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[fix][freertos] fix os scheduler in 602 & 702

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jzlv 2024-03-21 15:47:58 +08:00 committed by ybwang
parent 55316ea169
commit 0ffac88d9b
5 changed files with 350 additions and 85 deletions
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3
components/os/freertos/CMakeLists.txt
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@ -21,7 +21,6 @@ sdk_add_include_directories(portable/GCC/RISC-V/c906)
sdk_add_include_directories(portable/GCC/RISC-V/c906/chip_specific_extensions/Thead_E906FD_RV32IMAFDC) sdk_add_include_directories(portable/GCC/RISC-V/c906/chip_specific_extensions/Thead_E906FD_RV32IMAFDC)
sdk_add_compile_definitions(-D__OS_FREERTOS__) sdk_add_compile_definitions(-D__OS_FREERTOS__)
else() else()
sdk_library_add_sources(portable/GCC/RISC-V/portStatTrap.c)
sdk_library_add_sources(portable/GCC/RISC-V/common/port.c) sdk_library_add_sources(portable/GCC/RISC-V/common/port.c)
sdk_library_add_sources(portable/GCC/RISC-V/common/portASM.S) sdk_library_add_sources(portable/GCC/RISC-V/common/portASM.S)
sdk_add_include_directories(portable/GCC/RISC-V/common) sdk_add_include_directories(portable/GCC/RISC-V/common)
@ -46,4 +45,4 @@ sdk_library_add_sources(posix/source/FreeRTOS_POSIX_utils.c)
sdk_add_include_directories(posix/include) sdk_add_include_directories(posix/include)
sdk_add_include_directories(posix/include/FreeRTOS_POSIX) sdk_add_include_directories(posix/include/FreeRTOS_POSIX)
sdk_add_compile_definitions(-DCONFIG_POSIX) sdk_add_compile_definitions(-DCONFIG_POSIX)
endif() endif()

348
components/os/freertos/freertos_helper/0001-feat-helper-add-dump-task-usage-helper.patch Normal file
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@ -0,0 +1,348 @@
From b6b6b40cb3f57b7fb415f5437f4c837883e032dd Mon Sep 17 00:00:00 2001
From: ybwang <ybwang@bouffalolab.com>
Date: Mon, 10 Jul 2023 14:27:45 +0800
Subject: [PATCH] [feat][helper] add dump task usage helper
Change-Id: If344cbcaeac82359f7e2bba3899004b6d0ba4071
Reviewed-on: https://gerrit.bouffalolab.com/c/bouffalo/components/freertos/+/2723
Reviewed-by: jenkins <jenkins@bouffalolab.com>
Code-Lint: jenkins <jenkins@bouffalolab.com>
Reviewed-by: zrrong <zrrong@bouffalolab.com>
Tested-by: zrrong <zrrong@bouffalolab.com>
Code-Lint: zrrong <zrrong@bouffalolab.com>
Tested-by: jenkins <jenkins@bouffalolab.com>
---
CMakeLists.txt | 3 +
include/portable.h | 28 ++
portable/GCC/RISC-V/common/portASM.S | 45 +++
portable/GCC/RISC-V/common/portmacro.h | 28 ++
portable/GCC/RISC-V/portStatTrap.c | 105 +++++++
tasks.c | 26 +-
diff --git a/include/portable.h b/include/portable.h
index 1247fb7..790e0eb 100644
--- a/include/portable.h
+++ b/include/portable.h
@@ -92,6 +92,10 @@
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
#endif
+#ifndef portHAS_STAT_TRAP_TIME
+ #define portHAS_STAT_TRAP_TIME 0
+#endif
+
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
@@ -216,6 +220,30 @@ void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
#endif
+#if ( portHAS_STAT_TRAP_TIME == 1 )
+ void vPortRegisterReportIrqCost(void (*pvFun)(int irqnum, uint64_t cost));
+ void vPortRegisterReportExpCost(void (*pvFun)(int irqnum, uint64_t cost));
+ void vPortUpdateSwitchOutExtra( uint64_t ullNow );
+ uint64_t ullPortGetRunningTrapCostAndSwitchExtra( void );
+ void vPortResetRunningTrapCost( void );
+ uint64_t ullPortGetRunningTrapCostFromTask( void );
+ uint32_t ulPortGetSwitchInExtra( void );
