When building uORB for NuttX flat build, or for some other target, everything
works as before.
When building uORB for NuttX protected or kernel build, this does the following:
- The kernel side uORB library reigsters a boardctl handler for calls from userspace
and services the boardctl_ioctls by calling the actual uORB functions
- For user mode binaries, the uORBManager acts as a proxy, making boardctl_ioctl calls to the
kernel side
- The uORBDeviceNodes are always allocated in user heap for protected build, so that they
are accessible from both kernel and user side. This is only for optimization, a few
functions such as "is_advertised" get really heavy when called frequently via ioctl
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Proxy all calls to the DeviceNode through Manager;
- This hides the DeviceNode from publishers and subscribers
- Manager can be made an interface class between user and kernel spaces in protected build
- This doesn't increase code size or harm the performance on flat build
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
There's an increasing amount of slow logged topics at 1-2Hz, which were all
updated in the same logger iteration, leading to data bursts. For log
streaming this started to exceed uart buffer sizes. By distributing updates
more equal over time those bursts are removed, reducing buffer size
requirements.
Tests showed during steady state a reduction of maximum topic updates per
iteration from 40 down to 17.
Also the SD log buffer fill level is more constant.
Jukka Laitinen