118 lines
4.3 KiB
C
118 lines
4.3 KiB
C
#include "task_debug.h"
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#include <stdio.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#include "main.h"
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#include "elog.h"
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#include "heap.h"
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#include "bsp_oled_sh1106.h"
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static const char *TAG = "task_debug";
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static uint8_t task_debug_oled_enabled = 0;
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static tlsf_pool_statistics *dtcm_heap_statistics;
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static tlsf_pool_statistics *ahb_heap_statistics;
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static tlsf_pool_statistics *axi_heap_statistics;
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#define TASK_DEBUG_INTERVAL_MS 100
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#define TASK_DEBUG_LED_TOGGLE_INTERVAL_MS (500) //每500ms闪烁一次LED
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#define TASK_DEBUG_OLED_REFRESH_INTERVAL_MS (200) //每200ms更新一次OLED显示
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#define TASK_DEBUG_HEAP_USAGE_PRINT_INTERVAL_MS (1000*60) //每分钟打印一次堆状态信息
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#define TASK_DEBUG_RUNTIME_STATS_PRINT_INTERVAL_MS (1000*60) //每分钟打印一次任务统计信息
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static uint32_t task_debug_heap_usage_update_interval_ms = TASK_DEBUG_HEAP_USAGE_PRINT_INTERVAL_MS; //更新堆状态信息的时间间隔
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static uint32_t task_debug_runtime_stats_update_interval_ms = TASK_DEBUG_RUNTIME_STATS_PRINT_INTERVAL_MS; //更新任务统计信息的时间间隔
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void task_debug_led_toggle_routine(uint64_t millisecs_elapsed)
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{
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if ((millisecs_elapsed % TASK_DEBUG_LED_TOGGLE_INTERVAL_MS == 0)) {
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HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
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}
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}
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void task_debug_heap_usage_update_routine(uint64_t millisecs_elapsed)
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{
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if ((millisecs_elapsed % task_debug_heap_usage_update_interval_ms == 0)) {
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dtcm_heap_statistics = get_dtcm_heap_statistics();
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ahb_heap_statistics = get_ahb_heap_statistics();
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axi_heap_statistics = get_axi_heap_statistics();
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}
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}
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void task_debug_runtime_stat_print_routine(uint64_t millisecs_elapsed)
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{
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if ((millisecs_elapsed % TASK_DEBUG_RUNTIME_STATS_PRINT_INTERVAL_MS == 0) && millisecs_elapsed != 0) {
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char runtime_stats[512];
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vTaskGetRunTimeStats(runtime_stats);
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elog_debug(TAG, "runtime stats:\n%s\b", runtime_stats);
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}
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}
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void task_debug_heap_usage_print_routine(uint64_t millisecs_elapsed)
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{
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if ((millisecs_elapsed % TASK_DEBUG_HEAP_USAGE_PRINT_INTERVAL_MS == 0) && millisecs_elapsed != 0) {
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elog_debug(TAG, "heap usage: xxx");
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}
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}
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void task_debug_oled_init(void)
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{
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HAL_StatusTypeDef oled_status = bsp_oled_init(&hi2c1);
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if (oled_status != HAL_OK) {
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elog_warn(TAG, "oled initialization failed, oled print is disabled");
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return;
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}
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bsp_oled_6x8(0, 0, "DTCM AXI AHB");
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task_debug_oled_enabled = 1;
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task_debug_heap_usage_update_interval_ms = TASK_DEBUG_OLED_REFRESH_INTERVAL_MS;
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task_debug_runtime_stats_update_interval_ms = TASK_DEBUG_OLED_REFRESH_INTERVAL_MS; //提高状态信息的刷新速度
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}
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void task_debug_oled_refresh_routine(uint64_t millisecs_elapsed)
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{
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if ((millisecs_elapsed % TASK_DEBUG_OLED_REFRESH_INTERVAL_MS == 0) && task_debug_oled_enabled == 1) {
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uint32_t free_dtcm_heap = dtcm_heap_statistics->free_size;
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uint32_t free_axi_heap = axi_heap_statistics->free_size;
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uint32_t free_ahb_heap = ahb_heap_statistics->free_size;
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char str[40];
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sprintf(str, "%2d.%dk %3d.%dk %3d.%dk", (int)(free_dtcm_heap / 1024), (int)((free_dtcm_heap % 1024) / 102),
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(int)(free_axi_heap / 1024), (int)((free_axi_heap % 1024) / 102),
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(int)(free_ahb_heap / 1024), (int)((free_ahb_heap % 1024) / 102));
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bsp_oled_6x8(1, 0, str);
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bsp_oled_update();
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}
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}
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void task_debug_entry(void *param)
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{
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uint64_t millisecs_elapsed = 0;
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TickType_t xLastWakeTime = xTaskGetTickCount();
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const TickType_t xPeriod = pdMS_TO_TICKS(TASK_DEBUG_INTERVAL_MS);
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task_debug_oled_init();
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while (1) {
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task_debug_led_toggle_routine(millisecs_elapsed); //闪烁LED 用于指示低优先级任务正在运行
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task_debug_heap_usage_update_routine(millisecs_elapsed); //更新堆状态信息
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//更新任务统计信息
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task_debug_runtime_stat_print_routine(millisecs_elapsed); //定时打印任务统计信息
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task_debug_heap_usage_print_routine(millisecs_elapsed); //定时打印堆占用信息
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task_debug_oled_refresh_routine(millisecs_elapsed); //定时刷新OLED显示
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millisecs_elapsed += TASK_DEBUG_INTERVAL_MS;
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vTaskDelayUntil(&xLastWakeTime, xPeriod);
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}
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}
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void task_debug_create(void *param)
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{
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xTaskCreate(task_debug_entry, "task_debug", 4096 / sizeof(StackType_t), param, 15, NULL);
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}
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