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AP_HAL_SITL: use DataRateLimit helper

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Iampete1 2024-04-01 21:11:40 +01:00 committed by Andrew Tridgell
parent 92adcb14e1
commit b0ceaa7610
2 changed files with 9 additions and 10 deletions
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12
libraries/AP_HAL_SITL/UARTDriver.cpp
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@ -815,13 +815,11 @@ void UARTDriver::handle_writing_from_writebuffer_to_device()
SITL::SIM *_sitl = AP::sitl(); SITL::SIM *_sitl = AP::sitl();
if (_sitl && _sitl->telem_baudlimit_enable) { if (_sitl && _sitl->telem_baudlimit_enable) {
// limit byte rate to configured baudrate // limit byte rate to configured baudrate
uint32_t now = AP_HAL::micros(); // Byte rate is bit rate divided by 10. 8 bits of data + start/stop bits
float dt = 1.0e-6 * (now - last_write_tick_us); max_bytes = baud_limits.write.max_bytes(float(_uart_baudrate) * 0.1);
max_bytes = _uart_baudrate * dt / 10;
if (max_bytes == 0) { if (max_bytes == 0) {
return; return;
} }
last_write_tick_us = now;
} }
#endif #endif
if (_packetise) { if (_packetise) {
@ -884,13 +882,11 @@ void UARTDriver::handle_reading_from_device_to_readbuffer()
SITL::SIM *_sitl = AP::sitl(); SITL::SIM *_sitl = AP::sitl();
if (_sitl && _sitl->telem_baudlimit_enable) { if (_sitl && _sitl->telem_baudlimit_enable) {
// limit byte rate to configured baudrate // limit byte rate to configured baudrate
uint32_t now = AP_HAL::micros(); // Byte rate is bit rate divided by 10. 8 bits of data + start/stop bits
float dt = 1.0e-6 * (now - last_read_tick_us); max_bytes = baud_limits.read.max_bytes(float(_uart_baudrate) * 0.1);
max_bytes = _uart_baudrate * dt / 10;
if (max_bytes == 0) { if (max_bytes == 0) {
return; return;
} }
last_read_tick_us = now;
} }
#endif #endif

7
libraries/AP_HAL_SITL/UARTDriver.h
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@ -9,6 +9,7 @@
#include <AP_HAL/utility/Socket_native.h> #include <AP_HAL/utility/Socket_native.h>
#include <AP_HAL/utility/RingBuffer.h> #include <AP_HAL/utility/RingBuffer.h>
#include <AP_CSVReader/AP_CSVReader.h> #include <AP_CSVReader/AP_CSVReader.h>
#include <AP_HAL/utility/DataRateLimit.h>
#include <SITL/SIM_SerialDevice.h> #include <SITL/SIM_SerialDevice.h>
@ -113,8 +114,10 @@ private:
uint16_t _mc_myport; uint16_t _mc_myport;
// for baud-rate limiting: // for baud-rate limiting:
uint32_t last_read_tick_us; struct {
uint32_t last_write_tick_us; DataRateLimit write;
DataRateLimit read;
} baud_limits;
HAL_Semaphore write_mtx; HAL_Semaphore write_mtx;