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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
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@ -33,7 +33,7 @@
//Parametres //Parametres
#define RCIN_RPI_BUFFER_LENGTH 4 #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_DMA_CHANNEL 0
#define RCIN_RPI_MAX_SIZE_LINE 50 #define RCIN_RPI_MAX_SIZE_LINE 50
#define RCIN_RPI_MAX_COUNTER (RCIN_RPI_BUFFER_LENGTH * PAGE_SIZE * 2) // 1 circle_buffer #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); cbp += sizeof(dma_cb_t);
// Delay (for setting sampling frequency) // 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. 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); 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_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI 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 #define APM_LINUX_IO_RATE 50
#else #else
#define APM_LINUX_RCIN_RATE 100 #define APM_LINUX_RCIN_RATE 100