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AP_EFI: Rate limit the megasquirt driver 

This fixes it up so that the driver actually works on things like
AP_Periph that poll at a high rate. This was never a problem with the
main firmware as EFI was run at a lower rate, but on AP_Periph this was
much to fast. This lead to spamming fresh requests and keeping the
buffer completly stuffed with requests. To compound it, the EFI device
would start over when there was a fresh request, and eventually our
buffer writes become corrupted leading to bad checksums, and a complete
failure of the comms. This prevents that situation from happening.
This commit is contained in:
Michael du Breuil 2023-09-25 12:06:34 -07:00 committed by Andrew Tridgell
parent 9381e2f411
commit e41cc42e10
2 changed files with 6 additions and 3 deletions
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7
libraries/AP_EFI/AP_EFI_Serial_MS.cpp
View File

@ -43,12 +43,15 @@ void AP_EFI_Serial_MS::update()
const uint32_t expected_bytes = 2 + (RT_LAST_OFFSET - RT_FIRST_OFFSET) + 4; const uint32_t expected_bytes = 2 + (RT_LAST_OFFSET - RT_FIRST_OFFSET) + 4;
if (port->available() >= expected_bytes && read_incoming_realtime_data()) { if (port->available() >= expected_bytes && read_incoming_realtime_data()) {
last_response_ms = now;
copy_to_frontend(); copy_to_frontend();
} }
if (now - last_response_ms > 100) { const uint32_t last_request_delta = (now - last_request_ms);
const uint32_t available = port->available();
if (((last_request_delta > 150) && (available > 0)) || // nothing in our input buffer 150 ms after request
((last_request_delta > 90) && (available == 0))) { // we requested something over 90 ms ago, but didn't get any data
port->discard_input(); port->discard_input();
last_request_ms = now;
// Request an update from the realtime table (7). // Request an update from the realtime table (7).
// The data we need start at offset 6 and ends at 129 // The data we need start at offset 6 and ends at 129
send_request(7, RT_FIRST_OFFSET, RT_LAST_OFFSET); send_request(7, RT_FIRST_OFFSET, RT_LAST_OFFSET);

2
libraries/AP_EFI/AP_EFI_Serial_MS.h
View File

@ -46,7 +46,7 @@ private:
uint8_t step; uint8_t step;
uint8_t response_flag; uint8_t response_flag;
uint16_t message_counter; uint16_t message_counter;
uint32_t last_response_ms; uint32_t last_request_ms;
// confirmed that last command was ok // confirmed that last command was ok
bool last_command_confirmed; bool last_command_confirmed;