Commit from zer0 on branch b_zer0 (2007-10-28 23:26 CET)
=================================
Add some macros
aversive include/aversive/pgmspace.h 1.1.2.2
====================================
aversive/include/aversive/pgmspace.h (1.1.2.1 -> 1.1.2.2)
====================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: pgmspace.h,v 1.1.2.1 2007-05-23 17:18:09 zer0 Exp $
+ * Revision : $Id: pgmspace.h,v 1.1.2.2 2007-10-28 22:26:19 zer0 Exp $
*
*/
@@ -33,11 +33,29 @@
#else
+#include <stdint.h>
+
#define printf_P printf
+#define memcmp_P memcmp
+#define strlen_P strlen
#define vfprintf_P vfprintf
#define vsprintf_P vsprintf
#define PGM_P const char *
#define PSTR(x) x
+#define PROGMEM
+#define pgm_read_word(x) (*(x))
+#define pgm_read_byte(x) (*(x))
+
+typedef void prog_void;
+typedef char prog_char;
+typedef unsigned char prog_uchar;
+typedef int8_t prog_int8_t;
+typedef uint8_t prog_uint8_t;
+typedef int16_t prog_int16_t;
+typedef uint16_t prog_uint16_t;
+typedef int32_t prog_int32_t;
+typedef uint32_t prog_uint32_t;
+typedef int64_t prog_int64_t;
#endif /* HOST_VERSION */
#endif /* _AVERSIVE_PGMSPACE_H_ */
Commit from zer0 on branch b_zer0 (2007-10-28 23:26 CET)
=================================
Better accuracy of scheduler.
aversive modules/base/scheduler/scheduler_interrupt.c 1.1.2.3
aversive modules/base/scheduler/scheduler.h 1.8.4.7
=====================================================
aversive/modules/base/scheduler/scheduler_interrupt.c (1.1.2.2 -> 1.1.2.3)
=====================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler_interrupt.c,v 1.1.2.2 2007-05-23 17:18:11 zer0
Exp $
+ * Revision : $Id: scheduler_interrupt.c,v 1.1.2.3 2007-10-28 22:26:39 zer0
Exp $
*
*/
@@ -32,15 +32,16 @@
static volatile uint8_t nb_stacking=0;
-/** this function is called from a timer interruption. If an event has
+/**
+ * this function is called from a timer interruption. If an event has
* to be scheduled, it will execute the fonction (IRQ are allowed
- * during the execution of the function. This interruption can be
- * interrupted by itself too, in this case it cannot executed events
- * with a lower priority.
+ * during the execution of the function). This interruption can be
+ * interrupted by itself too, in this case only events with a higher
+ * priority can be scheduled.
*
* We assume that this function is called from a SIGNAL(), with
* global interrupt flag disabled --> that's why we can use cli() and
- * sei() instead of IRQ_LOCK(f).
+ * sei() instead of IRQ_LOCK(flags).
*/
void
scheduler_interrupt(void)
@@ -52,62 +53,75 @@
/* maximize the number of imbrications */
if (nb_stacking >= SCHEDULER_NB_STACKING_MAX) {
- sei();
return;
}
nb_stacking ++;
sei();
-
SLIST_INIT(&event_list);
/* browse events table to determine which events should be
* scheduled */
for (i=0 ; i<SCHEDULER_NB_MAX_EVENT ; i++) {
cli();
- /* decrement timer for event if it is active */
- if (g_tab_event[i].state == SCHEDULER_EVENT_ACTIVE &&
- g_tab_event[i].current_time > 0) {
- g_tab_event[i].current_time --;
-
- /* don't need to schedule now */
- if ( g_tab_event[i].current_time != 0 ) {
- sei();
- continue;
- }
-
- /* time to schedule, but priority is too low,
- delay it */
- if (g_tab_event[i].priority < priority_running) {
- g_tab_event[i].current_time = 1;
- sei();
- continue;
- }
-
- /* schedule it, because timer reached 0 and
- priority is greater than the one of the
- running task */
- g_tab_event[i].state = SCHEDULER_EVENT_SCHEDULED;
+
+ /* the event is already present in a schedule list,
+ * only update its current time until it reaches 1 */
+ if (g_tab_event[i].state == SCHEDULER_EVENT_SCHEDULED &&
+ g_tab_event[i].current_time > 1) {
+ // g_tab_event[i].current_time --;
sei();
-
- /* insert it in the list (list is ordered).
