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AP_Periph: adjust buffer sizes

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This commit is contained in:
Andrew Tridgell 2019-11-06 20:09:04 +11:00
parent 71b2315d78
commit 9843b6085d
2 changed files with 15 additions and 5 deletions
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4
Tools/AP_Periph/AP_Periph.cpp
View File

@ -61,8 +61,8 @@ void AP_Periph_FW::init()
stm32_watchdog_pat();
hal.uartA->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 128);
hal.uartB->begin(115200, 32, 128);
hal.uartA->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 32);
hal.uartB->begin(115200, 128, 256);
load_parameters();

16
Tools/AP_Periph/can.cpp
View File

@ -55,8 +55,12 @@
extern const AP_HAL::HAL &hal;
extern AP_Periph_FW periph;
#ifndef HAL_CAN_POOL_SIZE
#define HAL_CAN_POOL_SIZE 4000
#endif
static CanardInstance canard;
static uint32_t canard_memory_pool[3000/4];
static uint32_t canard_memory_pool[HAL_CAN_POOL_SIZE/sizeof(uint32_t)];
#ifndef HAL_CAN_DEFAULT_NODE_ID
#define HAL_CAN_DEFAULT_NODE_ID CANARD_BROADCAST_NODE_ID
#endif
@ -67,6 +71,10 @@ static uint8_t transfer_id;
#define CAN_APP_NODE_NAME "org.ardupilot.ap_periph"
#endif
#ifndef CAN_PROBE_CONTINUOUS
#define CAN_PROBE_CONTINUOUS 0
#endif
/*
* Variables used for dynamic node ID allocation.
* RTFM at http://uavcan.org/Specification/6._Application_level_functions/#dynamic-node-id-allocation
@ -788,7 +796,7 @@ static void processTx(void)
}
}
static ObjectBuffer<CANRxFrame> rxbuffer{16};
static ObjectBuffer<CANRxFrame> rxbuffer{32};
static void can_rxfull_cb(CANDriver *canp, uint32_t flags)
{
@ -1061,7 +1069,7 @@ void AP_Periph_FW::can_mag_update(void)
{
#ifdef HAL_PERIPH_ENABLE_MAG
compass.read();
#if 1
#if CAN_PROBE_CONTINUOUS
if (compass.get_count() == 0) {
static uint32_t last_probe_ms;
uint32_t now = AP_HAL::millis();
@ -1279,6 +1287,7 @@ void AP_Periph_FW::can_baro_update(void)
void AP_Periph_FW::can_airspeed_update(void)
{
#ifdef HAL_PERIPH_ENABLE_AIRSPEED
#if CAN_PROBE_CONTINUOUS
if (!airspeed.healthy()) {
uint32_t now = AP_HAL::millis();
static uint32_t last_probe_ms;
@ -1287,6 +1296,7 @@ void AP_Periph_FW::can_airspeed_update(void)
airspeed.init();
}
}
#endif
uint32_t now = AP_HAL::millis();
if (now - last_airspeed_update_ms < 50) {
// max 20Hz data