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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Out of memory warning, flash and RAM optimizations
This commit is contained in:
Lorenz Meier
parent
be40845177
commit
a704acc2a2
@ -45,7 +45,6 @@
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#include <systemlib/perf_counter.h>
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#include <systemlib/ppm_decode.h>
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//#define DEBUG
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#include "px4io.h"
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#define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */
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@ -248,18 +248,18 @@ dsm_guess_format(bool reset)
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if ((votes11 == 1) && (votes10 == 0)) {
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channel_shift = 11;
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debug("DSM: detected 11-bit format");
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debug("DSM: 11-bit format");
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return;
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}
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if ((votes10 == 1) && (votes11 == 0)) {
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channel_shift = 10;
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debug("DSM: detected 10-bit format");
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debug("DSM: 10-bit format");
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return;
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}
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/* call ourselves to reset our state ... we have to try again */
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debug("DSM: format detector failed, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
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debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
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dsm_guess_format(true);
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}
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@ -157,71 +157,6 @@ mixer_tick(void)
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r_page_servos[i] = 0;
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}
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#if 0
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/* if everything is ok */
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if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
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/* we have recent control data from the FMU */
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control_count = PX4IO_CONTROL_CHANNELS;
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control_values = &system_state.fmu_channel_data[0];
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} else if (system_state.rc_channels > 0) {
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/* when override is on or the fmu is not available, but RC is present */
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control_count = system_state.rc_channels;
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sched_lock();
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/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
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rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1];
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rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
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rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
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rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
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//rc_channel_data[OVERRIDE] = system_state.rc_channel_data[system_state.rc_map[OVERRIDE] - 1];
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/* get the remaining channels, no remapping needed */
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for (unsigned i = 4; i < system_state.rc_channels; i++) {
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rc_channel_data[i] = system_state.rc_channel_data[i];
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}
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/* scale the control inputs */
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rc_channel_data[THROTTLE] = ((float)(rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) /
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(float)(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000.0f + 1000;
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if (rc_channel_data[THROTTLE] > 2000) {
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rc_channel_data[THROTTLE] = 2000;
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}
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if (rc_channel_data[THROTTLE] < 1000) {
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rc_channel_data[THROTTLE] = 1000;
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}
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// lowsyslog("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
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// (int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]),
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// (int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE]));
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control_values = &rc_channel_data[0];
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sched_unlock();
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} else {
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/* we have no control input (no FMU, no RC) */
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// XXX builtin failsafe would activate here
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control_count = 0;
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}
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//lowsyslog("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
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/* this is for multicopters, etc. where manual override does not make sense */
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} else {
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/* if the fmu is available whe are good */
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if (system_state.mixer_fmu_available) {
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control_count = PX4IO_CONTROL_CHANNELS;
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control_values = &system_state.fmu_channel_data[0];
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/* we better shut everything off */
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} else {
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control_count = 0;
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}
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}
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#endif
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/*
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* Decide whether the servos should be armed right now.
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*
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@ -301,7 +236,7 @@ mixer_handle_text(const void *buffer, size_t length)
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px4io_mixdata *msg = (px4io_mixdata *)buffer;
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isr_debug(2, "mixer text %u", length);
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isr_debug(2, "mix txt %u", length);
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if (length < sizeof(px4io_mixdata))
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return;
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@ -83,12 +83,12 @@ static volatile uint32_t last_msg_counter;
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static volatile uint8_t msg_next_out, msg_next_in;
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/*
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* WARNING too large buffers here consume the memory required
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* WARNING: too large buffers here consume the memory required
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* for mixer handling. Do not allocate more than 80 bytes for
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* output.
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*/
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#define NUM_MSG 2
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static char msg[NUM_MSG][50];
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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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@ -127,7 +127,7 @@ static void show_debug_messages(void)
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*/
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static void loop_overtime(void *arg)
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{
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debug("RESETTING\n");
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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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@ -136,7 +136,7 @@ static void loop_overtime(void *arg)
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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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/* nothing to do - we just want poll() to return */
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}
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@ -185,16 +185,31 @@ int user_start(int argc, char *argv[])
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up_pwm_servo_init(0xff);
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/* start the flight control signal handler */
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task_create("FCon",
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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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struct mallinfo minfo = mallinfo();
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lowsyslog("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
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lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
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debug("debug_level=%u\n", (unsigned)debug_level);
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/* not enough memory, lock down */
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if (ret != OK || minfo.mxordblk < 500) {
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lowsyslog("ERR: not enough MEM");
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bool phase = false;
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if (phase) {
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LED_AMBER(true);
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LED_BLUE(false);
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} else {
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LED_AMBER(false);
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LED_BLUE(true);
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}
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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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@ -211,7 +226,7 @@ int user_start(int argc, char *argv[])
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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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debug("Failed to setup SIGUSR1 handler\n");
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lowsyslog("SIGUSR1 init fail\n");
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}
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/*
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@ -53,7 +53,7 @@
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#include "debug.h"
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#define SBUS_FRAME_SIZE 25
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#define SBUS_INPUT_CHANNELS 18
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#define SBUS_INPUT_CHANNELS 16
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static int sbus_fd = -1;
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@ -239,7 +239,9 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
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}
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/* decode switch channels if data fields are wide enough */
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if (chancount > 17) {
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if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) {
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chancount = 18;
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/* channel 17 (index 16) */
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values[16] = (frame[23] & (1 << 0)) * 1000 + 998;
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/* channel 18 (index 17) */
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@ -475,12 +475,12 @@ CONFIG_ARCH_BZERO=n
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# timer structures to minimize dynamic allocations. Set to
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# zero for all dynamic allocations.
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#
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CONFIG_MAX_TASKS=8
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CONFIG_MAX_TASKS=4
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CONFIG_MAX_TASK_ARGS=4
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CONFIG_NPTHREAD_KEYS=4
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CONFIG_NPTHREAD_KEYS=2
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CONFIG_NFILE_DESCRIPTORS=8
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CONFIG_NFILE_STREAMS=0
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CONFIG_NAME_MAX=32
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CONFIG_NAME_MAX=12
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CONFIG_STDIO_BUFFER_SIZE=32
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CONFIG_STDIO_LINEBUFFER=n
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CONFIG_NUNGET_CHARS=2
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