- this should be quite fast since the list is
- expected to be small. */
-
- /* easy case : list is empty */
- if (SLIST_FIRST(&event_list) == NULL) {
- SLIST_INSERT_HEAD(&event_list, &g_tab_event[i],
next);
- continue;
- }
+ continue;
+ }
- /* harder : find the good place in list */
- SLIST_FOREACH(e, &event_list, next) {
- next_e = SLIST_NEXT(e, next);
- if (next_e == NULL ||
- g_tab_event[i].priority >=
next_e->priority) {
- SLIST_INSERT_AFTER(e, &g_tab_event[i],
next);
- break;
- }
+ /* nothing to do with other unactive events */
+ if (g_tab_event[i].state != SCHEDULER_EVENT_ACTIVE) {
+ sei();
+ continue;
+ }
+
+ /* decrement current time (we know it is >0 if it is
+ * in SCHEDULER_EVENT_ACTIVE state */
+ g_tab_event[i].current_time --;
+
+ /* don't need to schedule now */
+ if ( g_tab_event[i].current_time != 0 ) {
+ sei();
+ continue;
+ }
+
+ /* time to schedule, but priority is too low,
+ * delay it */
+ if (g_tab_event[i].priority <= priority_running) {
+ g_tab_event[i].current_time = 1;
+ sei();
+ continue;
+ }
+
+ /* reload event (it is 0 if it is non-periodical) */
+ g_tab_event[i].current_time = g_tab_event[i].period;
+
+ /* schedule it */
+ g_tab_event[i].state = SCHEDULER_EVENT_SCHEDULED;
+ sei();
+
+ /* insert it in the list (list is ordered).
+ this should be quite fast since the list is
+ expected to be small. */
+
+ /* easy case : list is empty */
+ if (SLIST_FIRST(&event_list) == NULL) {
+ SLIST_INSERT_HEAD(&event_list, &g_tab_event[i], next);
+ continue;
+ }
+
+ /* harder : find the good place in list */
+ SLIST_FOREACH(e, &event_list, next) {
+ next_e = SLIST_NEXT(e, next);
+ if (next_e == NULL ||
+ g_tab_event[i].priority >= next_e->priority) {
+ SLIST_INSERT_AFTER(e, &g_tab_event[i], next);
+ break;
}
}
}
@@ -128,22 +142,17 @@
sei();
/* the following fields (f and data) can't be modified
- * when an event is in state SCHEDULED */
+ * while an event is in state SCHEDULED */
e->f(e->data);
- /* reload event if necessary */
- if (e->period) {
- e->current_time = e->period;
- }
-
- /* free it if it is single */
- else {
+ cli();
+ /* free it if it is single (non-periodical) */
+ if (!e->period) {
e->state = SCHEDULER_EVENT_FREE;
}
/* free event if someone asked for deletion during
* schedule */
- cli();
if (e->state == SCHEDULER_EVENT_DELETING) {
e->state = SCHEDULER_EVENT_FREE;
}
@@ -161,5 +170,4 @@
priority_running = priority_tmp;
nb_stacking--;
- sei();
}
===========================================
aversive/modules/base/scheduler/scheduler.h (1.8.4.6 -> 1.8.4.7)
===========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler.h,v 1.8.4.6 2007-06-24 17:30:13 zer0 Exp $
+ * Revision : $Id: scheduler.h,v 1.8.4.7 2007-10-28 22:26:39 zer0 Exp $
*
*/
@@ -106,12 +106,12 @@
#define TIMER_UNIT ( 65536000000LL / (CONFIG_QUARTZ) )
#endif
-/** SCHEDULER_UNIT is the REAL number of microseconds between each
- * interruption. We can use it like this :
- * scheduler_add_periodical_event(f, 1000l/SCHEDULER_UNIT);
+/** SCHEDULER_UNIT is the number of microseconds between each
+ * scheduler interruption. We can use it like this :
+ * scheduler_add_periodical_event(f, 1000L/SCHEDULER_UNIT);
* The function f will be called every ms.
