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AP_Motors: Group writes to motors

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Surround calls to rcout->write() with rcout->cork() and rcout->push().
If the RCOutput implementation allows the writes are grouped and only
sent together to the underlying hardware.
This commit is contained in:
Lucas De Marchi 2015-09-28 19:03:32 -03:00 committed by Andrew Tridgell
parent fb643fbb53
commit f43f6c53f7
6 changed files with 37 additions and 1 deletions
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6
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -111,10 +111,12 @@ void AP_MotorsCoax::enable()
void AP_MotorsCoax::output_min()
{
// send minimum value to each motor
hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_3, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_4, _throttle_radio_min);
hal.rcout->push();
}
void AP_MotorsCoax::output_armed_not_stabilizing()
@ -154,10 +156,12 @@ void AP_MotorsCoax::output_armed_not_stabilizing()
motor_out = apply_thrust_curve_and_volt_scaling(motor_out, out_min, _throttle_radio_max);
}
hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, motor_out);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out);
hal.rcout->push();
}
// sends commands to the motors
@ -212,10 +216,12 @@ void AP_MotorsCoax::output_armed_stabilizing()
motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min);
// send output to each motor
hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, motor_out[AP_MOTORS_MOT_3]);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
hal.rcout->push();
}
// output_disarmed - sends commands to the motors

4
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -445,6 +445,8 @@ void AP_MotorsHeli_Single::move_actuators(int16_t roll_out, int16_t pitch_out, i
_swash_servo_2.calc_pwm();
_swash_servo_3.calc_pwm();
hal.rcout->cork();
// actually move the servos
hal.rcout->write(AP_MOTORS_MOT_1, _swash_servo_1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _swash_servo_2.radio_out);
@ -452,6 +454,8 @@ void AP_MotorsHeli_Single::move_actuators(int16_t roll_out, int16_t pitch_out, i
// update the yaw rate using the tail rotor/servo
move_yaw(yaw_out + yaw_offset);
hal.rcout->push();
}
// move_yaw

8
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -95,11 +95,13 @@ void AP_MotorsMatrix::output_min()
limit.throttle_upper = false;
// fill the motor_out[] array for HIL use and send minimum value to each motor
hal.rcout->cork();
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->write(i, _throttle_radio_min);
}
}
hal.rcout->push();
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
@ -159,11 +161,13 @@ void AP_MotorsMatrix::output_armed_not_stabilizing()
}
// send output to each motor
hal.rcout->cork();
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->write(i, motor_out[i]);
}
}
hal.rcout->push();
}
// output_armed - sends commands to the motors
@ -355,11 +359,13 @@ void AP_MotorsMatrix::output_armed_stabilizing()
}
// send output to each motor
hal.rcout->cork();
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->write(i, motor_out[i]);
}
}
hal.rcout->push();
}
// output_disarmed - sends commands to the motors
@ -380,12 +386,14 @@ void AP_MotorsMatrix::output_test(uint8_t motor_seq, int16_t pwm)
}
// loop through all the possible orders spinning any motors that match that description
hal.rcout->cork();
for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i] && _test_order[i] == motor_seq) {
// turn on this motor
hal.rcout->write(i, pwm);
}
}
hal.rcout->push();
}
// add_motor

2
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -378,10 +378,12 @@ void AP_MotorsMulticopter::throttle_pass_through(int16_t pwm)
{
if (armed()) {
// send the pilot's input directly to each enabled motor
hal.rcout->cork();
for (uint16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
hal.rcout->write(i, pwm);
}
}
hal.rcout->push();
}
}

6
libraries/AP_Motors/AP_MotorsSingle.cpp
View File

@ -116,11 +116,13 @@ void AP_MotorsSingle::enable()
void AP_MotorsSingle::output_min()
{
// send minimum value to each motor
hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_3, _servo3.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_4, _servo4.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_7, _throttle_radio_min);
hal.rcout->push();
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
@ -172,11 +174,13 @@ void AP_MotorsSingle::output_armed_not_stabilizing()
throttle_radio_output = apply_thrust_curve_and_volt_scaling(throttle_radio_output, out_min, _throttle_radio_max);
}
hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, _servo3.radio_out);
hal.rcout->write(AP_MOTORS_MOT_4, _servo4.radio_out);
hal.rcout->write(AP_MOTORS_MOT_7, throttle_radio_output);
hal.rcout->push();
}
// sends commands to the motors
@ -229,11 +233,13 @@ void AP_MotorsSingle::output_armed_stabilizing()
_servo4.calc_pwm();
// send output to each motor
hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, _servo3.radio_out);
hal.rcout->write(AP_MOTORS_MOT_4, _servo4.radio_out);
hal.rcout->write(AP_MOTORS_MOT_7, throttle_radio_output);
hal.rcout->push();
}
// output_disarmed - sends commands to the motors

10
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -117,10 +117,12 @@ void AP_MotorsTri::output_min()
limit.throttle_lower = true;
// send minimum value to each motor
hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_2, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_4, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
hal.rcout->push();
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
@ -171,6 +173,8 @@ void AP_MotorsTri::output_armed_not_stabilizing()
motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, out_max);
}
hal.rcout->cork();
// send output to each motor
hal.rcout->write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]);
@ -178,6 +182,8 @@ void AP_MotorsTri::output_armed_not_stabilizing()
// send centering signal to yaw servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
hal.rcout->push();
}
// sends commands to the motors
@ -284,6 +290,8 @@ void AP_MotorsTri::output_armed_stabilizing()
motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min);
}
hal.rcout->cork();
// send output to each motor
hal.rcout->write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]);
@ -291,6 +299,8 @@ void AP_MotorsTri::output_armed_stabilizing()
// send out to yaw command to tail servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, yaw_radio_output);
hal.rcout->push();
}
// output_disarmed - sends commands to the motors