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

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This reverts commit 4c301d9dcf180e39186fa6753c7a3d3215b3cfa7.
This commit is contained in:
Pavel Kirienko
2015-01-21 14:54:23 +01:00
committed by Lorenz Meier
parent 6bbacc4271
commit d87bb4dfcb
4 changed files with 7 additions and 20 deletions
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ROMFS/px4fmu_common/init.d/rcS
+1 -4
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@@ -8,7 +8,7 @@
# #
# Default to auto-start mode. # Default to auto-start mode.
# #
set MODE none set MODE autostart
set FRC /fs/microsd/etc/rc.txt set FRC /fs/microsd/etc/rc.txt
set FCONFIG /fs/microsd/etc/config.txt set FCONFIG /fs/microsd/etc/config.txt
@@ -656,9 +656,6 @@ then
# End of autostart # End of autostart
fi fi
param set UAVCAN_ENABLE 1
sh /etc/init.d/rc.uavcan
# There is no further processing, so we can free some RAM # There is no further processing, so we can free some RAM
# XXX potentially unset all script variables. # XXX potentially unset all script variables.
unset TUNE_ERR unset TUNE_ERR
makefiles/toolchain_gnu-arm-eabi.mk
+1 -1
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@@ -105,7 +105,7 @@ ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
# optimisation flags # optimisation flags
# #
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-g3 \ -g \
-fno-strict-aliasing \ -fno-strict-aliasing \
-fno-strength-reduce \ -fno-strength-reduce \
-fomit-frame-pointer \ -fomit-frame-pointer \
src/modules/uavcan/actuators/esc.cpp
+5 -5
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@@ -98,11 +98,11 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
/* /*
* Rate limiting - we don't want to congest the bus * Rate limiting - we don't want to congest the bus
*/ */
// const auto timestamp = _node.getMonotonicTime(); const auto timestamp = _node.getMonotonicTime();
// if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) { if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
// return; return;
// } }
// _prev_cmd_pub = timestamp; _prev_cmd_pub = timestamp;
/* /*
* Fill the command message * Fill the command message
src/modules/uavcan/uavcan_main.cpp
-10
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@@ -357,16 +357,6 @@ int UavcanNode::run()
_actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub); _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) { while (!_task_should_exit) {
// update actuator controls subscriptions if needed // update actuator controls subscriptions if needed
if (_groups_subscribed != _groups_required) { if (_groups_subscribed != _groups_required) {