*/
-#define SCHEDULER_UNIT ( TIMER_UNIT * SCHEDULER_CLOCK_PRESCALER )
+#define SCHEDULER_UNIT ( TIMER_UNIT * (unsigned long)SCHEDULER_CLOCK_PRESCALER
)
#define SCHEDULER_PERIODICAL 0
#define SCHEDULER_SINGLE 1
Commit from zer0 on branch b_zer0 (2007-10-28 23:27 CET)
=================================
typo fix
aversive modules/devices/servo/multiservo/multiservo.c 1.5.4.4
======================================================
aversive/modules/devices/servo/multiservo/multiservo.c (1.5.4.3 -> 1.5.4.4)
======================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: multiservo.c,v 1.5.4.3 2007-05-23 17:18:14 zer0 Exp $
+ * Revision : $Id: multiservo.c,v 1.5.4.4 2007-10-28 22:27:03 zer0 Exp $
*
*/
@@ -75,7 +75,9 @@
while (g_multiservo.current_multiservo < MULTISERVO_NB_MAX) {
port = g_multiservo.elts[g_multiservo.current_multiservo].port;
if(port) {
- MULTISERVO_DEBUG(E_MULTISERVO, "set %d %d",
g_multiservo.current_multiservo,
g_multiservo.elts[g_multiservo.current_multiservo].value);
+ MULTISERVO_DEBUG(E_MULTISERVO, "set %d %d",
+ g_multiservo.current_multiservo,
+
g_multiservo.elts[g_multiservo.current_multiservo].value);
sbi(*port,
g_multiservo.elts[g_multiservo.current_multiservo].bitnum);
g_multiservo.id_prev = g_multiservo.current_multiservo;
MULTISERVO_OCR =
g_multiservo.elts[g_multiservo.current_multiservo].value;
Commit from zer0 on branch b_zer0 (2007-10-28 23:28 CET)
=================================
Add an profiling example program
+ aversive projects/profiling_example/uart_config.h 1.1.2.1
+ aversive projects/profiling_example/timer_config.h 1.1.2.1
+ aversive projects/profiling_example/time_config.h 1.1.2.1
+ aversive projects/profiling_example/scheduler_config.h 1.1.2.1
+ aversive projects/profiling_example/parse_symbols.py 1.1.2.1
+ aversive projects/profiling_example/main.c 1.1.2.1
+ aversive projects/profiling_example/Makefile 1.1.2.1
+ aversive projects/profiling_example/.config 1.1.2.1
=================================================
aversive/projects/profiling_example/uart_config.h (1.1.2.1)
=================================================
@@ -0,0 +1,72 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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
+ *
+ * Revision : $Id: uart_config.h,v 1.1.2.1 2007-10-28 22:28:19 zer0 Exp $
+ *
+ */
+
+/* Droids-corp 2004 - Zer0
+ * config for uart module
+ */
+
+#ifndef UART_CONFIG_H
+#define UART_CONFIG_H
+
+/*
+ * UART0 definitions
+ */
+
+/* compile uart0 fonctions, undefine it to pass compilation */
+#define UART0_COMPILE
+
+/* enable uart0 if == 1, disable if == 0 */
+#define UART0_ENABLED 1
+
+/* enable uart0 interrupts if == 1, disable if == 0 */
+#define UART0_INTERRUPT_ENABLED 1
+
+#define UART0_BAUDRATE 9600
+
+/*
+ * if you enable this, the maximum baudrate you can reach is
+ * higher, but the precision is lower.
