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AP_HAL_Linux: reduce RCInput_RPI CPU consumption to 1/4

This commit is contained in:
Aaron Wang Shi 2018-12-10 17:01:08 +08:00 committed by Lucas De Marchi
parent c81ddd85b6
commit 8350943e78
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_HAL_Linux/RCInput_RPI.cpp
View File

@ -33,7 +33,7 @@
//Parametres
#define RCIN_RPI_BUFFER_LENGTH 4
#define RCIN_RPI_SAMPLE_FREQ 500
#define RCIN_RPI_SAMPLE_FREQ 125
#define RCIN_RPI_DMA_CHANNEL 0
#define RCIN_RPI_MAX_SIZE_LINE 50
#define RCIN_RPI_MAX_COUNTER (RCIN_RPI_BUFFER_LENGTH * PAGE_SIZE * 2) // 1 circle_buffer
@ -335,7 +335,7 @@ void RCInput_RPI::init_ctrl_data()
cbp += sizeof(dma_cb_t);
// Delay (for setting sampling frequency)
/* DMA is waiting data request signal (DREQ) from PCM. PCM is set for 5 MhZ freqency, so,
/* DMA is waiting data request signal (DREQ) from PCM. PCM is set for 1.25 MhZ freqency, so,
each sample of GPIO is limited by writing to PCA queue.
*/
cbp_curr = (dma_cb_t *)con_blocks->get_page(con_blocks->_virt_pages, cbp);

2
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -38,7 +38,7 @@ extern const AP_HAL::HAL& hal;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
#define APM_LINUX_RCIN_RATE 2000
#define APM_LINUX_RCIN_RATE 500
#define APM_LINUX_IO_RATE 50
#else
#define APM_LINUX_RCIN_RATE 100