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Code Issues Releases Activity

OP-1776 - Optimize RX exchanging buffers instead of working a byte at time

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This commit is contained in:
Alessio Morale 2015-03-10 20:35:40 +01:00
parent 83ce7c7b9a
commit 5657f4757b
3 changed files with 200 additions and 195 deletions
flight
modules/Telemetry
telemetry.c
uavtalk
inc
uavtalk.h
uavtalk.c

12
flight/modules/Telemetry/telemetry.c

@ -432,14 +432,12 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
if (inputPort) {
// Block until data are available
uint8_t serial_data[1];
uint8_t serial_data[16];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(uavTalkCon, serial_data[i]);
}
UAVTalkProcessInputStream(uavTalkCon, serial_data, bytes_to_process);
}
} else {
vTaskDelay(5);
@ -457,14 +455,12 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
while (1) {
if (radioPort) {
// Block until data are available
uint8_t serial_data[1];
uint8_t serial_data[16];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(radioPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(radioUavTalkCon, serial_data[i]);
}
UAVTalkProcessInputStream(radioUavTalkCon, serial_data, bytes_to_process);
}
} else {
vTaskDelay(5);

4
flight/uavtalk/inc/uavtalk.h

@ -57,8 +57,8 @@ UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
int32_t UAVTalkSendObjectTimestamped(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t *rxbuffer, uint8_t count);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle, uint8_t *rxbuffer, uint8_t *count, uint8_t *position);
int32_t UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle);
int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);

31
flight/uavtalk/uavtalk.c

@ -350,10 +350,12 @@ static int32_t objectTransaction(UAVTalkConnectionData *connection, uint8_t type
/**
* Process an byte from the telemetry stream.
* \param[in] connectionHandle UAVTalkConnection to be used
* \param[in] rxbyte Received byte
* \param[in] rxbuffer Received buffer
* \param[in/out] count Number of bytes to read inside buffer
* \param[in/out] position Next item to be read inside rxbuffer
* \return UAVTalkRxState
*/
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle, uint8_t rxbyte)
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle, uint8_t *rxbuffer, uint8_t *count, uint8_t *position)
{
UAVTalkConnectionData *connection;
@ -361,17 +363,20 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
UAVTalkInputProcessor *iproc = &connection->iproc;
++connection->stats.rxBytes;
if (iproc->state == UAVTALK_STATE_ERROR || iproc->state == UAVTALK_STATE_COMPLETE) {
iproc->state = UAVTALK_STATE_SYNC;
}
// stop processing as soon as a complete packet is received
while (*count > 0 && iproc->state != UAVTALK_STATE_COMPLETE) {
uint8_t rxbyte = rxbuffer[(*position)];
(*position)++;
(*count)--;
if (iproc->rxPacketLength < 0xffff) {
// update packet byte count
iproc->rxPacketLength++;
}
++connection->stats.rxBytes;
// Receive state machine
switch (iproc->state) {
case UAVTALK_STATE_SYNC:
@ -567,25 +572,29 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
iproc->state = UAVTALK_STATE_ERROR;
break;
}
}
// Done
return iproc->state;
}
/**
* Process an byte from the telemetry stream.
* Process an buffer from the telemetry stream.
* \param[in] connection UAVTalkConnection to be used
* \param[in] rxbyte Received byte
* \param[in] rxbuffer Received buffer
* \param[in] count bytes inside rxbuffer
* \return UAVTalkRxState
*/
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t *rxbuffer, uint8_t count)
{
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(connectionHandle, rxbyte);
uint8_t position = 0;
UAVTalkRxState state = UAVTALK_STATE_ERROR;
while (count > 0) {
state = UAVTalkProcessInputStreamQuiet(connectionHandle, rxbuffer, &count, &position);
if (state == UAVTALK_STATE_COMPLETE) {
UAVTalkReceiveObject(connectionHandle);
}
}
return state;
}