+ */
+#define UART0_USE_DOUBLE_SPEED 0
+//#define UART0_USE_DOUBLE_SPEED 1
+
+#define UART0_RX_FIFO_SIZE 4
+#define UART0_TX_FIFO_SIZE 16
+//#define UART0_NBITS 5
+//#define UART0_NBITS 6
+//#define UART0_NBITS 7
+#define UART0_NBITS 8
+//#define UART0_NBITS 9
+
+#define UART0_PARITY UART_PARTITY_NONE
+//#define UART0_PARITY UART_PARTITY_ODD
+//#define UART0_PARITY UART_PARTITY_EVEN
+
+#define UART0_STOP_BIT UART_STOP_BITS_1
+//#define UART0_STOP_BIT UART_STOP_BITS_2
+
+
+
+
+/* .... same for uart 1, 2, 3 ... */
+
+#endif
+
==================================================
aversive/projects/profiling_example/timer_config.h (1.1.2.1)
==================================================
@@ -0,0 +1,39 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2006)
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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
+ *
+ * Revision : $Id: timer_config.h,v 1.1.2.1 2007-10-28 22:28:19 zer0 Exp $
+ *
+ */
+
+#define TIMER0_ENABLED
+
+/* #define TIMER1_ENABLED */
+/* #define TIMER1A_ENABLED */
+/* #define TIMER1B_ENABLED */
+/* #define TIMER1C_ENABLED */
+
+/* #define TIMER2_ENABLED */
+
+/* #define TIMER3_ENABLED */
+/* #define TIMER3A_ENABLED */
+/* #define TIMER3B_ENABLED */
+/* #define TIMER3C_ENABLED */
+
+#define TIMER0_PRESCALER_DIV 8
+/* #define TIMER1_PRESCALER_DIV 1 */
+/* #define TIMER2_PRESCALER_DIV 1 */
+/* #define TIMER3_PRESCALER_DIV 1 */
=================================================
aversive/projects/profiling_example/time_config.h (1.1.2.1)
=================================================
@@ -0,0 +1,23 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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
+ *
+ * Revision : $Id: time_config.h,v 1.1.2.1 2007-10-28 22:28:19 zer0 Exp $
+ *
+ */
+
+/** precision of the time processor, in us */
+#define TIME_PRECISION 10000l
======================================================
aversive/projects/profiling_example/scheduler_config.h (1.1.2.1)
======================================================
@@ -0,0 +1,50 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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
+ *
+ * Revision : $Id: scheduler_config.h,v 1.1.2.1 2007-10-28 22:28:19 zer0 Exp $
+ *
+ */
+
+#ifndef _SCHEDULER_CONFIG_H_
+#define _SCHEDULER_CONFIG_H_
+
+#define _SCHEDULER_CONFIG_VERSION_ 3
+
+/** maximum number of allocated events */
+#define SCHEDULER_NB_MAX_EVENT 2
+
+
+//#define SCHEDULER_CK TIMER0_PRESCALER_DIV_8
+//#define SCHEDULER_CLOCK_PRESCALER 8
+
+/** the num of the timer to use for the scheduler */
+#define SCHEDULER_TIMER_NUM 0
+
+/** number of allowed imbricated scheduler interrupts. The maximum
+ * should be SCHEDULER_NB_MAX_EVENT since we never need to imbricate
+ * more than once per event. If it is less, it can avoid to browse the
+ * event table, events are delayed (we loose precision) but it takes
+ * less CPU */
+#define SCHEDULER_NB_STACKING_MAX SCHEDULER_NB_MAX_EVENT
+
+/** define it for debug infos (not recommended, because very slow on
+ * an AVR, it uses printf in an interrupt). It can be useful if
+ * prescaler is very high, making the timer interrupt period very
