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HAL_PX4: avoid RCOutput ioctl unless values change

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this lowers latency somewhat
This commit is contained in:
Andrew Tridgell 2013-01-23 07:29:59 +11:00
parent 89cb3fbd61
commit 6e8501603c
2 changed files with 17 additions and 5 deletions
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19
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -27,6 +27,10 @@ void PX4RCOutput::init(void* unused)
void PX4RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
{
if (freq_hz == _freq_hz) {
// avoid the ioctl() if possible
return;
}
// we can't set this per channel yet
if (ioctl(_pwm_fd, PWM_SERVO_SET_UPDATE_RATE, (unsigned long)freq_hz) == 0) {
_freq_hz = freq_hz;
@ -60,7 +64,13 @@ void PX4RCOutput::disable_mask(uint32_t chmask)
void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
{
ioctl(_pwm_fd, PWM_SERVO_SET(ch), (unsigned long)period_us);
if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
return;
}
if (period_us != _period[ch]) {
ioctl(_pwm_fd, PWM_SERVO_SET(ch), (unsigned long)period_us);
_period[ch] = period_us;
}
}
void PX4RCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
@ -72,11 +82,10 @@ void PX4RCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
uint16_t PX4RCOutput::read(uint8_t ch)
{
servo_position_t pos;
if (ioctl(_pwm_fd, PWM_SERVO_GET(ch), (unsigned long)&pos) == 0) {
return pos;
if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
return 0;
}
return 0;
return _period[ch];
}
void PX4RCOutput::read(uint16_t* period_us, uint8_t len)

3
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -4,6 +4,8 @@
#include <AP_HAL_PX4.h>
#define PX4_NUM_OUTPUT_CHANNELS 16
class PX4::PX4RCOutput : public AP_HAL::RCOutput
{
public:
@ -22,6 +24,7 @@ public:
private:
int _pwm_fd;
uint16_t _freq_hz;
uint16_t _period[PX4_NUM_OUTPUT_CHANNELS];
};
#endif // __AP_HAL_PX4_RCOUTPUT_H__