Revert "Intrusive changes made for UAVCAN profiling. Will be reverted in the next commit (this one is needed to keep the changes in history)"

This reverts commit 4c301d9dcf180e39186fa6753c7a3d3215b3cfa7.
This commit is contained in:
Pavel Kirienko 2015-01-17 04:04:48 +03:00 committed by Lorenz Meier
parent 6bbacc4271
commit d87bb4dfcb
4 changed files with 7 additions and 20 deletions

View File

@ -8,7 +8,7 @@
#
# Default to auto-start mode.
#
set MODE none
set MODE autostart
set FRC /fs/microsd/etc/rc.txt
set FCONFIG /fs/microsd/etc/config.txt
@ -656,9 +656,6 @@ then
# End of autostart
fi
param set UAVCAN_ENABLE 1
sh /etc/init.d/rc.uavcan
# There is no further processing, so we can free some RAM
# XXX potentially unset all script variables.
unset TUNE_ERR

View File

@ -105,7 +105,7 @@ ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
# optimisation flags
#
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-g3 \
-g \
-fno-strict-aliasing \
-fno-strength-reduce \
-fomit-frame-pointer \

View File

@ -98,11 +98,11 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
/*
* Rate limiting - we don't want to congest the bus
*/
// const auto timestamp = _node.getMonotonicTime();
// if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
// return;
// }
// _prev_cmd_pub = timestamp;
const auto timestamp = _node.getMonotonicTime();
if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
return;
}
_prev_cmd_pub = timestamp;
/*
* Fill the command message

View File

@ -357,16 +357,6 @@ int UavcanNode::run()
_actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub);
}
_esc_controller.arm_all_escs(true);
while (true) {
for (int i = 0; i < 1000; i++) {
node_spin_once();
_outputs.noutputs = 8;
_esc_controller.update_outputs(_outputs.output, _outputs.noutputs);
}
::usleep(1000);
}
while (!_task_should_exit) {
// update actuator controls subscriptions if needed
if (_groups_subscribed != _groups_required) {