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Fix modules and telemetry freq (#2553)

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* [generator] set prescaler at run/compile time for modules

* [generator] fix freq for periodic and cleaning

* [datalink] fix freq in datalink modules extra_dl and mavlink
This commit is contained in:
Gautier Hattenberger
2020-07-16 13:44:06 +02:00
committed by GitHub
parent a91ed27ec4
commit de3858cd4b
5 changed files with 160 additions and 137 deletions
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conf/modules/extra_dl.xml
+2
View File
@@ -23,8 +23,10 @@
<makefile target="ap">
<configure name="EXTRA_DL_PORT" default="uart1" case="upper|lower"/>
<configure name="TELEMETRY_FREQUENCY" default="$(PERIODIC_FREQUENCY)"/>
<define name="EXTRA_DOWNLINK_DEVICE" value="$(EXTRA_DL_PORT_LOWER)"/>
<define name="USE_$(EXTRA_DL_PORT_UPPER)"/>
<define name="TELEMETRY_FREQUENCY" value="$(TELEMETRY_FREQUENCY)"/>
<raw>
# Check for UDP port
ifneq (,$(findstring udp,$(EXTRA_DL_PORT_LOWER)))
conf/modules/mavlink.xml
+4 -2
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="datalink">
<module name="mavlink" dir="datalink">
<doc>
<description>Basic MAVLink implementation</description>
<configure name="MAVLINK_PORT" value="UARTx|UDPx|UsbS" description="The port device to use for mavlink (default: UART1)"/>
@@ -12,7 +12,7 @@
<init fun="mavlink_init()"/>
<periodic fun="mavlink_periodic()" freq="10" autorun="TRUE"/>
<periodic fun="mavlink_periodic_telemetry()" freq="$TELEMETRY_FREQUENCY" autorun="TRUE"/>
<periodic fun="mavlink_periodic_telemetry()" freq="TELEMETRY_FREQUENCY" autorun="TRUE"/>
<event fun="mavlink_event()"/>
<makefile>
@@ -21,6 +21,8 @@
<file name="waypoints.c" dir="modules/datalink/missionlib"/>
<file name="blocks.c" dir="modules/datalink/missionlib"/>
<configure name="MAVLINK_PORT" default="uart1" case="upper|lower"/>
<configure name="TELEMETRY_FREQUENCY" default="$(PERIODIC_FREQUENCY)"/>
<define name="TELEMETRY_FREQUENCY" value="$(TELEMETRY_FREQUENCY)"/>
<raw>
ifneq (,$(findstring usb,$(MAVLINK_PORT_LOWER)))
ap.CFLAGS += -DUSE_USB_SERIAL
sw/tools/generators/gen_aircraft.ml
+3 -9
View File
@@ -47,8 +47,6 @@ let periodic_h = "periodic_telemetry.h"
let modules_h = "modules.h"
let settings_h = "settings.h"
let settings_xml = "settings.xml"
let default_periodic_freq = 60
let default_modules_freq = 60
let get_string_opt = fun x -> match x with Some s -> s | None -> ""
@@ -112,9 +110,7 @@ let () =
and gen_ap = ref false
and gen_all = ref false
and gen_ac_dir = ref None
and gen_conf_dir = ref None
and modules_freq = ref default_modules_freq
and tl_freq = ref default_periodic_freq in
and gen_conf_dir = ref None in
let options =
[ "-name", Arg.String (fun x -> ac_name := Some x), " Aircraft name (mandatory)";
@@ -130,8 +126,6 @@ let () =
"-all", Arg.Set gen_all, " Generate all files";
"-ac_dir", Arg.String (fun x -> gen_ac_dir := Some x), "Directory for aircraft generated headers";
"-conf_dir", Arg.String (fun x -> gen_conf_dir := Some x), "Directory for aircraft generated config";
"-periodic_freq", Arg.Int (fun x -> tl_freq := x), (sprintf " Periodic telemetry frequency (default %d)" default_periodic_freq);
"-modules_freq", Arg.Int (fun x -> modules_freq := x), (sprintf " Modules frequency (default %d)" default_modules_freq);
] in
Arg.parse
@@ -313,7 +307,7 @@ let () =
| None -> Printf.printf "(skip)"
| Some telemetry ->
generate_config_element telemetry
(fun e -> Gen_periodic.generate e !tl_freq abs_telemetry_h)
(fun e -> Gen_periodic.generate e abs_telemetry_h)
[ (abs_telemetry_h, [telemetry.Telemetry.filename]) ] end;
Printf.printf " done\n%!";
@@ -321,7 +315,7 @@ let () =
let loaded_modules = Aircraft.get_loaded_modules ac.Aircraft.config_by_target target in
