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AP_Periph: Rate limit EFI driver updates 

Also remove the last update variables for features that were compiled
out.
This commit is contained in:
Michael du Breuil 2023-10-03 11:04:22 -07:00 committed by Andrew Tridgell
parent 3c6ddda5e8
commit 00a5c92635
2 changed files with 27 additions and 0 deletions
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13
Tools/AP_Periph/AP_Periph.h
View File

@ -371,13 +371,26 @@ public:
static const AP_Param::Info var_info[];
#ifdef HAL_PERIPH_ENABLE_EFI
uint32_t last_efi_update_ms;
#endif
#ifdef HAL_PERIPH_ENABLE_MAG
uint32_t last_mag_update_ms;
#endif
#ifdef HAL_PERIPH_ENABLE_GPS
uint32_t last_gps_update_ms;
uint32_t last_gps_yaw_ms;
#endif
uint32_t last_relposheading_ms;
#ifdef HAL_PERIPH_ENABLE_BARO
uint32_t last_baro_update_ms;
#endif
#ifdef HAL_PERIPH_ENABLE_AIRSPEED
uint32_t last_airspeed_update_ms;
#endif
#ifdef HAL_PERIPH_ENABLE_GPS
bool saw_gps_lock_once;
#endif
static AP_Periph_FW *_singleton;

14
Tools/AP_Periph/efi.cpp
View File

@ -8,6 +8,11 @@
#include <dronecan_msgs.h>
#ifndef AP_PERIPH_EFI_MAX_RATE
// default to 2x the AP_Vehicle rate
#define AP_PERIPH_EFI_MAX_RATE 100U
#endif
/*
update CAN EFI
*/
@ -16,6 +21,15 @@ void AP_Periph_FW::can_efi_update(void)
if (!efi.enabled()) {
return;
}
#if AP_PERIPH_EFI_MAX_RATE > 0
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - last_efi_update_ms < (1000U / AP_PERIPH_EFI_MAX_RATE)) {
return;
}
last_efi_update_ms = now_ms;
#endif
efi.update();
const uint32_t update_ms = efi.get_last_update_ms();
if (!efi.is_healthy() || efi_update_ms == update_ms) {