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Code Issues Releases Activity

Merge branch 'stac/stop-wasting-ram' into next

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This commit is contained in:
Oleg Semyonov 2012-11-19 01:51:37 +02:00
commit 1fbaaddcd4
4 changed files with 71 additions and 73 deletions
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89
flight/Modules/Telemetry/telemetry.c
View File

@ -74,7 +74,6 @@ static void telemetryRxTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static void registerObject(UAVObjHandle obj);
static void updateObject(UAVObjHandle obj, int32_t eventType);
static int32_t addObject(UAVObjHandle obj);
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
static void processObjEvent(UAVObjEvent * ev);
static void updateTelemetryStats();
@ -154,11 +153,31 @@ MODULE_INITCALL(TelemetryInitialize, TelemetryStart)
*/
static void registerObject(UAVObjHandle obj)
{
// Setup object for periodic updates
addObject(obj);
if (UAVObjIsMetaobject(obj)) {
/* Only connect change notifications for meta objects. No periodic updates */
UAVObjConnectQueue(obj, priorityQueue, EV_MASK_ALL_UPDATES);
return;
} else {
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
// Setup object for telemetry updates
updateObject(obj, EV_NONE);
/* Only create a periodic event for objects that are periodic */
if ((updateMode == UPDATEMODE_PERIODIC) ||
(updateMode == UPDATEMODE_THROTTLED)) {
// Setup object for periodic updates
UAVObjEvent ev = {
.obj = obj,
.instId = UAVOBJ_ALL_INSTANCES,
.event = EV_UPDATED_PERIODIC,
};
EventPeriodicQueueCreate(&ev, queue, 0);
}
// Setup object for telemetry updates
updateObject(obj, EV_NONE);
}
}
/**
@ -171,30 +190,35 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
UAVObjUpdateMode updateMode;
int32_t eventMask;
if (UAVObjIsMetaobject(obj)) {
/* This function updates the periodic updates for the object.
* Meta Objects cannot have periodic updates.
*/
PIOS_Assert(false);
return;
}
// Get metadata
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
// Setup object depending on update mode
if (updateMode == UPDATEMODE_PERIODIC) {
switch (updateMode) {
case UPDATEMODE_PERIODIC:
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_ONCHANGE) {
break;
case UPDATEMODE_ONCHANGE:
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_THROTTLED) {
break;
case UPDATEMODE_THROTTLED:
if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
// If we received a periodic update, we can change back to update on change
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
@ -205,19 +229,15 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
}
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_MANUAL) {
break;
case UPDATEMODE_MANUAL:
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
break;
}
}
@ -271,11 +291,11 @@ static void processObjEvent(UAVObjEvent * ev)
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE); // linked object will be the actual object the metadata are for
}
if((updateMode == UPDATEMODE_THROTTLED) && !UAVObjIsMetaobject(ev->obj)) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(ev->obj, ev->event);
} else {
if (updateMode == UPDATEMODE_THROTTLED) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(ev->obj, ev->event);
}
}
}
}
@ -380,23 +400,6 @@ static int32_t transmitData(uint8_t * data, int32_t length)
}
}
/**
* Setup object for periodic updates.
* \param[in] obj The object to update
* \return 0 Success
* \return -1 Failure
*/
static int32_t addObject(UAVObjHandle obj)
{
UAVObjEvent ev;
// Add object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_PERIODIC;
return EventPeriodicQueueCreate(&ev, queue, 0);
}
/**
* Set update period of object (it must be already setup for periodic updates)
* \param[in] obj The object to update

2
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
View File

@ -92,7 +92,7 @@ extern "C" {
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
#define portBYTE_ALIGNMENT 4
/*-----------------------------------------------------------*/

51
flight/UAVObjects/uavobjectmanager.c
View File

@ -41,6 +41,17 @@
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
/* Table of UAVO handles registered at compile time */
extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
#define UAVO_LIST_ITERATE(_item) \
for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
_uavo_slot && _uavo_slot < __stop__uavo_handles; \
_uavo_slot++) { \
struct UAVOData * _item = *_uavo_slot; \
if (_item == NULL) continue;
/**
* List of event queues and the eventmask associated with the queue.
*/
@ -98,7 +109,6 @@ struct UAVOData {
* inside the payload for this UAVO.
*/
struct UAVOMeta metaObj;
struct UAVOData * next;
uint16_t instance_size;
} __attribute__((packed));
@ -164,7 +174,6 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif
// Private variables
static struct UAVOData * uavo_list;
static xSemaphoreHandle mutex;
static const UAVObjMetadata defMetadata = {
.flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
@ -188,9 +197,12 @@ static UAVObjStats stats;
int32_t UAVObjInitialize()
{
// Initialize variables
uavo_list = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Initialize the uavo handle table
memset(__start__uavo_handles, 0,
(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
@ -338,9 +350,6 @@ UAVObjHandle UAVObjRegister(uint32_t id,
/* Initialize the embedded meta UAVO */
UAVObjInitMetaData (&uavo_data->metaObj);
/* Add the newly created object to the global list of objects */
LL_APPEND(uavo_list, uavo_data);
/* Initialize object fields and metadata to default values */
if (initCb)
initCb((UAVObjHandle) uavo_data, 0);
@ -374,8 +383,7 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
struct UAVOData * tmp_obj;
LL_FOREACH(uavo_list, tmp_obj) {
UAVO_LIST_ITERATE(tmp_obj)
if (tmp_obj->id == id) {
found_obj = (UAVObjHandle *)tmp_obj;
goto unlock_exit;
@ -1019,15 +1027,13 @@ int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
*/
int32_t UAVObjSaveSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
@ -1051,15 +1057,13 @@ unlock_exit:
*/
int32_t UAVObjLoadSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Load object
@ -1083,15 +1087,13 @@ unlock_exit:
*/
int32_t UAVObjDeleteSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
@ -1115,15 +1117,13 @@ unlock_exit:
*/
int32_t UAVObjSaveMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
@ -1144,15 +1144,13 @@ unlock_exit:
*/
int32_t UAVObjLoadMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
@ -1173,15 +1171,13 @@ unlock_exit:
*/
int32_t UAVObjDeleteMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(obj), 0)
== -1) {
@ -1787,8 +1783,7 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
struct UAVOData *obj;
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
(*iterator) ((UAVObjHandle) obj);
(*iterator) ((UAVObjHandle) &obj->metaObj);
}

2
flight/UAVObjects/uavobjecttemplate.c
View File

@ -40,7 +40,7 @@
#include "$(NAMELC).h"
// Private variables
static UAVObjHandle handle = NULL;
static UAVObjHandle handle __attribute__((section("_uavo_handles")));
/**
* Initialize object.