AP_UAVCAN: added dynamically allocated pool size param

allow for smaller pool size to save memory
This commit is contained in:
Andrew Tridgell 2022-06-16 17:31:49 +10:00
parent f8e77faa29
commit cc7e112a8f
4 changed files with 162 additions and 6 deletions

View File

@ -57,11 +57,19 @@
#include <AP_ADSB/AP_ADSB.h>
#include "AP_UAVCAN_DNA_Server.h"
#include <AP_Logger/AP_Logger.h>
#include "AP_UAVCAN_pool.h"
#define LED_DELAY_US 50000
extern const AP_HAL::HAL& hal;
// setup default pool size
#ifndef UAVCAN_NODE_POOL_SIZE
#define UAVCAN_NODE_POOL_SIZE 8192
#endif
#define UAVCAN_STACK_SIZE 4096
#define debug_uavcan(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "UAVCAN", fmt, ##args); } while (0)
// Translation of all messages from UAVCAN structures into AP structures is done
@ -121,6 +129,13 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
// @Range: 0 18
// @User: Advanced
AP_GROUPINFO("ESC_OF", 7, AP_UAVCAN, _esc_offset, 0),
// @Param: POOL
// @DisplayName: CAN pool size
// @Description: Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
// @Range: 1024 16384
// @User: Advanced
AP_GROUPINFO("POOL", 8, AP_UAVCAN, _pool_size, UAVCAN_NODE_POOL_SIZE),
AP_GROUPEND
};
@ -171,9 +186,7 @@ static uavcan::Subscriber<uavcan::equipment::esc::Status, ESCStatusCb> *esc_stat
UC_REGISTRY_BINDER(DebugCb, uavcan::protocol::debug::LogMessage);
static uavcan::Subscriber<uavcan::protocol::debug::LogMessage, DebugCb> *debug_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS];
AP_UAVCAN::AP_UAVCAN() :
_node_allocator()
AP_UAVCAN::AP_UAVCAN()
{
AP_Param::setup_object_defaults(this, var_info);
@ -232,7 +245,14 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
return;
}
_node = new uavcan::Node<0>(*_iface_mgr, uavcan::SystemClock::instance(), _node_allocator);
_allocator = new AP_PoolAllocator(_pool_size);
if (_allocator == nullptr || !_allocator->init()) {
debug_uavcan(AP_CANManager::LOG_ERROR, "UAVCAN: couldn't allocate node pool\n");
return;
}
_node = new uavcan::Node<0>(*_iface_mgr, uavcan::SystemClock::instance(), *_allocator);
if (_node == nullptr) {
debug_uavcan(AP_CANManager::LOG_ERROR, "UAVCAN: couldn't allocate node\n\r");

View File

@ -30,8 +30,6 @@
#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
#include <uavcan/protocol/param/GetSet.hpp>
#include <uavcan/protocol/param/ExecuteOpcode.hpp>
#include <uavcan/helpers/heap_based_pool_allocator.hpp>
#ifndef UAVCAN_NODE_POOL_SIZE
#define UAVCAN_NODE_POOL_SIZE 8192
@ -61,6 +59,7 @@ class ESCStatusCb;
class DebugCb;
class ParamGetSetCb;
class ParamExecuteOpcodeCb;
class AP_PoolAllocator;
#if defined(__GNUC__) && (__GNUC__ > 8)
#define DISABLE_W_CAST_FUNCTION_TYPE_PUSH \
@ -272,7 +271,9 @@ private:
AP_Int16 _servo_rate_hz;
AP_Int16 _options;
AP_Int16 _notify_state_hz;
AP_Int16 _pool_size;
AP_PoolAllocator *_allocator;
uavcan::Node<0> *_node;
uint8_t _driver_index;

View File

@ -0,0 +1,79 @@
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/*
based on dynamic_memory.hpp which is:
Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_UAVCAN.h"
#include "AP_UAVCAN_pool.h"
AP_PoolAllocator::AP_PoolAllocator(uint16_t _pool_size) :
num_blocks(_pool_size / UAVCAN_NODE_POOL_BLOCK_SIZE)
{
}
bool AP_PoolAllocator::init(void)
{
WITH_SEMAPHORE(sem);
pool_nodes = (Node *)calloc(num_blocks, UAVCAN_NODE_POOL_BLOCK_SIZE);
if (pool_nodes == nullptr) {
return false;
}
for (uint16_t i=0; i<(num_blocks-1); i++) {
pool_nodes[i].next = &pool_nodes[i+1];
}
free_list = &pool_nodes[0];
return true;
}
void* AP_PoolAllocator::allocate(std::size_t size)
{
WITH_SEMAPHORE(sem);
if (free_list == nullptr || size > UAVCAN_NODE_POOL_BLOCK_SIZE) {
return nullptr;
}
Node *ret = free_list;
free_list = free_list->next;
used++;
if (used > max_used) {
max_used = used;
}
return ret;
}
void AP_PoolAllocator::deallocate(const void* ptr)
{
if (ptr == nullptr) {
return;
}
WITH_SEMAPHORE(sem);
Node *p = reinterpret_cast<Node*>(const_cast<void*>(ptr));
p->next = free_list;
free_list = p;
used--;
}
#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS

View File

@ -0,0 +1,56 @@
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/*
based on dynamic_memory.hpp which is:
Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#pragma once
#include "AP_UAVCAN.h"
#ifndef UAVCAN_NODE_POOL_BLOCK_SIZE
#define UAVCAN_NODE_POOL_BLOCK_SIZE 64
#endif
class AP_PoolAllocator : public uavcan::IPoolAllocator
{
public:
AP_PoolAllocator(uint16_t _pool_size);
bool init(void);
void *allocate(std::size_t size) override;
void deallocate(const void* ptr) override;
uint16_t getBlockCapacity() const override {
return num_blocks;
}
private:
const uint16_t num_blocks;
union Node {
uint8_t data[UAVCAN_NODE_POOL_BLOCK_SIZE];
Node* next;
};
Node *free_list;
Node *pool_nodes;
HAL_Semaphore sem;
uint16_t used;
uint16_t max_used;
};