let abs_modules_h = aircraft_gen_dir // modules_h in
generate_config_element loaded_modules
(fun e -> Gen_modules.generate e !modules_freq "" abs_modules_h)
(fun e -> Gen_modules.generate e "" abs_modules_h)
[ abs_modules_h, List.map (fun m -> m.Module.xml_filename) loaded_modules ];
Printf.printf " done\n%!";
sw/tools/generators/gen_modules.ml
+111 -92
View File
@@ -70,16 +70,16 @@ let fprint_periodic_init = fun ch mod_name p ->
let fprint_init = fun ch init -> Printf.fprintf ch "%s;\n" init
*)
let get_period_and_freq = fun f max_freq ->
let period = try Some (float_of_string (Xml.attrib f "period")) with _ -> None
and freq = try Some (float_of_string (Xml.attrib f "freq")) with _ -> None in
let get_period_and_freq = fun f ->
let period = try Some (Xml.attrib f "period") with _ -> None
and freq = try Some (Xml.attrib f "freq") with _ -> None in
match period, freq with
| None, None -> (1. /. max_freq, max_freq)
| Some _p, None -> (_p, 1. /. _p)
| None, Some _f -> (1. /. _f, _f)
| None, None -> ("(1.f / MODULES_FREQUENCY)", "(MODULES_FREQUENCY)")
| Some _p, None -> ("("^_p^")", "(1. / ("^_p^"))")
| None, Some _f -> ("(1. / ("^_f^"))", "("^_f^")")
| Some _p, Some _ ->
fprintf stderr "Warning: both period and freq are defined but only period is used for function %s\n" (ExtXml.attrib f "fun");
(_p, 1. /. _p)
("("^_p^")", "(1. / ("^_p^"))")
(*let fprint_period_freq = fun ch max_freq p ->
let period, freq = match p.period_freq with
@@ -98,21 +98,62 @@ let get_cap_name = fun f ->
| [Str.Text t; Str.Delim "("; Str.Text _ ; Str.Delim ")"] -> Compat.uppercase_ascii t
| _ -> failwith "Gen_modules: not a valid function name"
let print_function_freq = fun out freq modules ->
let max_freq = float freq in
(** Computes the required modulos *)
let get_functions_modulos = fun modules ->
let found_modulos = Hashtbl.create 10 in
let idx = ref 0 in
let delay = ref 0. in (** Basic balancing: increment with a step of 0.1 *)
let functions_modulo = List.map (fun m ->
let periodic = List.filter (fun i -> (String.compare (Xml.tag i) "periodic") == 0) (Xml.children m.Module.xml) in
let module_name = m.Module.name in
List.map (fun x ->
let p, _ = get_period_and_freq x in
let d = begin try
let _d = float_of_string (Xml.attrib x "delay") in
if _d > 0.95 then _d /. 65536. else _d (* try to keep some backward compatibility *)
with _ ->
delay := !delay +. 0.1;
if !delay > 0.9 then delay := 0.;
!delay
end
in
try
((x, module_name, d), (p, Hashtbl.find found_modulos p))
with Not_found ->
incr idx; (* create new modulo *)
Hashtbl.add found_modulos p !idx;
((x, module_name, d), (p, !idx))
) periodic
) modules in
List.flatten functions_modulo
let print_function_freq = fun out modules ->
fprintf out "\n";
List.iter (fun m ->
List.iter (fun i ->
match Xml.tag i with
"periodic" ->
let fname = get_cap_name (Xml.attrib i "fun") in
let p, f = get_period_and_freq i max_freq in
lprintf out "#define %s_PERIOD %f\n" fname p;
lprintf out "#define %s_FREQ %f\n" fname f;
let p, f = get_period_and_freq i in
lprintf out "#define %s_PERIOD %s\n" fname p;
lprintf out "#define %s_FREQ %s\n" fname f;
| _ -> ())
(Xml.children m.Module.xml))
modules
let print_function_prescalers = fun out functions_modulo ->
fprintf out "\n";
let found_modulos = Hashtbl.create 10 in
List.iter (fun (_, (p, m)) ->
if not (Hashtbl.mem found_modulos m) then
lprintf out "#define PRESCALER_%d (uint32_t)(MODULES_FREQUENCY * %s)\n" m p
else
Hashtbl.add found_modulos m p
) functions_modulo
let is_status_lock = fun p ->
let mode = ExtXml.attrib_or_default p "autorun" "LOCK" in
mode = "LOCK"
@@ -172,45 +213,37 @@ let print_init_functions = fun out modules ->
lprintf out "}\n"
let print_periodic = fun out freq task modules ->
let min_period = 1. /. float freq
and max_period = 65536. /. float freq
and min_freq = float freq /. 65536.
