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AP_ESC_Telem: split logging and invalidation, deduplicate micros64()

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Maxim Buzdalov 2024-02-20 12:41:03 +00:00 committed by Peter Barker
parent 8a576f884e
commit 58d82000db
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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@ -492,12 +492,9 @@ void AP_ESC_Telem::update()
{ {
#if HAL_LOGGING_ENABLED #if HAL_LOGGING_ENABLED
AP_Logger *logger = AP_Logger::get_singleton(); AP_Logger *logger = AP_Logger::get_singleton();
#endif const uint64_t now_us64 = AP_HAL::micros64();
const uint32_t now_us = AP_HAL::micros();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) { for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
#if HAL_LOGGING_ENABLED
// Push received telemetry data into the logging system // Push received telemetry data into the logging system
if (logger && logger->logging_enabled()) { if (logger && logger->logging_enabled()) {
if (_telem_data[i].last_update_ms != _last_telem_log_ms[i] if (_telem_data[i].last_update_ms != _last_telem_log_ms[i]
@ -519,7 +516,7 @@ void AP_ESC_Telem::update()
// error_rate is in percentage // error_rate is in percentage
const struct log_Esc pkt{ const struct log_Esc pkt{
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)), LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
time_us : AP_HAL::micros64(), time_us : now_us64,
instance : i, instance : i,
rpm : rpm, rpm : rpm,
raw_rpm : raw_rpm, raw_rpm : raw_rpm,
@ -535,8 +532,12 @@ void AP_ESC_Telem::update()
_last_rpm_log_us[i] = _rpm_data[i].last_update_us; _last_rpm_log_us[i] = _rpm_data[i].last_update_us;
} }
} }
}
#endif // HAL_LOGGING_ENABLED #endif // HAL_LOGGING_ENABLED
const uint32_t now_us = AP_HAL::micros();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
// Invalidate RPM data if not received for too long
if ((now_us - _rpm_data[i].last_update_us) > ESC_RPM_DATA_TIMEOUT_US) { if ((now_us - _rpm_data[i].last_update_us) > ESC_RPM_DATA_TIMEOUT_US) {
_rpm_data[i].data_valid = false; _rpm_data[i].data_valid = false;
} }