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uavcan: move to work queue and use MixingOutput

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Main UAVCAN protocol handling and ESC updates run on the same thread/wq as
before. There are 2 WorkItems for separate scheduling of the 2, so that
ESC updates run in sync with actuator_control updates. UAVCAN is scheduled
at a fixed rate of 3ms (previously the poll timeout) and on each UAVCAN
bus event.
This leads to roughly the same behavior as before. CPU & RAM usage are
pretty much the same (tested on Pixhawk 4).

Testing done: Motors still work (with feedback), param changes and a
UAVCAN optical flow sensor.
This commit is contained in:
Beat Küng
2019-10-23 14:25:31 +02:00
parent b7a480b45b
commit 5dff065ec5
17 changed files with 354 additions and 908 deletions
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Tools/uorb_graph/create.py
-1
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@@ -225,7 +225,6 @@ class Graph(object):
('listener', r'.*', None, r'^(id)$'),
('logger', r'.*', None, r'^(topic|sub\.metadata|_polling_topic_meta)$'),
('uavcan', r'uavcan_main\.cpp$', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
('tap_esc', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
('snapdragon_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
('linux_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),