+ uint64_t ullPortGetTrapAllCurrentTime( void );
+#else
+ inline uint64_t ullPortGetTrapAllCurrentTime( void )
+ {
+ return 0;
+ }
+ inline void vPortRegisterReportIrqCost(void (*pvFun)(int irqnum, uint64_t cost))
+ {
+ return;
+ }
+ inline void vPortRegisterReportExpCost(void (*pvFun)(int irqnum, uint64_t cost))
+ {
+ return;
+ }
+#endif
+
/* *INDENT-OFF* */
#ifdef __cplusplus
}
diff --git a/portable/GCC/RISC-V/common/portASM.S b/portable/GCC/RISC-V/common/portASM.S
index ac10892..4bb1821 100644
--- a/portable/GCC/RISC-V/common/portASM.S
+++ b/portable/GCC/RISC-V/common/portASM.S
@@ -126,6 +126,13 @@ at the top of this file. */
.extern portasmHANDLE_INTERRUPT
.extern exception_entry
+/* stat trap variable */
+.extern vCountLastTrapCost
+.extern ulLastTrapCount
+.extern lLastTrapNum
+.extern ulSwitchOutExtra
+.extern ulSwitchInExtra
+
/*-----------------------------------------------------------*/
.align 8
@@ -133,6 +140,11 @@ at the top of this file. */
freertos_risc_v_trap_handler:
addi sp, sp, -portCONTEXT_SIZE
store_x x1, 1 * portWORD_SIZE( sp )
+
+ /* save trapin count, use 1 register at least */
+ rdcycle x1
+ csrw mscratch, x1
+
store_x x5, 2 * portWORD_SIZE( sp )
store_x x6, 3 * portWORD_SIZE( sp )
store_x x7, 4 * portWORD_SIZE( sp )
@@ -161,6 +173,16 @@ freertos_risc_v_trap_handler:
store_x x30, 27 * portWORD_SIZE( sp )
store_x x31, 28 * portWORD_SIZE( sp )
+ /* stat last trap cost */
+ la t0, vCountLastTrapCost
+ jalr t0
+ /* save uLastTrapCount cause to lLastTrapNum */
+ csrr a0, mcause
+ li t0, 0x80000FFF
+ and a0, a0, t0
+ la t0, lLastTrapNum
+ store_x a0, (t0)
+
csrr t0, mstatus /* Required for MPIE bit. */
store_x t0, 29 * portWORD_SIZE( sp )
@@ -396,6 +418,23 @@ f_reg_skip_restore1:
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
+
+ /* calc cost, use 2 registers at least */
+ rdcycle x31
+ csrr x30, mscratch
+ sub x31, x31, x30
+ la x30, ulLastTrapCount
+ store_x x31, (x30)
+
+ /* test if switch, update ulSwitchInExtra, use 3 resgister at least */
+ la x30, ulSwitchOutExtra
+ load_x x29, (x30)
+ beq x29, x0, dont_set_switch_in_extra
+ sub x31, x31, x29
+ la x30, ulSwitchInExtra
+ store_x x31, (x30)
+
+dont_set_switch_in_extra:
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
@@ -491,6 +530,12 @@ f_reg_skip_restore2:
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
+
+ /* update first task ulSwitchInExtra, use 2 resgister at least */
+ rdcycle x31
+ la x30, ulSwitchInExtra
+ store_x x31, (x30)
+
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
diff --git a/portable/GCC/RISC-V/common/portmacro.h b/portable/GCC/RISC-V/common/portmacro.h
index 110f514..f814db7 100644
--- a/portable/GCC/RISC-V/common/portmacro.h
+++ b/portable/GCC/RISC-V/common/portmacro.h
@@ -89,6 +89,34 @@ not need to be guarded with a critical section. */
#endif
/*-----------------------------------------------------------*/
+/* There is already a high frequency timer running - just reset its count back
+to zero. */
+static inline unsigned long long getCycleCounter() {
+#if __riscv_xlen == 32
+ register unsigned int cycle, cycleh, cycleh_tmp;
+ do {
+ asm volatile ("rdcycleh %0" : "=r"(cycleh));
+ asm volatile ("rdcycle %0" : "=r"(cycle));
+ asm volatile ("rdcycleh %0" : "=r"(cycleh_tmp));
+ } while(cycleh != cycleh_tmp);
+ return ((unsigned long long)cycleh << 32) | cycle;
+#elif __riscv_xlen == 64
+ register unsigned long long cycle;
+ asm volatile ("rdcycle %0" : "=r"(cycle));
+ return cycle;
+#endif
+}
+
+static inline void resetCycleCounter() {
