Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-28 02:33:58 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_ESC_Telem: fix timeout race

Browse Source 
The timeout for non-RPM telemetry is vulnerable to a similar race as the
RPM. This change makes the timeout logic consistent between the two.
This commit is contained in:
Bob Long 2025-01-09 15:44:31 +11:00 committed by Andrew Tridgell
parent 400699fc38
commit dd54f025d6
3 changed files with 17 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
View File

@ -104,13 +104,12 @@ uint8_t AP_ESC_Telem::get_motor_frequencies_hz(uint8_t nfreqs, float* freqs) con
// ESC_TELEM_DATA_TIMEOUT_MS/ESC_RPM_DATA_TIMEOUT_US
uint32_t AP_ESC_Telem::get_active_esc_mask() const {
uint32_t ret = 0;
const uint32_t now = AP_HAL::millis();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
if (_telem_data[i].last_update_ms == 0 && !was_rpm_data_ever_reported(_rpm_data[i])) {
// have never seen telem from this ESC
continue;
}
if (_telem_data[i].stale(now) && !_rpm_data[i].data_valid) {
if (_telem_data[i].stale() && !_rpm_data[i].data_valid) {
continue;
}
ret |= (1U << i);
@ -123,13 +122,12 @@ uint8_t AP_ESC_Telem::get_max_rpm_esc() const
{
uint32_t ret = 0;
float max_rpm = 0;
const uint32_t now = AP_HAL::millis();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
if (_telem_data[i].last_update_ms == 0 && !was_rpm_data_ever_reported(_rpm_data[i])) {
// have never seen telem from this ESC
continue;
}
if (_telem_data[i].stale(now) && !_rpm_data[i].data_valid) {
if (_telem_data[i].stale() && !_rpm_data[i].data_valid) {
continue;
}
if (_rpm_data[i].rpm > max_rpm) {
@ -405,8 +403,6 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
return;
}
const uint32_t now = AP_HAL::millis();
// loop through groups of 4 ESCs
const uint8_t esc_offset = constrain_int16(mavlink_offset, 0, ESC_TELEM_MAX_ESCS-1);
@ -427,7 +423,7 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
for (uint8_t j=0; j<4; j++) {
const uint8_t esc_id = (i * 4 + j) + esc_offset;
if (esc_id < ESC_TELEM_MAX_ESCS &&
(!_telem_data[esc_id].stale(now) || _rpm_data[esc_id].data_valid)) {
(!_telem_data[esc_id].stale() || _rpm_data[esc_id].data_valid)) {
all_stale = false;
break;
}
@ -584,6 +580,7 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
telemdata.count++;
telemdata.types |= data_mask;
telemdata.last_update_ms = AP_HAL::millis();
telemdata.any_data_valid = true;
}
// record an update to the RPM together with timestamp, this allows the notch values to be slewed
@ -807,6 +804,12 @@ void AP_ESC_Telem::update()
if (AP_HAL::timeout_expired(last_updated_us, now_us, ESC_RPM_DATA_TIMEOUT_US)) {
_rpm_data[i].data_valid = false;
}
const uint32_t last_telem_data_ms = _telem_data[i].last_update_ms;
const uint32_t now_ms = AP_HAL::millis();
// Invalidate telemetry data if not received for too long
if (AP_HAL::timeout_expired(last_telem_data_ms, now_ms, ESC_TELEM_DATA_TIMEOUT_MS)) {
_telem_data[i].any_data_valid = false;
}
}
}

6
libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp
View File

@ -48,9 +48,9 @@ void AP_ESC_Telem_Backend::update_telem_data(const uint8_t esc_index, const Tele
/*
return true if the data is stale
*/
bool AP_ESC_Telem_Backend::TelemetryData::stale(uint32_t now_ms) const volatile
bool AP_ESC_Telem_Backend::TelemetryData::stale() const volatile
{
return last_update_ms == 0 || now_ms - last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS;
return last_update_ms == 0 || !any_data_valid;
}
/*
@ -62,7 +62,7 @@ bool AP_ESC_Telem_Backend::TelemetryData::valid(const uint16_t type_mask) const
// Requested type not available
return false;
}
return !stale(AP_HAL::millis());
return !stale();
}
#endif

5
libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
View File

@ -30,8 +30,11 @@ public:
uint8_t power_percentage; // Percentage of output power
#endif // AP_EXTENDED_ESC_TELEM_ENABLED
// set to false if no data has been received within the timeout period
bool any_data_valid;
// return true if the data is stale
bool stale(uint32_t now_ms) const volatile;
bool stale() const volatile;
// return true if the requested type of data is available and not stale
bool valid(const uint16_t type_mask) const volatile;