+ * long in comparison to printf() */
+/* #define SCHEDULER_DEBUG */
+
+#endif // _SCHEDULER_CONFIG_H_
====================================================
aversive/projects/profiling_example/parse_symbols.py (1.1.2.1)
====================================================
@@ -0,0 +1,65 @@
+#!/usr/bin/python
+
+import sys
+
+if len(sys.argv) != 2:
+ print "Bad arguments"
+ print "Usage: parse_symbols.py file.sym"
+ sys.exit(1)
+
+symlist=[]
+global_cpt=0
+
+f=open(sys.argv[1])
+
+# parse .sym file and fill a list
+while True:
+ l=f.readline()
+ if l=='':
+ break
+
+ address, type, name = l[:-1].split(' ')
+ if type != 'T':
+ continue
+
+ # print "%x %s"%(int(address,16),name)
+ symlist.append([int(address, 16), name, 0])
+
+f.close()
+
+
+while True:
+ l=sys.stdin.readline()
+ if l=='':
+ break
+
+ try:
+ add=int(l, 16)*2
+ except:
+ print "Bad value"
+ continue
+
+ prev = None
+ i=1
+ while i < len(symlist):
+ address, name, cpt = symlist[i]
+ if add < address:
+ symlist[i-1][2] += 1
+ global_cpt += 1
+ break
+ i+=1
+
+ # address cannot be in last symbols, so we
+ # suppose it is not found
+ if i == len(symlist):
+ print "Cannot find symbol"
+ break
+
+symlist.sort(cmp=lambda x,y:x[2]<y[2] and 1 or -1)
+
+for sym in symlist:
+ address, name, cpt = sym
+ if not cpt:
+ continue
+ print "%2.2f%% (%.3d/%.3d) %s[%.8x]"%( (float(cpt)*100.)/global_cpt, cpt,
+ global_cpt, name, address)
==========================================
aversive/projects/profiling_example/main.c (1.1.2.1)
==========================================
@@ -0,0 +1,176 @@
+/*
+ * Copyright Droids Corporation (2007)
+ * Olivier MATZ <[EMAIL PROTECTED]>
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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
+ *
+ * Revision : $Id: main.c,v 1.1.2.1 2007-10-28 22:28:19 zer0 Exp $
+ *
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <aversive/wait.h>
+#include <scheduler.h>
+#include <timer.h>
+#include <time.h>
+#include <uart.h>
+
+
+#define PROFILE_TIME 10
+volatile int a = 0;
+
+void __attribute__ ((noinline)) dump_reg(uint16_t pc)
+{
+ static volatile uint8_t cpt = PROFILE_TIME;
+
+ if (cpt == 1) {
+ OCR2 = 0x80 + (rand()&0x7F);
+
+ TCCR2 = 2;
+ TCNT2 = 0;
+ }
+ else if (cpt == 0) {
+ OCR2 = 0;
+ TCCR2 = 4;
+ TCNT2 = 0;
+ cpt = PROFILE_TIME;
+ printf("%.4x\n", pc);
+ }
+ cpt--;
+}
+
+
+void SIG_OUTPUT_COMPARE2(void) __attribute__ ((signal , naked, __INTR_ATTRS));
+
+void SIG_OUTPUT_COMPARE2(void)
+{
+ asm volatile("push r1" "\n\t"
+ "push __tmp_reg__" "\n\t"
+
+ /* save sreg */
+ "in __tmp_reg__,__SREG__" "\n\t"
+ "push __tmp_reg__" "\n\t"
+ "eor r1, r1" "\n\t"
+
+ /* save used regs (see avr-gcc doc about used regs) */
+ "push r18" "\n\t"
+ "push r19" "\n\t"
+ "push r20" "\n\t"
+ "push r21" "\n\t"
+ "push r22" "\n\t"
+ "push r23" "\n\t"
+ "push r24" "\n\t"
+ "push r25" "\n\t"
+ "push r26" "\n\t"
+ "push r27" "\n\t"
+ "push r30" "\n\t"
+ "push r31" "\n\t"
+
+ /* load sp in r30/r31 */
+ "in r30, __SP_L__" "\n\t"
+ "in r31, __SP_H__" "\n\t"
+
+ /* point to saved PC */
+ "subi r30, lo8(-16)" "\n\t"
+ "sbci r31, hi8(-16)" "\n\t"
+
+ /* load Program Counter into r24-r25 */