+ asm volatile ("csrw mcycle, x0");
+}
+
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() resetCycleCounter()
+#define portGET_RUN_TIME_COUNTER_VALUE() getCycleCounter()
+#define configCPU_CORE_CLOCK_HZ (320 * 1000 * 1000)
+#define portHAS_STAT_TRAP_TIME 1
+
+/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern BaseType_t TrapNetCounter;
diff --git a/portable/GCC/RISC-V/portStatTrap.c b/portable/GCC/RISC-V/portStatTrap.c
new file mode 100644
index 0000000..f315d08
--- /dev/null
+++ b/portable/GCC/RISC-V/portStatTrap.c
@@ -0,0 +1,105 @@
+#include <stdint.h>
+//#include "encoding.h"
+#define read_csr(reg) ({ unsigned long __tmp; \
+ asm volatile ("csrr %0, " #reg : "=r"(__tmp)); \
+ __tmp; })
+#include <FreeRTOS.h>
+//#include <atomic.h>
+
+/* Normal trap timepoint graph:
+ *
+ * trapin trapout
+ * |-------t1--------|
+ *
+ * Switch trap timepoint graph:
+ *
+ * trapin switch trapout
+ * |--t2---|----t3---|
+ *
+ * t3 + t1 + t2 need excluded from ulRunTimeCounter of TCB
+ */
+
+/* one certain task t1 stats in ullRunningTrapCost during running. */
+static uint64_t ullRunningTrapCost = 0ULL;
+
+/* trap current runtime counter */
+static uint64_t ullTrapAllCurrentTime = 0ULL;
+
+/* extra cost between switch context */
+uint32_t ulSwitchOutExtra = 0UL;
+uint32_t ulSwitchInExtra = 0UL;
+
+/* record last trap info */
+uint32_t ulLastTrapCount = 0UL;
+int32_t lLastTrapNum = 0L;
+
+void (*pvReportIrqCost)(int irqnum, uint64_t cost) = NULL;
+void (*pvReportExpCost)(int expnum, uint64_t cost) = NULL;
+
+void vPortRegisterReportIrqCost(void (*pvFun)(int irqnum, uint64_t cost))
+{
+ pvReportIrqCost = pvFun;
+}
+
+void vPortRegisterReportExpCost(void (*pvFun)(int expnum, uint64_t cost))
+{
+ pvReportExpCost = pvFun;
+}
+
+/* called in trap, before ISR execute stat last trap cost */
+void vCountLastTrapCost( void )
+{
+ /* first trap */
+ if( lLastTrapNum == 0 ) {
+ return;
+ }
+
+ /* last trap isn't switch context trap,
+ or else reset ulSwitchOutExtra */
+ if( ulSwitchOutExtra == 0 ) {
+ ullRunningTrapCost += ulLastTrapCount;
+ }
+ else {
+ ulSwitchOutExtra = 0;
+ }
+
+ if( lLastTrapNum > 0 ) {
+ if(pvReportExpCost)
+ pvReportExpCost( lLastTrapNum & 0x000003FF, ulLastTrapCount );
+ } else {
+ if(pvReportIrqCost)
+ pvReportIrqCost( lLastTrapNum & 0x000003FF, ulLastTrapCount );
+ }
+}
+
+void vPortUpdateSwitchOutExtra( uint64_t ullNow )
+{
+ ulSwitchOutExtra = ( uint32_t ) ullNow - ( uint32_t ) read_csr( mscratch );
+}
+
+uint64_t ullPortGetRunningTrapCostAndSwitchExtra( void )
+{
+ return ulSwitchInExtra + ullRunningTrapCost + ulSwitchOutExtra;
+}
+
+void vPortResetRunningTrapCost( void )
+{
+ ullTrapAllCurrentTime += ulSwitchInExtra + ullRunningTrapCost + ulSwitchOutExtra;
+ ullRunningTrapCost = 0;
+}
+
+uint64_t ullPortGetRunningTrapCostFromTask( void )
+{
+ return ullRunningTrapCost + ulLastTrapCount;
+}
+
+uint32_t ulPortGetSwitchInExtra( void )
+{
+ return ulSwitchInExtra;
+}
+
+/* all trap runtime include prev tasks cost and current task cost. */
+uint64_t ullPortGetTrapAllCurrentTime( void )
+{
+ return ullTrapAllCurrentTime;
+}
diff --git a/tasks.c b/tasks.c
index 7d4b7fe..85febe2 100644
--- a/tasks.c
+++ b/tasks.c
@@ -3057,6 +3057,21 @@ BaseType_t xTaskIncrementTick( void )
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
+#if ( portHAS_STAT_TRAP_TIME == 1 ) && ( configGENERATE_RUN_TIME_STATS == 1 )
+void vGetTaskRunningTimeSnapshot( uint64_t *TaskTime , uint64_t *AllTime )
+{
+ taskENTER_CRITICAL();
