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HAL_ChibiOS: improve throughput of slcan router

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This commit is contained in:
bugobliterator 2020-03-20 22:37:37 +05:30 committed by Andrew Tridgell
parent 77ff169757
commit b94f089984
1 changed files with 10 additions and 2 deletions
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12
libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
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@ -117,12 +117,16 @@ void SLCANRouter::slcan2can_router_trampoline(void)
}
chSysUnlock();
_slcan_if.reader();
if (_can_tx_queue.available() && _can_if) {
while (_can_tx_queue.available() && _can_if) {
_can_tx_queue.peek(it);
if (_can_if->send(it.frame, uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + 1000), 0)) {
_can_tx_queue.pop();
} else {
break;
}
hal.scheduler->delay_microseconds(100);
}
hal.scheduler->delay_microseconds(100);
}
}
@ -137,12 +141,16 @@ void SLCANRouter::can2slcan_router_trampoline(void)
}
chSysUnlock();
_update_event->wait(uavcan::MonotonicDuration::fromUSec(1000));
if (_slcan_tx_queue.available()) {
while (_slcan_tx_queue.available()) {
_slcan_tx_queue.peek(it);
if (_slcan_if.send(it.frame, uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + 1000), 0)) {
_slcan_tx_queue.pop();
} else {
break;
}
hal.scheduler->delay_microseconds(100);
}
hal.scheduler->delay_microseconds(100);
}
}