+ "ldd r25, Z+0" "\n\t"
+ "ldd r24, Z+1" "\n\t"
+
+ /* call dump_reg, params are in r24-25 */
+ "call dump_reg" "\n\t"
+
+ /* restore regs */
+ "pop r31" "\n\t"
+ "pop r30" "\n\t"
+ "pop r27" "\n\t"
+ "pop r26" "\n\t"
+ "pop r25" "\n\t"
+ "pop r24" "\n\t"
+ "pop r23" "\n\t"
+ "pop r22" "\n\t"
+ "pop r21" "\n\t"
+ "pop r20" "\n\t"
+ "pop r19" "\n\t"
+ "pop r18" "\n\t"
+
+ /* sreg */
+ "pop __tmp_reg__" "\n\t"
+ "out __SREG__, __tmp_reg__" "\n\t"
+
+ /* tmp reg */
+ "pop __tmp_reg__" "\n\t"
+ "pop r1" "\n\t"
+
+ "reti" "\n\t"
+ :
+ :
+ );
+}
+
+
+void __attribute__((noinline)) test1(void)
+{
+ a=2;
+}
+
+void __attribute__((noinline)) test2(void)
+{
+ a=1;
+ a=2;
+ a=3;
+}
+
+void test_sched(void * dummy)
+{
+ time_wait_ms(50);
+}
+
+
+int main(void)
+{
+ uart_init();
+ fdevopen(uart0_dev_send, uart0_dev_recv);
+ timer_init();
+ scheduler_init();
+ time_init(200);
+
+ srand(0x1337);
+ sei();
+ printf("Start profiling during 10 secs\n");
+
+ scheduler_add_periodical_event(test_sched, NULL, 100000L /
SCHEDULER_UNIT);
+
+ OCR2 = 0;
+ TCNT2 = 0;
+ TCCR2 = 4;
+ sbi(TIMSK, OCIE2);
+
+ while(time_get_s() < 10) {
+ test1();
+ test2();
+ };
+
+ TCCR2=0;
+ printf("Finished\n");
+ while(1);
+
+ return 0;
+}
============================================
aversive/projects/profiling_example/Makefile (1.1.2.1)
============================================
@@ -0,0 +1,21 @@
+TARGET = main
+
+# repertoire des modules
+AVERSIVE_DIR = ../..
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+########################################
+
+-include .aversive_conf
+include $(AVERSIVE_DIR)/mk/aversive_project.mk
===========================================
aversive/projects/profiling_example/.config (1.1.2.1)
===========================================
@@ -0,0 +1,217 @@
+#
+# Automatically generated by make menuconfig: don't edit
+#
+
+#
+# Hardware
+#
+# CONFIG_MCU_AT90S2313 is not set
+# CONFIG_MCU_AT90S2323 is not set
+# CONFIG_MCU_AT90S3333 is not set
+# CONFIG_MCU_AT90S2343 is not set
+# CONFIG_MCU_ATTINY22 is not set
+# CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_AT90S4414 is not set
+# CONFIG_MCU_AT90S4433 is not set
+# CONFIG_MCU_AT90S4434 is not set
+# CONFIG_MCU_AT90S8515 is not set
+# CONFIG_MCU_AT90S8534 is not set
+# CONFIG_MCU_AT90S8535 is not set
+# CONFIG_MCU_AT86RF401 is not set
+# CONFIG_MCU_ATMEGA103 is not set
+# CONFIG_MCU_ATMEGA603 is not set
+# CONFIG_MCU_AT43USB320 is not set
+# CONFIG_MCU_AT43USB355 is not set
+# CONFIG_MCU_AT76C711 is not set
+# CONFIG_MCU_ATMEGA8 is not set
+# CONFIG_MCU_ATMEGA48 is not set
+# CONFIG_MCU_ATMEGA88 is not set
+# CONFIG_MCU_ATMEGA8515 is not set
+# CONFIG_MCU_ATMEGA8535 is not set
+# CONFIG_MCU_ATTINY13 is not set
+# CONFIG_MCU_ATTINY2313 is not set
+# CONFIG_MCU_ATMEGA16 is not set
+# CONFIG_MCU_ATMEGA161 is not set
+# CONFIG_MCU_ATMEGA162 is not set
+# CONFIG_MCU_ATMEGA163 is not set
+# CONFIG_MCU_ATMEGA165 is not set
+# CONFIG_MCU_ATMEGA168 is not set
+# CONFIG_MCU_ATMEGA169 is not set
+# CONFIG_MCU_ATMEGA32 is not set
+# CONFIG_MCU_ATMEGA323 is not set
+# CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA3250 is not set