+ {
+ *AllTime = portGET_RUN_TIME_COUNTER_VALUE();
+ *TaskTime = *AllTime - ulTaskSwitchedInTime - ulPortGetSwitchInExtra() \
+ - ullPortGetRunningTrapCostFromTask() \
+ + pxCurrentTCB->ulRunTimeCounter;
+ }
+ taskEXIT_CRITICAL();
+}
+#endif /* portHAS_STAT_TRAP_TIME */
+/*-----------------------------------------------------------*/
+
void vTaskSwitchContext( void )
{
if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
@@ -3087,7 +3102,16 @@ void vTaskSwitchContext( void )
* are provided by the application, not the kernel. */
if( ulTotalRunTime > ulTaskSwitchedInTime )
{
- pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
+ /* ulRunTimeCounter in TCB includes switchin cost, switchout cost and
+ * running trap cost, exclude these cost */
+ #if ( portHAS_STAT_TRAP_TIME == 1 )
+ vPortUpdateSwitchOutExtra( ulTotalRunTime );
+ pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime \
+ - ullPortGetRunningTrapCostAndSwitchExtra() );
+ vPortResetRunningTrapCost();
+ #else
+ pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
+ #endif
}
else
{
--
2.25.1

13
components/os/freertos/include/portable.h
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@ -92,10 +92,6 @@
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0 #define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
#endif #endif
#ifndef portHAS_STAT_TRAP_TIME
#define portHAS_STAT_TRAP_TIME 0
#endif
/* *INDENT-OFF* */ /* *INDENT-OFF* */
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
@ -220,15 +216,6 @@ void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
uint32_t ulStackDepth ) PRIVILEGED_FUNCTION; uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
#endif #endif
void vPortRegisterReportIrqCost(void (*pvFun)(int irqnum, uint64_t cost));
void vPortRegisterReportExpCost(void (*pvFun)(int irqnum, uint64_t cost));
void vPortUpdateSwitchOutExtra( uint64_t ullNow );
uint64_t ullPortGetRunningTrapCostAndSwitchExtra( void );
void vPortResetRunningTrapCost( void );
uint64_t ullPortGetRunningTrapCostFromTask( void );
uint32_t ulPortGetSwitchInExtra( void );
uint64_t ullPortGetTrapAllCurrentTime( void );
/* *INDENT-OFF* */ /* *INDENT-OFF* */
#ifdef __cplusplus #ifdef __cplusplus
} }

45
components/os/freertos/portable/GCC/RISC-V/common/portASM.S
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@ -126,13 +126,6 @@ at the top of this file. */
.extern portasmHANDLE_INTERRUPT .extern portasmHANDLE_INTERRUPT
.extern exception_entry .extern exception_entry
/* stat trap variable */
.extern vCountLastTrapCost
.extern ulLastTrapCount
.extern lLastTrapNum
.extern ulSwitchOutExtra
.extern ulSwitchInExtra
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
.section .text.vectors.freertos_risc_v_trap_handler, "ax", %progbits .section .text.vectors.freertos_risc_v_trap_handler, "ax", %progbits
.align 8 .align 8
@ -140,11 +133,6 @@ at the top of this file. */
freertos_risc_v_trap_handler: freertos_risc_v_trap_handler:
addi sp, sp, -portCONTEXT_SIZE addi sp, sp, -portCONTEXT_SIZE
store_x x1, 1 * portWORD_SIZE( sp ) store_x x1, 1 * portWORD_SIZE( sp )
/* save trapin count, use 1 register at least */
rdcycle x1
csrw mscratch, x1
store_x x5, 2 * portWORD_SIZE( sp ) store_x x5, 2 * portWORD_SIZE( sp )
store_x x6, 3 * portWORD_SIZE( sp ) store_x x6, 3 * portWORD_SIZE( sp )
store_x x7, 4 * portWORD_SIZE( sp ) store_x x7, 4 * portWORD_SIZE( sp )
@ -173,16 +161,6 @@ freertos_risc_v_trap_handler:
store_x x30, 27 * portWORD_SIZE( sp ) store_x x30, 27 * portWORD_SIZE( sp )
