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HAL_ChibiOS: make soft serial for RC serial more efficient

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using system ticks halves the IRQ time
This commit is contained in:
Andrew Tridgell 2018-04-15 15:33:40 +10:00
parent 57c307a74e
commit 4871bbf403
2 changed files with 9 additions and 9 deletions
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12
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -1101,7 +1101,7 @@ bool RCOutput::serial_write_bytes(const uint8_t *bytes, uint16_t len)
*/ */
void RCOutput::serial_bit_irq(void) void RCOutput::serial_bit_irq(void)
{ {
uint32_t now = AP_HAL::micros(); systime_t now = chVTGetSystemTimeX();
uint8_t bit = palReadLine(irq.line); uint8_t bit = palReadLine(irq.line);
bool send_signal = false; bool send_signal = false;
@ -1116,12 +1116,12 @@ void RCOutput::serial_bit_irq(void)
send_signal = true; send_signal = true;
} else { } else {
irq.nbits = 1; irq.nbits = 1;
irq.byte_start_us = now; irq.byte_start_tick = now;
irq.bitmask = 0; irq.bitmask = 0;
} }
} else { } else {
uint32_t dt = now - irq.byte_start_us; systime_t dt = now - irq.byte_start_tick;
uint8_t bitnum = (dt+(irq.bit_time_us/2)) / irq.bit_time_us; uint8_t bitnum = (dt+(irq.bit_time_tick/2)) / irq.bit_time_tick;
if (bitnum > 10) { if (bitnum > 10) {
bitnum = 10; bitnum = 10;
@ -1137,7 +1137,7 @@ void RCOutput::serial_bit_irq(void)
irq.byteval = irq.bitmask & 0x3FF; irq.byteval = irq.bitmask & 0x3FF;
irq.bitmask = 0; irq.bitmask = 0;
irq.nbits = 1; irq.nbits = 1;
irq.byte_start_us = now; irq.byte_start_tick = now;
} }
} }
irq.last_bit = bit; irq.last_bit = bit;
@ -1205,7 +1205,7 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
irq.nbits = 0; irq.nbits = 0;
irq.bitmask = 0; irq.bitmask = 0;
irq.byteval = 0; irq.byteval = 0;
irq.bit_time_us = serial_group->serial.bit_time_us; irq.bit_time_tick = serial_group->serial.bit_time_us;
irq.last_bit = 0; irq.last_bit = 0;
irq.waiter = chThdGetSelfX(); irq.waiter = chThdGetSelfX();

6
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -169,7 +169,7 @@ private:
ioline_t line; ioline_t line;
// time the current byte started // time the current byte started
uint32_t byte_start_us; systime_t byte_start_tick;
// number of bits we have read in this byte // number of bits we have read in this byte
uint8_t nbits; uint8_t nbits;
@ -180,8 +180,8 @@ private:
// value of completed byte (includes start and stop bits) // value of completed byte (includes start and stop bits)
uint16_t byteval; uint16_t byteval;
// expected time per bit // expected time per bit in system ticks
uint32_t bit_time_us; systime_t bit_time_tick;
// the bit value of the last bit received // the bit value of the last bit received
uint8_t last_bit; uint8_t last_bit;