+# CONFIG_MCU_ATMEGA64 is not set
+# CONFIG_MCU_ATMEGA645 is not set
+# CONFIG_MCU_ATMEGA6450 is not set
+CONFIG_MCU_ATMEGA128=y
+# CONFIG_MCU_AT90CAN128 is not set
+# CONFIG_MCU_AT94K is not set
+# CONFIG_MCU_AT90S1200 is not set
+CONFIG_QUARTZ=16000000
+
+#
+# Generation options
+#
+# CONFIG_OPTM_0 is not set
+# CONFIG_OPTM_1 is not set
+# CONFIG_OPTM_2 is not set
+# CONFIG_OPTM_3 is not set
+CONFIG_OPTM_S=y
+CONFIG_MATH_LIB=y
+# CONFIG_FDEVOPEN_COMPAT is not set
+# CONFIG_MINIMAL_PRINTF is not set
+CONFIG_STANDARD_PRINTF=y
+# CONFIG_ADVANCED_PRINTF is not set
+CONFIG_FORMAT_IHEX=y
+# CONFIG_FORMAT_SREC is not set
+# CONFIG_FORMAT_BINARY is not set
+
+#
+# Base modules
+#
+CONFIG_MODULE_CIRBUF=y
+# CONFIG_MODULE_CIRBUF_LARGE is not set
+# CONFIG_MODULE_FIXED_POINT is not set
+# CONFIG_MODULE_VECT2 is not set
+CONFIG_MODULE_SCHEDULER=y
+CONFIG_MODULE_SCHEDULER_CREATE_CONFIG=y
+CONFIG_MODULE_SCHEDULER_USE_TIMERS=y
+CONFIG_MODULE_TIME=y
+CONFIG_MODULE_TIME_CREATE_CONFIG=y
+
+#
+# Communication modules
+#
+CONFIG_MODULE_UART=y
+CONFIG_MODULE_UART_CREATE_CONFIG=y
+# CONFIG_MODULE_I2C is not set
+# CONFIG_MODULE_I2C_MASTER is not set
+# CONFIG_MODULE_I2C_MULTIMASTER is not set
+# CONFIG_MODULE_I2C_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_CLIENT is not set
+# CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set
+# CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_SERVER is not set
+# CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set
+
+#
+# Hardware modules
+#
+CONFIG_MODULE_TIMER=y
+CONFIG_MODULE_TIMER_CREATE_CONFIG=y
+# CONFIG_MODULE_TIMER_DYNAMIC is not set
+# CONFIG_MODULE_PWM is not set
+# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_ADC is not set
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
+
+#
+# IHM modules
+#
+# CONFIG_MODULE_MENU is not set
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
+# CONFIG_MODULE_PARSE is not set
+
+#
+# External devices modules
+#
+# CONFIG_MODULE_LCD is not set
+# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
+# CONFIG_MODULE_MULTISERVO is not set
+# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+
+#
+# Brushless motor drivers (you should enable pwm modules to see all)
+#
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
+
+#
+# Encoders
+#
+# CONFIG_MODULE_ENCODERS_MICROB is not set
+# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+
+#
+# Robot specific modules
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+
+#
+# Control system modules
+#
+# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+# CONFIG_MODULE_PID is not set
+# CONFIG_MODULE_RAMP is not set
+# CONFIG_MODULE_QUADRAMP is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+
+#
+# Crypto modules
+#
+# CONFIG_MODULE_AES is not set
+# CONFIG_MODULE_AES_CTR is not set
+# CONFIG_MODULE_MD5 is not set
+# CONFIG_MODULE_MD5_HMAC is not set
+# CONFIG_MODULE_RC4 is not set
+
+#
+# Encodings modules
+#
+# CONFIG_MODULE_BASE64 is not set
+# CONFIG_MODULE_HAMMING is not set
+
+#
+# Debug modules
+#
+# CONFIG_MODULE_DIAGNOSTIC is not set
+# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
+# CONFIG_MODULE_ERROR is not set