store_x x31, 28 * portWORD_SIZE( sp ) store_x x31, 28 * portWORD_SIZE( sp )
/* stat last trap cost */
la t0, vCountLastTrapCost
jalr t0
/* save uLastTrapCount cause to lLastTrapNum */
csrr a0, mcause
li t0, 0x80000FFF
and a0, a0, t0
la t0, lLastTrapNum
store_x a0, (t0)
csrr t0, mstatus /* Required for MPIE bit. */ csrr t0, mstatus /* Required for MPIE bit. */
store_x t0, 29 * portWORD_SIZE( sp ) store_x t0, 29 * portWORD_SIZE( sp )
@ -420,23 +398,6 @@ f_reg_skip_restore1:
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */ load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */ load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */ load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
/* calc cost, use 2 registers at least */
rdcycle x31
csrr x30, mscratch
sub x31, x31, x30
la x30, ulLastTrapCount
store_x x31, (x30)
/* test if switch, update ulSwitchInExtra, use 3 resgister at least */
la x30, ulSwitchOutExtra
load_x x29, (x30)
beq x29, x0, dont_set_switch_in_extra
sub x31, x31, x29
la x30, ulSwitchInExtra
store_x x31, (x30)
dont_set_switch_in_extra:
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */ load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */ load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */ load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
@ -532,12 +493,6 @@ f_reg_skip_restore2:
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */ load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */ load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */ load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
/* update first task ulSwitchInExtra, use 2 resgister at least */
rdcycle x31
la x30, ulSwitchInExtra
store_x x31, (x30)
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */ load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */ load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */

26
components/os/freertos/tasks.c
View File

@ -3103,21 +3103,6 @@ BaseType_t xTaskIncrementTick( void )
#endif /* configUSE_APPLICATION_TASK_TAG */ #endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( portHAS_STAT_TRAP_TIME == 1 ) && ( configGENERATE_RUN_TIME_STATS == 1 )
void vGetTaskRunningTimeSnapshot( uint64_t *TaskTime , uint64_t *AllTime )
{
taskENTER_CRITICAL();
{
*AllTime = portGET_RUN_TIME_COUNTER_VALUE();
*TaskTime = *AllTime - ulTaskSwitchedInTime - ulPortGetSwitchInExtra() \
- ullPortGetRunningTrapCostFromTask() \
+ pxCurrentTCB->ulRunTimeCounter;
}
taskEXIT_CRITICAL();
}
#endif /* portHAS_STAT_TRAP_TIME */
/*-----------------------------------------------------------*/
void vTaskSwitchContext( void ) void vTaskSwitchContext( void )
{ {
if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE ) if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
@ -3148,16 +3133,7 @@ void vTaskSwitchContext( void )
* are provided by the application, not the kernel. */ * are provided by the application, not the kernel. */
if( ulTotalRunTime > ulTaskSwitchedInTime ) if( ulTotalRunTime > ulTaskSwitchedInTime )
{ {
/* ulRunTimeCounter in TCB includes switchin cost, switchout cost and pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
* running trap cost, exclude these cost */
#if ( portHAS_STAT_TRAP_TIME == 1 )
vPortUpdateSwitchOutExtra( ulTotalRunTime );
pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime \
- ullPortGetRunningTrapCostAndSwitchExtra() );
vPortResetRunningTrapCost();
#else
pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
#endif
} }
else else
{ {