AP_HAL_ChibiOS: when HAL_ENABLE_THREAD_STATISTICS is defined add ChibiOS thread stats to threads.txt

define HAL_ENABLE_THREAD_STATISTICS in hwdef.h

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -325,9 +325,18 @@ size_t Util::thread_info(char *buf, size_t bufsize)
           total_stack = uint32_t(tp) - uint32_t(tp->wabase);
       }
       if (bufsize > 0) {
+#if HAL_ENABLE_THREAD_STATISTICS
+          n = snprintf(buf, bufsize, "%-13.13s PRI=%3u sp=%p STACK=%4u/%4u MIN=%4u AVG=%4u MAX=%4u\n",
+                        tp->name, unsigned(tp->prio), tp->wabase,
+                        stack_free(tp->wabase), total_stack, RTC2US(STM32_HSECLK, tp->stats.best),
+                        RTC2US(STM32_HSECLK, uint32_t(tp->stats.cumulative / uint64_t(tp->stats.n))),
+                        RTC2US(STM32_HSECLK, tp->stats.worst));
+          chTMObjectInit(&tp->stats); // reset counters to zero
+#else
           n = snprintf(buf, bufsize, "%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
                        tp->name, unsigned(tp->prio), tp->wabase,
                        stack_free(tp->wabase), total_stack);
+#endif
           if (n > bufsize) {
               n = bufsize;
           }

libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h

@@ -55,6 +55,12 @@
 #define CH_DBG_ENABLE_STACK_CHECK TRUE
 #endif
 
+#if HAL_ENABLE_THREAD_STATISTICS
+#define CH_DBG_STATISTICS TRUE
+#else
+#define CH_DBG_STATISTICS FALSE
+#endif
+
 /**
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
@@ -509,7 +515,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_STATISTICS)
-#define CH_DBG_STATISTICS                   TRUE
+#define CH_DBG_STATISTICS                   FALSE
 #endif
 
 /**

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -751,6 +751,12 @@ def write_mcu_config(f):
     f.write('\n// APJ board ID (for bootloaders)\n')
     f.write('#define APJ_BOARD_ID %s\n' % get_config('APJ_BOARD_ID'))
 
+    f.write('''
+#ifndef HAL_ENABLE_THREAD_STATISTICS
+#define HAL_ENABLE_THREAD_STATISTICS FALSE
+#endif
+    ''')
+
     lib = get_mcu_lib(mcu_type)
     build_info = lib.build
 
@@ -797,7 +803,6 @@ def write_mcu_config(f):
 #define HAL_NO_UARTDRIVER
 #define HAL_NO_PRINTF
 #define HAL_NO_CCM
-#define CH_DBG_STATISTICS FALSE
 #define CH_CFG_USE_TM FALSE
 #define CH_CFG_USE_REGISTRY FALSE
 #define CH_CFG_USE_WAITEXIT FALSE