+# CONFIG_MODULE_ERROR_CREATE_CONFIG is not set
+
+#
+# Programmer options
+#
+# CONFIG_AVRDUDE is not set
+CONFIG_AVARICE=y
+
+#
+# Avrdude
+#
+# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
+# CONFIG_AVRDUDE_PROG_ABCMINI is not set
+# CONFIG_AVRDUDE_PROG_PICOWEB is not set
+# CONFIG_AVRDUDE_PROG_SP12 is not set
+# CONFIG_AVRDUDE_PROG_ALF is not set
+# CONFIG_AVRDUDE_PROG_BASCOM is not set
+# CONFIG_AVRDUDE_PROG_DT006 is not set
+# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
+CONFIG_AVRDUDE_PROG_STK200=y
+# CONFIG_AVRDUDE_PROG_PAVR is not set
+# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
+# CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_STK500 is not set
+# CONFIG_AVRDUDE_PROG_AVRISP is not set
+# CONFIG_AVRDUDE_PROG_BSD is not set
+# CONFIG_AVRDUDE_PROG_DAPA is not set
+# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+CONFIG_AVRDUDE_PORT="/dev/parport0"
+
+#
+# Avarice
+#
+CONFIG_AVARICE_PORT="/dev/ttyS0"
+CONFIG_AVARICE_DEBUG_PORT=1234
+CONFIG_AVARICE_PROG_MKI=y
+# CONFIG_AVARICE_PROG_MKII is not set
Commit from zer0 on branch b_zer0 (2007-10-28 23:31 CET)
=================================
add a comment
aversive projects/profiling_example/main.c 1.1.2.2
==========================================
aversive/projects/profiling_example/main.c (1.1.2.1 -> 1.1.2.2)
==========================================
@@ -16,7 +16,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.1.2.1 2007-10-28 22:28:19 zer0 Exp $
+ * Revision : $Id: main.c,v 1.1.2.2 2007-10-28 22:31:58 zer0 Exp $
*
*
*/
@@ -31,6 +31,26 @@
#include <time.h>
#include <uart.h>
+/*
+ * The TIMER2 is used to randomly interrupt the running program and
+ * display the address of the interrupted function on the serial port.
+ *
+ * The addresses can be parsed using the python program in the same
+ * dir:
+ * ./parse_symbols.py compiler_files/main.sym
+ *
+ * The stdin of the python script is the list of addresses. Below is
+ * its output:
+ *
+ * 50.88% (145/285) time_wait_ms[00000b5a]
+ * 13.33% (038/285) test2[00000130]
+ * 11.23% (032/285) time_get_s[0000069e]
+ * 8.07% (023/285) main[00000156]
+ * 7.37% (021/285) test1[00000122]
+ * 4.56% (013/285) scheduler_interrupt[00000dcc]
+ * 4.56% (013/285) time_increment[000007e8]
+ */
+
#define PROFILE_TIME 10
volatile int a = 0;
Commit from zer0 on branch b_zer0 (2007-10-28 23:32 CET)
=================================
oops I forgot to remove the comment.
aversive modules/base/scheduler/scheduler_interrupt.c 1.1.2.4
=====================================================
aversive/modules/base/scheduler/scheduler_interrupt.c (1.1.2.3 -> 1.1.2.4)
=====================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler_interrupt.c,v 1.1.2.3 2007-10-28 22:26:39 zer0
Exp $
+ * Revision : $Id: scheduler_interrupt.c,v 1.1.2.4 2007-10-28 22:32:27 zer0
Exp $
*
*/
@@ -69,7 +69,7 @@
* only update its current time until it reaches 1 */
if (g_tab_event[i].state == SCHEDULER_EVENT_SCHEDULED &&
g_tab_event[i].current_time > 1) {
- // g_tab_event[i].current_time --;
+ g_tab_event[i].current_time --;
sei();
continue;
}
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