and max_freq = float freq in
let print_periodic = fun out functions_modulo task modules ->
(* filter for a given task *)
let functions_modulo = List.filter (fun m ->
let (_, name, _), _ = m in
List.exists (fun m' -> m'.Module.name = name) modules
) functions_modulo in
(* start printing *)
lprintf out "\nstatic inline void modules_%s_periodic_task(void) {\n" task;
right ();
(** Computes the required modulos *)
let functions_modulo = List.flatten (List.map (fun m ->
let periodic = List.filter (fun i -> (String.compare (Xml.tag i) "periodic") == 0) (Xml.children m.Module.xml) in
let module_name = m.Module.name in
List.map (fun x ->
let p, _ = get_period_and_freq x max_freq in
if p < min_period || p > max_period then
fprintf stderr "Warning: period is bound between %.3fs and %.3fs (%fHz and %.1fHz) for function %s\n%!"
min_period max_period max_freq min_freq (ExtXml.attrib x "fun");
((x, module_name), min 65535 (max 1 (int_of_float (p *. float_of_int freq))))
) periodic)
modules) in
let modulos = GC.singletonize (List.map snd functions_modulo) in
let modulos = GC.singletonize (List.map (fun (_, (_, m)) -> m) functions_modulo) in
(** Print modulos *)
List.iter (fun modulo ->
let v = sprintf "i%d" modulo in
let _type = if modulo >= 256 then "uint16_t" else "uint8_t" in
lprintf out "static %s %s; %s++; if (%s>=%d) %s=0;\n" _type v v v modulo v;)
lprintf out "static uint32_t %s; %s++; if (%s>=PRESCALER_%d) %s=0;\n" v v v modulo v;)
modulos;
(** Print start and stop functions *)
List.iter (fun m ->
let module_name = m.Module.name in
let periodic = List.filter (fun i -> (String.compare (Xml.tag i) "periodic") == 0) (Xml.children m.Module.xml) in
fprintf out "\n";
List.iter (fun f ->
if (is_status_lock f) then begin
try lprintf out "%s;\n" (Xml.attrib f "start") with _ -> ();
try let stop = Xml.attrib f "stop" in fprintf stderr "Warning: stop %s function will not be called\n" stop with _ -> ();
try
let start = (Xml.attrib f "start") in
fprintf out "\n";
lprintf out "%s;\n" start
with _ -> ();
try let stop = Xml.attrib f "stop" in fprintf stderr "Warning: stop %s function will not be called\n" stop with _ -> ();
end
else begin
let status = get_status_name f module_name in
fprintf out "\n";
lprintf out "if (%s == MODULES_START) {\n" status;
right ();
ignore(try lprintf out "%s;\n" (Xml.attrib f "start") with _ -> ());
@@ -224,68 +257,46 @@ let print_periodic = fun out freq task modules ->
left ();
lprintf out "}\n";
end
)
periodic)
modules;
) periodic
) modules;
(** Print periodic functions *)
let functions = List.sort (fun (_,p) (_,p') -> compare p p') functions_modulo in
let i = ref 0 in (** Basic balancing:1 function every 10Hz FIXME *)
let l = ref [] in
fprintf out "\n";
let test_delay = fun x -> try let _ = Xml.attrib x "delay" in true with _ -> false in
List.iter (fun ((func, name), p) ->
let function_name = ExtXml.attrib func "fun" in
if p = 1 then
begin
if (is_status_lock func) then
lprintf out "%s;\n" function_name
else begin
lprintf out "if (%s == MODULES_RUN) {\n" (get_status_name func name);
List.iter (fun ((func, name, delay), (p, m)) ->
if (List.exists (fun _module -> _module.Module.name = name) modules) then begin
let function_name = ExtXml.attrib func "fun" in
let p, f = get_period_and_freq func in
if f = "(MODULES_FREQUENCY)" then
begin
if (is_status_lock func) then
lprintf out "%s;\n" function_name
else begin
lprintf out "if (%s == MODULES_RUN) {\n" (get_status_name func name);
right ();
lprintf out "%s;\n" function_name;
left ();
lprintf out "}\n";
end
end
else
begin
let run = if not (is_status_lock func) then sprintf " && %s == MODULES_RUN" (get_status_name func name)
else ""
in
lprintf out "if (i%d == (uint32_t)(%ff * PRESCALER_%d)%s) {\n" m delay m run;
right ();
lprintf out "%s;\n" function_name;
left ();
lprintf out "}\n";
end
end
else
begin
if (test_delay func) then begin
(** Delay is set by user *)
let delay = int_of_string (Xml.attrib func "delay") in
if delay >= p then fprintf stderr "Warning: delay is bound between 0 and %d for function %s\n" (p-1) function_name;
let delay_p = delay mod p in
let else_ = if List.mem_assoc p !l && not (List.mem (p, delay_p) !l) then
"else " else "" in
if (is_status_lock func) then
