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uavcan: move to work queue and use MixingOutput

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Main UAVCAN protocol handling and ESC updates run on the same thread/wq as
before. There are 2 WorkItems for separate scheduling of the 2, so that
ESC updates run in sync with actuator_control updates. UAVCAN is scheduled
at a fixed rate of 3ms (previously the poll timeout) and on each UAVCAN
bus event.
This leads to roughly the same behavior as before. CPU & RAM usage are
pretty much the same (tested on Pixhawk 4).

Testing done: Motors still work (with feedback), param changes and a
UAVCAN optical flow sensor.
This commit is contained in:
Beat Küng
2019-11-07 10:40:03 +01:00
parent b7a480b45b
commit 5dff065ec5
17 changed files with 354 additions and 908 deletions
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src/drivers/uavcan/actuators/esc.hpp
+8 -19
View File
@@ -52,28 +52,28 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
#include <lib/mixer_module/mixer_module.hpp>
class UavcanEscController
{
public:
static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;
static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable
static constexpr uint16_t DISARMED_OUTPUT_VALUE = UINT16_MAX;
UavcanEscController(uavcan::INode &node);
~UavcanEscController();
int init();
void update_outputs(float *outputs, unsigned num_outputs);
void arm_all_escs(bool arm);
void arm_single_esc(int num, bool arm);
void enable_idle_throttle_when_armed(bool value) { _run_at_idle_throttle_when_armed = value; }
void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs);
/**
* Sets the number of rotors
*/
void set_rotor_count(uint8_t count) { _rotor_count = count; }
static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable
static int max_output_value() { return uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); }
private:
/**
@@ -100,15 +100,11 @@ private:
typedef uavcan::MethodBinder<UavcanEscController *,
void (UavcanEscController::*)(const uavcan::TimerEvent &)> TimerCbBinder;
bool _armed{false};
bool _run_at_idle_throttle_when_armed{false};
esc_status_s _esc_status{};
uORB::PublicationMulti<actuator_outputs_s> _actuator_outputs_pub{ORB_ID(actuator_outputs)};
uORB::PublicationMulti<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};
uint8_t _rotor_count = 0;
uint8_t _rotor_count{0};
/*
* libuavcan related things
@@ -122,12 +118,5 @@ private:
/*
* ESC states
*/
uint32_t _armed_mask{0};
uint8_t _max_number_of_nonzero_outputs{0};
/*
* Perf counters
*/
perf_counter_t _perfcnt_invalid_input{perf_alloc(PC_COUNT, "uavcan_esc_invalid_input")};
perf_counter_t _perfcnt_scaling_error{perf_alloc(PC_COUNT, "uavcan_esc_scaling_error")};
};