forked from Archive/PX4-Autopilot
Simplify the PX4IO main loop to cut down on memory consumption.
This commit is contained in:
px4dev
parent
5aa5645fb0
commit
8c7e2546ed
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@ -39,7 +39,6 @@
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#include <nuttx/config.h>
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#include <stdbool.h>
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#include <poll.h>
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#include <drivers/drv_hrt.h>
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#include <systemlib/perf_counter.h>
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@ -53,21 +52,18 @@
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static bool ppm_input(uint16_t *values, uint16_t *num_values);
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void
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controls_main(void)
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{
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struct pollfd fds[2];
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static perf_counter_t c_gather_dsm;
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static perf_counter_t c_gather_sbus;
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static perf_counter_t c_gather_ppm;
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void
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controls_init(void)
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{
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/* DSM input */
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fds[0].fd = dsm_init("/dev/ttyS0");
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fds[0].events = POLLIN;
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dsm_init("/dev/ttyS0");
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/* S.bus input */
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fds[1].fd = sbus_init("/dev/ttyS2");
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fds[1].events = POLLIN;
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ASSERT(fds[0].fd >= 0);
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ASSERT(fds[1].fd >= 0);
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sbus_init("/dev/ttyS2");
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/* default to a 1:1 input map, all enabled */
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for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
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@ -82,11 +78,13 @@ controls_main(void)
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r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
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}
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for (;;) {
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/* run this loop at ~100Hz */
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int result = poll(fds, 2, 10);
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c_gather_dsm = perf_alloc(PC_ELAPSED, "c_gather_dsm");
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c_gather_sbus = perf_alloc(PC_ELAPSED, "c_gather_sbus");
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c_gather_ppm = perf_alloc(PC_ELAPSED, "c_gather_ppm");
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}
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ASSERT(result >= 0);
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void
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controls_tick() {
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/*
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* Gather R/C control inputs from supported sources.
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@ -96,25 +94,32 @@ controls_main(void)
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* other. Don't do that.
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*/
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perf_begin(c_gather_dsm);
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bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count);
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if (dsm_updated)
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r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
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perf_end(c_gather_dsm);
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perf_begin(c_gather_sbus);
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bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count);
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if (sbus_updated)
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r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
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perf_end(c_gather_sbus);
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/*
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* XXX each S.bus frame will cause a PPM decoder interrupt
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* storm (lots of edges). It might be sensible to actually
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* disable the PPM decoder completely if we have S.bus signal.
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*/
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perf_begin(c_gather_ppm);
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bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
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if (ppm_updated)
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r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
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perf_end(c_gather_ppm);
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ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS);
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/*
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* In some cases we may have received a frame, but input has still
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* been lost.
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@ -275,8 +280,6 @@ controls_main(void)
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r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
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}
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}
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}
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}
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static bool
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@ -68,14 +68,8 @@ static struct hrt_call serial_dma_call;
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volatile uint8_t debug_level = 0;
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volatile uint32_t i2c_loop_resets = 0;
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struct hrt_call loop_overtime_call;
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// this allows wakeup of the main task via a signal
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static pid_t daemon_pid;
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/*
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a set of debug buffers to allow us to send debug information from ISRs
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* a set of debug buffers to allow us to send debug information from ISRs
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*/
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static volatile uint32_t msg_counter;
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@ -91,9 +85,10 @@ static volatile uint8_t msg_next_out, msg_next_in;
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static char msg[NUM_MSG][40];
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/*
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add a debug message to be printed on the console
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* add a debug message to be printed on the console
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*/
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void isr_debug(uint8_t level, const char *fmt, ...)
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void
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isr_debug(uint8_t level, const char *fmt, ...)
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{
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if (level > debug_level) {
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return;
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@ -107,9 +102,10 @@ void isr_debug(uint8_t level, const char *fmt, ...)
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}
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/*
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show all pending debug messages
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* show all pending debug messages
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*/
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static void show_debug_messages(void)
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static void
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show_debug_messages(void)
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{
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if (msg_counter != last_msg_counter) {
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uint32_t n = msg_counter - last_msg_counter;
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@ -122,36 +118,9 @@ static void show_debug_messages(void)
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}
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}
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/*
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catch I2C lockups
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*/
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static void loop_overtime(void *arg)
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int
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user_start(int argc, char *argv[])
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{
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lowsyslog("I2C RESET\n");
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i2c_loop_resets++;
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i2c_dump();
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i2c_reset();
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hrt_call_after(&loop_overtime_call, 50000, (hrt_callout)loop_overtime, NULL);
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}
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static void wakeup_handler(int signo, siginfo_t *info, void *ucontext)
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{
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/* nothing to do - we just want poll() to return */
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}
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/*
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wakeup the main task using a signal
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*/
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void daemon_wakeup(void)
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{
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kill(daemon_pid, SIGUSR1);
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}
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int user_start(int argc, char *argv[])
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{
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daemon_pid = getpid();
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/* run C++ ctors before we go any further */
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up_cxxinitialize();
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@ -184,18 +153,27 @@ int user_start(int argc, char *argv[])
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/* configure the first 8 PWM outputs (i.e. all of them) */
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up_pwm_servo_init(0xff);
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/* start the flight control signal handler */
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int ret = task_create("FCon",
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SCHED_PRIORITY_DEFAULT,
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1024,
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(main_t)controls_main,
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NULL);
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/* initialise the control inputs */
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controls_init();
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/* start the i2c handler */
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i2c_init();
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/* add a performance counter for mixing */
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perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
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/* add a performance counter for controls */
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perf_counter_t controls_perf = perf_alloc(PC_ELAPSED, "controls");
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/* and one for measuring the loop rate */
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perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop");
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struct mallinfo minfo = mallinfo();
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lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
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#if 0
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/* not enough memory, lock down */
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if (ret != OK || minfo.mxordblk < 500) {
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if (minfo.mxordblk < 500) {
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lowsyslog("ERR: not enough MEM");
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bool phase = false;
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@ -210,46 +188,33 @@ int user_start(int argc, char *argv[])
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phase = !phase;
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usleep(300000);
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}
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/* start the i2c handler */
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i2c_init();
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/* add a performance counter for mixing */
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perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
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#endif
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/*
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* setup a null handler for SIGUSR1 - we will use this for wakeup from poll()
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* Run everything in a tight loop.
