idle += delta;
+	else
+		os += delta;
+
+	pc -= AO_SAMPLE_PROFILE_LOW_PC;
+	pc >>= AO_SAMPLE_PROFILE_SHIFT;
+	samples[pc] += delta;
+
+	if (delta > 1)
+		missed[pc >> 3] |= (1 << (pc & 7));
+	if (delta > max_miss)
+		max_miss = delta;
+	prev_tick = tick;
+}
+
+static void
+ao_sample_profile_start(void)
+{
+	prev_tick = ao_sample_profile_timer_start();
+}
+
+static void
+ao_sample_profile_stop(void)
+{
+	ao_sample_profile_timer_stop();
+}
+
+static void
+ao_sample_profile_dump(void)
+{
+	uint16_t	a;
+	uint8_t		t;
+
+	printf ("task %6d\n", task);
+	printf ("isr  %6d\n", isr);
+	printf ("os   %6d\n", os);
+	printf ("idle %6d\n", idle);
+	printf ("irq blocked %d\n", max_miss);
+	for (t = 0; t < ao_num_tasks; t++)
+		printf ("task %6d %6d %6d %s\n",
+			ao_tasks[t]->ticks,
+			ao_tasks[t]->yields,
+			ao_tasks[t]->max_run,
+			ao_tasks[t]->name);
+	for (a = 0; a < AO_SAMPLE_PROFILE_NUM; a++) {
+		if (samples[a])
+			printf ("%04x %c %u\n",
+				(a << AO_SAMPLE_PROFILE_SHIFT) + AO_SAMPLE_PROFILE_LOW_PC,
+				missed[a >> 3] & (1 << (a & 7)) ? '*' : ' ',
+				samples[a]);
+	}
+}
+
+static void
+ao_sample_profile_clear(void)
+{
+	int t;
+
+	task = isr = os = idle = 0;
+	max_miss = 0;
+	memset(samples, '\0', sizeof (samples));
+	memset(missed, '\0', sizeof (missed));
+	for (t = 0; t < ao_num_tasks; t++) {
+		ao_tasks[t]->ticks = 0;
+		ao_tasks[t]->yields = 0;
+		ao_tasks[t]->max_run = 0;
+	}
+}
+
+static void
+ao_sample_profile_cmd(void)
+{
+	ao_cmd_white();
+	switch (ao_cmd_lex_c) {
+	case '1':
+		ao_sample_profile_start();
+		break;
+	case '0':
+		ao_sample_profile_stop();
+		break;
+	case 'd':
+		ao_sample_profile_dump();
+		break;
+	case 'c':
+		ao_sample_profile_clear();
+		break;
+	default:
+		ao_cmd_status = ao_cmd_syntax_error;
+		break;
+	}
+}
+
+static __code struct ao_cmds ao_sample_profile_cmds[] = {
+	{ ao_sample_profile_cmd,	"S <1 start,0 stop, d dump,c clear>\0Sample profile" },
+	{ 0, NULL }
+};
+
+void
+ao_sample_profile_init(void)
+{
+	ao_sample_profile_timer_init();
+	ao_cmd_register(&ao_sample_profile_cmds[0]);
+	ao_sample_profile_clear();
+}
diff --git a/src/core/ao_sample_profile.h b/src/core/ao_sample_profile.h
new file mode 100644
index 00000000..dbc29d3d
--- /dev/null
+++ b/src/core/ao_sample_profile.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_SAMPLE_PROFILE_H_
+#define _AO_SAMPLE_PROFILE_H_
+
+#include <ao_sample_profile_timer.h>
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr);
+
+void
+ao_sample_profile_init(void);
+
+#endif /* _AO_SAMPLE_PROFILE_H_ */
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 65654731..c2b1b270 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -16,6 +16,10 @@
  */
 
 #include <ao.h>
+#include <ao_task.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
 
 #define AO_NO_TASK_INDEX	0xff
 
@@ -67,6 +71,8 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 	ao_arch_init_stack(task, start);
 }
 
+__xdata uint8_t	ao_idle;
+
 /* Task switching function. This must not use any stack variables */
 void
 ao_yield(void) ao_arch_naked_define
@@ -77,6 +83,13 @@ ao_yield(void) ao_arch_naked_define
 		ao_cur_task_index = ao_num_tasks-1;
 	else
 	{
+#if HAS_SAMPLE_PROFILE
+		uint16_t	tick = ao_sample_profile_timer_value();
+		uint16_t	run = tick - ao_cur_task->start;
+		if (run > ao_cur_task->max_run)
+			ao_cur_task->max_run = run;
+		++ao_cur_task->yields;
+#endif
 		ao_arch_save_stack();
 	}
 
@@ -110,6 +123,9 @@ ao_yield(void) ao_arch_naked_define
 			if (ao_cur_task_index == ao_last_task_index)
 				ao_arch_cpu_idle();
 		}
+#if HAS_SAMPLE_PROFILE
+	ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
 	}
 #if AO_CHECK_STACK
 	cli();
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 18edd866..4319d632 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -26,13 +26,22 @@ struct ao_task {
 	uint8_t task_id;		/* unique id */
 	__code char *name;		/* task name */
 	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
+#if HAS_SAMPLE_PROFILE
+	uint32_t ticks;
+	uint32_t yields;
+	uint16_t start;
+	uint16_t max_run;
+#endif
 };
 
-extern __xdata struct ao_task *__data ao_cur_task;
-
 #define AO_NUM_TASKS		16	/* maximum number of tasks */
 #define AO_NO_TASK		0	/* no task id */
 
+extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
+extern __data uint8_t ao_num_tasks;
+extern __data uint8_t ao_cur_task_index;
+extern __xdata struct ao_task *__data ao_cur_task;
+
 /*
  ao_task.c
  */