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Timing expansion: measurements per function (CLAUDE)

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Niklas Jensen
2025-12-26 20:19:54 +01:00
parent e5e8a94acd
commit cefeb11e10
3 changed files with 53 additions and 2 deletions
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esp32/include/peripherals/imu.h
+1 -1
View File
@@ -42,7 +42,7 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#endif
#if FT_ENABLED(USE_ICM20948)
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1);
SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1); // TODO: Move to global spi start
_imu = (ICM_20948_SPI*)_arg;
#ifndef ICM20948_ALIVE
#define ICM20948_ALIVE
esp32/include/utils/timing.h
+45
View File
@@ -40,6 +40,51 @@
last_time = esp_timer_get_time() / 1000; \
}
#define CALLS_PER_SECOND_TIMED_START_TICK(name, function) \
static uint64_t name##_##function##_start = 0; \
static uint64_t name##_##function##_total_time = 0; \
static uint64_t name##_##function##_call_count = 0; \
name##_##function##_start = esp_timer_get_time();
#define CALLS_PER_SECOND_TIMED_END_TICK(name, function) \
name##_##function##_total_time += (esp_timer_get_time() - name##_##function##_start); \
name##_##function##_call_count++;
#define CALLS_PER_SECOND_TIMED_CALL(name, function, call) \
static uint64_t name##_##function##_total_time = 0; \
static uint64_t name##_##function##_call_count = 0; \
do { \
uint64_t name##_##function##_start = esp_timer_get_time(); \
call; \
name##_##function##_total_time += (esp_timer_get_time() - name##_##function##_start); \
name##_##function##_call_count++; \
} while (0)
#define CALLS_PER_SECOND_TIMED_FUNC_PRINT(name, function) \
if (name##_##function##_call_count > 0) { \
uint64_t avg = name##_##function##_total_time / name##_##function##_call_count; \
if (avg < 1000) { \
ESP_LOGI("Timing", " %s: %llu us (avg over %llu calls)", \
#function, avg, name##_##function##_call_count); \
} else { \
ESP_LOGI("Timing", " %s: %llu ms (avg over %llu calls)", \
#function, avg / 1000, name##_##function##_call_count); \
} \
name##_##function##_total_time = 0; \
name##_##function##_call_count = 0; \
}
#define CALLS_PER_SECOND_TIMED(name, ...) \
do { \
static uint64_t name##_last_print = 0; \
uint64_t name##_current_time = esp_timer_get_time() / 1000; \
if (name##_current_time - name##_last_print >= 1000) { \
ESP_LOGI("Timing", "=== %s Average Timings ===", #name); \
__VA_ARGS__ \
name##_last_print = name##_current_time; \
} \
} while (0)
#define WARN_IF_SLOW(name, period_ms) \
static uint64_t name##_slow_count = 0; \
static uint64_t name##_slow_last_time = 0; \
esp32/src/main.cpp
+7 -1
View File
@@ -264,7 +264,13 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
#if FT_ENABLED(USE_WS2812)
ledService.loop();
#endif
vTaskDelayUntil(&xLastWakeTime, xFrequency);
CALLS_PER_SECOND_TIMED(SpotControlLoopEntry,
CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, peripherals_update)
CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, motionService_update)
CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, servoController_setAngles)
CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, servoController_update)
);
// vTaskDelayUntil(&xLastWakeTime, xFrequency);
}
}