diff options
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 102 |
1 files changed, 47 insertions, 55 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index cba193208..b6392b5b1 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -94,7 +94,9 @@ extern device::Device *PX4IO_serial_interface() weak_function; #define PX4IO_SET_DEBUG _IOC(0xff00, 0) #define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) -#define UPDATE_INTERVAL_MIN 2 +#define UPDATE_INTERVAL_MIN 2 // 2 ms -> 500 Hz +#define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz +#define IO_POLL_INTERVAL 20000 // 20 ms -> 50 Hz /** * The PX4IO class. @@ -734,7 +736,8 @@ PX4IO::task_main_trampoline(int argc, char *argv[]) void PX4IO::task_main() { - hrt_abstime last_poll_time = 0; + hrt_abstime poll_last = 0; + hrt_abstime orb_check_last = 0; log("starting"); @@ -747,18 +750,10 @@ PX4IO::task_main() _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1)); orb_set_interval(_t_actuators, 20); /* default to 50Hz */ - _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ - _t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); - orb_set_interval(_t_vehicle_control_mode, 200); /* 5Hz update rate max. */ - _t_param = orb_subscribe(ORB_ID(parameter_update)); - orb_set_interval(_t_param, 500); /* 2Hz update rate max. */ - _t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command)); - orb_set_interval(_t_param, 1000); /* 1Hz update rate max. */ if ((_t_actuators < 0) || (_t_actuator_armed < 0) || @@ -770,17 +765,9 @@ PX4IO::task_main() } /* poll descriptor */ - pollfd fds[5]; + pollfd fds[1]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_actuator_armed; - fds[1].events = POLLIN; - fds[2].fd = _t_vehicle_control_mode; - fds[2].events = POLLIN; - fds[3].fd = _t_param; - fds[3].events = POLLIN; - fds[4].fd = _t_vehicle_command; - fds[4].events = POLLIN; log("ready"); @@ -802,7 +789,7 @@ PX4IO::task_main() /* sleep waiting for topic updates, but no more than 20ms */ unlock(); - int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 20); + int ret = ::poll(fds, 1, 20); lock(); /* this would be bad... */ @@ -815,58 +802,66 @@ PX4IO::task_main() hrt_abstime now = hrt_absolute_time(); /* if we have new control data from the ORB, handle it */ - if (fds[0].revents & POLLIN) + if (fds[0].revents & POLLIN) { io_set_control_state(); - - /* if we have an arming state update, handle it */ - if ((fds[1].revents & POLLIN) || (fds[2].revents & POLLIN)) - io_set_arming_state(); - - /* if we have a vehicle command, handle it */ - if (fds[4].revents & POLLIN) { - struct vehicle_command_s cmd; - orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd); - // Check for a DSM pairing command - if ((cmd.command == VEHICLE_CMD_START_RX_PAIR) && (cmd.param1== 0.0f)) { - dsm_bind_ioctl((int)cmd.param2); - } } - /* - * If it's time for another tick of the polling status machine, - * try it now. - */ - if ((now - last_poll_time) >= 20000) { + if (now >= poll_last + IO_POLL_INTERVAL) { + /* run at 50Hz */ + poll_last = now; - /* - * Pull status and alarms from IO. - */ + /* pull status and alarms from IO */ io_get_status(); - /* - * Get raw R/C input from IO. - */ + /* get raw R/C input from IO */ io_publish_raw_rc(); - /* - * Fetch mixed servo controls and PWM outputs from IO. - * - * XXX We could do this at a reduced rate in many/most cases. - */ + /* fetch mixed servo controls and PWM outputs from IO */ io_publish_mixed_controls(); io_publish_pwm_outputs(); + } + + if (now >= orb_check_last + ORB_CHECK_INTERVAL) { + /* run at 5Hz */ + orb_check_last = now; + + /* check updates on uORB topics and handle it */ + bool updated = false; + + /* arming state */ + orb_check(_t_actuator_armed, &updated); + if (!updated) { + orb_check(_t_vehicle_control_mode, &updated); + } + if (updated) { + io_set_arming_state(); + } + + /* vehicle command */ + orb_check(_t_vehicle_command, &updated); + if (updated) { + struct vehicle_command_s cmd; + orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd); + // Check for a DSM pairing command + if ((cmd.command == VEHICLE_CMD_START_RX_PAIR) && (cmd.param1== 0.0f)) { + dsm_bind_ioctl((int)cmd.param2); + } + } /* * If parameters have changed, re-send RC mappings to IO * * XXX this may be a bit spammy */ - if (fds[3].revents & POLLIN) { + orb_check(_t_param, &updated); + if (updated) { parameter_update_s pupdate; + orb_copy(ORB_ID(parameter_update), _t_param, &pupdate); + int32_t dsm_bind_val; param_t dsm_bind_param; - // See if bind parameter has been set, and reset it to -1 + /* see if bind parameter has been set, and reset it to -1 */ param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val); if (dsm_bind_val > -1) { dsm_bind_ioctl(dsm_bind_val); @@ -874,9 +869,6 @@ PX4IO::task_main() param_set(dsm_bind_param, &dsm_bind_val); } - /* copy to reset the notification */ - orb_copy(ORB_ID(parameter_update), _t_param, &pupdate); - /* re-upload RC input config as it may have changed */ io_set_rc_config(); } |