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AP_UAVCAN: move pool allocator to cpp

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bugobliterator 2022-03-01 22:17:00 +05:30 committed by Andrew Tridgell
parent faf0c0d7c3
commit 5865680070
2 changed files with 28 additions and 27 deletions
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30
libraries/AP_UAVCAN/AP_UAVCAN.cpp
View File

@ -62,6 +62,29 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#ifndef UAVCAN_NODE_POOL_SIZE
#if HAL_CANFD_SUPPORTED
#define UAVCAN_NODE_POOL_SIZE 16384
#else
#define UAVCAN_NODE_POOL_SIZE 8192
#endif
#endif
#if HAL_CANFD_SUPPORTED
#define UAVCAN_STACK_SIZE 8192
#else
#define UAVCAN_STACK_SIZE 4096
#endif
#ifndef UAVCAN_NODE_POOL_BLOCK_SIZE
#if HAL_CANFD_SUPPORTED
#define UAVCAN_NODE_POOL_BLOCK_SIZE 128
#else
#define UAVCAN_NODE_POOL_BLOCK_SIZE 64
#endif
#endif
#define debug_uavcan(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "UAVCAN", fmt, ##args); } while (0) #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 // Translation of all messages from UAVCAN structures into AP structures is done
@ -164,9 +187,10 @@ static uavcan::Subscriber<uavcan::equipment::esc::Status, ESCStatusCb> *esc_stat
UC_REGISTRY_BINDER(DebugCb, uavcan::protocol::debug::LogMessage); UC_REGISTRY_BINDER(DebugCb, uavcan::protocol::debug::LogMessage);
static uavcan::Subscriber<uavcan::protocol::debug::LogMessage, DebugCb> *debug_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS]; static uavcan::Subscriber<uavcan::protocol::debug::LogMessage, DebugCb> *debug_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS];
static uavcan::PoolAllocator<UAVCAN_NODE_POOL_SIZE, UAVCAN_NODE_POOL_BLOCK_SIZE, AP_UAVCAN::RaiiSynchronizer> _node_allocator[HAL_MAX_CAN_PROTOCOL_DRIVERS];
AP_UAVCAN::AP_UAVCAN() :
_node_allocator() AP_UAVCAN::AP_UAVCAN()
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -225,7 +249,7 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
return; return;
} }
_node = new uavcan::Node<0>(*_iface_mgr, uavcan::SystemClock::instance(), _node_allocator); _node = new uavcan::Node<0>(*_iface_mgr, uavcan::SystemClock::instance(), _node_allocator[driver_index]);
if (_node == nullptr) { if (_node == nullptr) {
debug_uavcan(AP_CANManager::LOG_ERROR, "UAVCAN: couldn't allocate node\n\r"); debug_uavcan(AP_CANManager::LOG_ERROR, "UAVCAN: couldn't allocate node\n\r");

25
libraries/AP_UAVCAN/AP_UAVCAN.h
View File

@ -33,27 +33,6 @@
#include <uavcan/helpers/heap_based_pool_allocator.hpp> #include <uavcan/helpers/heap_based_pool_allocator.hpp>
#ifndef UAVCAN_NODE_POOL_SIZE
#if HAL_CANFD_SUPPORTED
#define UAVCAN_NODE_POOL_SIZE 16384
#else
#define UAVCAN_NODE_POOL_SIZE 8192
#endif
#endif
#if HAL_CANFD_SUPPORTED
#define UAVCAN_STACK_SIZE 8192
#else
#define UAVCAN_STACK_SIZE 4096
#endif
#ifndef UAVCAN_NODE_POOL_BLOCK_SIZE
#if HAL_CANFD_SUPPORTED
#define UAVCAN_NODE_POOL_BLOCK_SIZE 128
#else
#define UAVCAN_NODE_POOL_BLOCK_SIZE 64
#endif
#endif
#ifndef UAVCAN_SRV_NUMBER #ifndef UAVCAN_SRV_NUMBER
#define UAVCAN_SRV_NUMBER 18 #define UAVCAN_SRV_NUMBER 18
@ -232,11 +211,11 @@ public:
// 0. return true if it was set // 0. return true if it was set
bool check_and_reset_option(Options option); bool check_and_reset_option(Options option);
private:
// This will be needed to implement if UAVCAN is used with multithreading // This will be needed to implement if UAVCAN is used with multithreading
// Such cases will be firmware update, etc. // Such cases will be firmware update, etc.
class RaiiSynchronizer {}; class RaiiSynchronizer {};
private:
void loop(void); void loop(void);
///// SRV output ///// ///// SRV output /////
@ -277,8 +256,6 @@ private:
HAL_Semaphore _param_save_sem; HAL_Semaphore _param_save_sem;
uint8_t param_save_request_node_id; uint8_t param_save_request_node_id;
uavcan::PoolAllocator<UAVCAN_NODE_POOL_SIZE, UAVCAN_NODE_POOL_BLOCK_SIZE, AP_UAVCAN::RaiiSynchronizer> _node_allocator;
// UAVCAN parameters // UAVCAN parameters
AP_Int8 _uavcan_node; AP_Int8 _uavcan_node;
AP_Int32 _servo_bm; AP_Int32 _servo_bm;