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drivers/rc_input: poll file descriptor to minimize latency

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This commit is contained in:
Daniel Agar
2022-02-09 16:48:08 -05:00
parent fd1aa3cfb9
commit c4f9f2980d
2 changed files with 23 additions and 12 deletions
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src/drivers/rc_input/RCInput.cpp
+22 -11
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -33,9 +33,9 @@
#include "RCInput.hpp"
#include "crsf_telemetry.h"
#include <uORB/topics/vehicle_command_ack.h>
#include <poll.h>
#include <termios.h>
using namespace time_literals;
@@ -164,7 +164,7 @@ RCInput::task_spawn(int argc, char *argv[])
_object.store(instance);
_task_id = task_id_is_work_queue;
instance->ScheduleOnInterval(_current_update_interval);
instance->ScheduleOnInterval(_backup_update_interval);
return PX4_OK;
}
@@ -395,14 +395,17 @@ void RCInput::Run()
// This block scans for a supported serial RC input and locks onto the first one found
// Scan for 300 msec, then switch protocol
constexpr hrt_abstime rc_scan_max = 300_ms;
static constexpr hrt_abstime rc_scan_max = 300_ms;
unsigned frame_drops = 0;
// poll with 1 second timeout
pollfd fds[1];
fds[0].fd = _rcs_fd;
fds[0].events = POLLIN;
int ret = poll(fds, 1, 1000);
// TODO: needs work (poll _rcs_fd)
// int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 100);
// then update priority to SCHED_PRIORITY_FAST_DRIVER
// read all available data from the serial RC input UART
if (ret < 0) {
PX4_DEBUG("poll error %d", ret);
}
// read all available data from the serial RC input UART
int newBytes = ::read(_rcs_fd, &_rcs_buf[0], RC_MAX_BUFFER_SIZE);
@@ -411,6 +414,8 @@ void RCInput::Run()
_bytes_rx += newBytes;
}
unsigned frame_drops = 0;
switch (_rc_scan_state) {
case RC_SCAN_SBUS:
if (_rc_scan_begin == 0) {
@@ -731,6 +736,14 @@ void RCInput::Run()
_report_lock = false;
PX4_INFO("RC scan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
}
// reschedule immediately if RC is locked
if (_rc_scan_locked) {
ScheduleNow();
} else {
ScheduleDelayed(_backup_update_interval);
}
}
}
@@ -805,8 +818,6 @@ int RCInput::custom_command(int argc, char *argv[])
int RCInput::print_status()
{
PX4_INFO("Max update rate: %u Hz", 1000000 / _current_update_interval);
if (_device[0] != '\0') {
PX4_INFO("UART device: %s", _device);
PX4_INFO("UART RX bytes: %" PRIu32, _bytes_rx);