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[WIP] Add actual performance measurement to scheduler #641

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[WIP] Add actual performance measurement to scheduler #641

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ecc148b
implement an array of the last 2^n task times
victor-Lopez25 Apr 16, 2026
291ed71
Merge branch 'development' into temp/scheduler-get-perf
victor-Lopez25 May 4, 2026
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10 changes: 10 additions & 0 deletions Inc/HALAL/Services/Time/Scheduler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,16 @@
#include "stm32h7xx_hal_tim.h"
#endif

//#define SLOW_CHECK_USE_READY_BITMAP
#define SLOW_CHECK_USE_LAST_N_TASKS

#define SLOW_CHECK_USE_LAST_N_TASKS_COUNT 512

#if defined(SLOW_CHECK_USE_LAST_N_TASKS)
// Must be a 32 bit timer and not be the same as the scheduler timer
extern TIM_TypeDef* perf_timer;
#endif

extern TIM_TypeDef* Scheduler_global_timer;
void Scheduler_global_timer_callback(void* raw);
void Scheduler_start(void);
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37 changes: 37 additions & 0 deletions Src/HALAL/Services/Time/Scheduler.cpp
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Expand Up @@ -31,8 +31,30 @@ uint64_t Scheduler::global_tick_us_{0};
uint32_t Scheduler::current_interval_us_{0};
uint16_t Scheduler::timeout_idx_{1};

#if (SLOW_CHECK_USE_LAST_N_TASKS_COUNT & (SLOW_CHECK_USE_LAST_N_TASKS_COUNT - 1)) != 0
// NOTE: Performance: this is to use an and instead of a mod when storing the data
#error SLOW_CHECK_USE_LAST_N_TASKS_COUNT must be a power of 2
#endif

#if defined(SLOW_CHECK_USE_READY_BITMAP)
uint16_t failing_id = Scheduler::INVALID_ID;

#elif defined(SLOW_CHECK_USE_LAST_N_TASKS)
struct TaskTimeInfo {
uint16_t id;
uint32_t start_time;
uint32_t end_time;
};
TaskTimeInfo time_info[SLOW_CHECK_USE_LAST_N_TASKS_COUNT]{};
#if SLOW_CHECK_USE_LAST_N_TASKS_COUNT > 65536
#error Use a uint32_t instead and remove these lines
#endif
uint16_t current_time_info{0};

// Must be a 32 bit timer and not be the same as the scheduler timer
TIM_TypeDef *perf_timer;
#endif

// ----------------------------

inline void Scheduler::global_timer_disable() {
Expand Down Expand Up @@ -76,19 +98,32 @@ void Scheduler_start(void) {
}

void Scheduler::update() {
#ifdef SLOW_CHECK_USE_READY_BITMAP
// NOTE: Only _one_ id will be shown per call to update()
if (failing_id != Scheduler::INVALID_ID) [[unlikely]] {
WARNING("Too slow, could not execute task %u in time", failing_id);
failing_id = Scheduler::INVALID_ID;
}
#endif

while (ready_bitmap_ != 0u) {
uint32_t bit_index = static_cast<uint32_t>(__builtin_ctz(ready_bitmap_));

Task& task = tasks_[bit_index];

#if defined(SLOW_CHECK_USE_LAST_N_TASKS)
TaskTimeInfo *info = time_info + current_time_info;
info->id = bit_index;
info->start_time = perf_timer->CNT;
#endif

task.callback();

#if defined(SLOW_CHECK_USE_LAST_N_TASKS)
info->end_time = perf_timer->CNT;
current_time_info = (current_time_info + 1) & SLOW_CHECK_USE_LAST_N_TASKS_COUNT;
#endif

SchedLock();
CLEAR_BIT(ready_bitmap_, 1u << bit_index);
if (!task.repeating) [[unlikely]] {
Expand Down Expand Up @@ -247,9 +282,11 @@ inline void Scheduler::on_timer_update() {
SchedLock();
pop_front();
// mark task as ready
#ifdef SLOW_CHECK_USE_READY_BITMAP
if ((ready_bitmap_ & task_bit) != 0) [[unlikely]] {
failing_id = candidate_id;
}
#endif
SET_BIT(ready_bitmap_, task_bit);
if (task.repeating) [[likely]] {
task.next_fire_us = static_cast<uint32_t>(global_tick_us_ + task.period_us);
Expand Down
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