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*/
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struct sigaction sa;
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memset(&sa, 0, sizeof(sa));
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sa.sa_sigaction = wakeup_handler;
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sigfillset(&sa.sa_mask);
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sigdelset(&sa.sa_mask, SIGUSR1);
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if (sigaction(SIGUSR1, &sa, NULL) != OK) {
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lowsyslog("SIGUSR1 init fail\n");
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}
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/*
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run the mixer at ~50Hz, using signals to run it early if
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need be
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*/
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uint64_t last_debug_time = 0;
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for (;;) {
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/*
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if we are not scheduled for 30ms then reset the I2C bus
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*/
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hrt_call_after(&loop_overtime_call, 30000, (hrt_callout)loop_overtime, NULL);
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// we use usleep() instead of poll() as poll() is not
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// interrupted by signals in nuttx, whereas usleep() is
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usleep(20000);
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/* track the rate at which the loop is running */
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perf_count(loop_perf);
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/* kick the mixer */
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perf_begin(mixer_perf);
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mixer_tick();
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perf_end(mixer_perf);
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/* kick the control inputs */
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perf_begin(controls_perf);
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controls_tick();
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perf_end(controls_perf);
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/* check for debug activity */
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show_debug_messages();
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if (hrt_absolute_time() - last_debug_time > 1000000) {
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/* post debug state at ~1Hz */
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if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
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isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u",
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(unsigned)debug_level,
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(unsigned)r_status_flags,
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@ -170,7 +170,8 @@ extern uint16_t adc_measure(unsigned channel);
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*
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* Input functions return true when they receive an update from the RC controller.
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*/
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extern void controls_main(void);
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extern void controls_init(void);
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extern void controls_tick(void);
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extern int dsm_init(const char *device);
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extern bool dsm_input(uint16_t *values, uint16_t *num_values);
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extern int sbus_init(const char *device);
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@ -179,11 +180,6 @@ extern bool sbus_input(uint16_t *values, uint16_t *num_values);
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/** global debug level for isr_debug() */
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extern volatile uint8_t debug_level;
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/**
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* Wake up mixer.
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*/
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void daemon_wakeup(void);
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/* send a debug message to the console */
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extern void isr_debug(uint8_t level, const char *fmt, ...);
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@ -203,8 +203,6 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
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r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
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r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
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// wake up daemon to trigger mixer
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daemon_wakeup();
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break;
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/* handle raw PWM input */
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@ -224,8 +222,6 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
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system_state.fmu_data_received_time = hrt_absolute_time();
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r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
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// wake up the main thread to trigger mixer
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daemon_wakeup();
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break;
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/* handle setup for servo failsafe values */
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@ -401,11 +401,11 @@ CONFIG_SCHED_ATEXIT=n
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CONFIG_DISABLE_CLOCK=n
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CONFIG_DISABLE_POSIX_TIMERS=y
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CONFIG_DISABLE_PTHREAD=y
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CONFIG_DISABLE_SIGNALS=n
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CONFIG_DISABLE_SIGNALS=y
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CONFIG_DISABLE_MQUEUE=y
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CONFIG_DISABLE_MOUNTPOINT=y
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CONFIG_DISABLE_ENVIRON=y
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CONFIG_DISABLE_POLL=n
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CONFIG_DISABLE_POLL=y
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#
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# Misc libc settings
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@ -541,7 +541,7 @@ CONFIG_BOOT_COPYTORAM=n
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CONFIG_CUSTOM_STACK=n
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CONFIG_STACK_POINTER=
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CONFIG_IDLETHREAD_STACKSIZE=1024
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CONFIG_USERMAIN_STACKSIZE=1024
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CONFIG_USERMAIN_STACKSIZE=800
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CONFIG_PTHREAD_STACK_MIN=512
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CONFIG_PTHREAD_STACK_DEFAULT=1024
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CONFIG_HEAP_BASE=
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