lprintf out "%sif (i%d == %d) {\n" else_ p delay_p
else
lprintf out "%sif (i%d == %d && %s == MODULES_RUN) {\n" else_ p delay_p (get_status_name func name);
l := (p, delay_p) :: !l;
end
else begin
(** Delay is automtically set *)
i := !i mod p;
let else_ = if List.mem_assoc p !l && not (List.mem (p, !i) !l) then "else " else "" in
if (is_status_lock func) then
lprintf out "%sif (i%d == %d) {\n" else_ p !i
else
lprintf out "%sif (i%d == %d && %s == MODULES_RUN) {\n" else_ p !i (get_status_name func name);
l := (p, !i) :: !l;
let incr = p / ((List.length (List.filter (fun (_,p') -> compare p p' == 0) functions)) + 1) in
i := !i + incr;
lprintf out "}\n"
end;
right ();
lprintf out "%s;\n" function_name;
left ();
lprintf out "}\n"
end;
end
) functions;
left ();
lprintf out "}\n"
let print_periodic_functions = fun out freq modules ->
let print_periodic_functions = fun out functions_modulo modules ->
let h = modules_of_task modules in
Hashtbl.iter (print_periodic out freq) h;
Hashtbl.iter (print_periodic out functions_modulo) h;
lprintf out "\nstatic inline void modules_periodic_task(void) {\n";
right ();
Hashtbl.iter (fun t _ -> lprintf out "modules_%s_periodic_task();\n" t) h;
@@ -337,13 +348,15 @@ let print_datalink_functions = fun out modules ->
left ();
lprintf out "}\n"
let parse_modules out freq modules =
let parse_modules out modules =
print_headers out modules;
print_function_freq out freq modules;
print_function_freq out modules;
let functions_modulo = get_functions_modulos modules in
print_function_prescalers out functions_modulo;
print_status out modules;
fprintf out "\n";
print_init_functions out modules;
print_periodic_functions out freq modules;
print_periodic_functions out functions_modulo modules;
print_event_functions out modules;
fprintf out "\n";
fprintf out "#ifdef MODULES_DATALINK_C\n";
@@ -408,7 +421,7 @@ let check_dependencies = fun modules names ->
let h_name = "MODULES_H"
let generate = fun modules freq xml_file out_file ->
let generate = fun modules xml_file out_file ->
let out = open_out out_file in
begin_out out xml_file h_name;
@@ -418,7 +431,13 @@ let generate = fun modules freq xml_file out_file ->
define_out out "MODULES_STOP " "3";
fprintf out "\n";
define_out out "MODULES_FREQUENCY" (string_of_int freq);
fprintf out "#ifndef MODULES_FREQUENCY\n";
fprintf out "#ifdef PERIODIC_FREQUENCY\n";
fprintf out "#define MODULES_FREQUENCY PERIODIC_FREQUENCY\n";
fprintf out "#else\n";
fprintf out "#error \"neither MODULES_FREQUENCY or PERIODIC_FREQUENCY are defined\"\n";
fprintf out "#endif\n";
fprintf out "#endif\n";
fprintf out "\n";
fprintf out "#ifdef MODULES_C\n";
fprintf out "#define EXTERN_MODULES\n";
@@ -426,7 +445,7 @@ let generate = fun modules freq xml_file out_file ->
fprintf out "#define EXTERN_MODULES extern\n";
fprintf out "#endif\n";
parse_modules out freq modules;
parse_modules out modules;
finish_out out h_name
sw/tools/generators/gen_periodic.ml
+40 -34
View File
@@ -40,10 +40,7 @@ let lprintf = fun c f ->
fprintf c "%s" (String.make !margin ' ');
fprintf c f
let output_modes = fun out_h process_name telem_type modes freq ->
let min_period = 1./.float freq in
let max_period = 65536. /. float freq in
let output_modes = fun out_h process_name telem_type modes ->
(** For each mode in this process *)
List.iter
(fun mode ->
@@ -52,39 +49,40 @@ let output_modes = fun out_h process_name telem_type modes freq ->
right ();
(** Computes the required modulos *)
let found_modulos = Hashtbl.create 15 in
let idx = ref 0 in
let phase = ref 0. in (** Basic balancing: increment with a step of 0.1 *)
let messages = List.map (fun x ->
let p = float_of_string (ExtXml.attrib x "period") in
if p < min_period || p > max_period then
fprintf stderr "Warning: period is bound between %.3fs and %.3fs for message %s\n%!" min_period max_period (ExtXml.attrib x "name");
(x, min 65535 (max 1 (int_of_float (p*.float_of_int freq))))
let period = ExtXml.attrib x "period" in
let _phase = begin try
let _p = float_of_string (ExtXml.attrib x "phase") in
if _p > 0.95 then _p /. 65536. else _p (* try to keep some backward compatibility *)
with _ ->
phase := !phase +. 0.1;
if !phase > 0.9 then phase := 0.;
!phase
end
in
try
((x, _phase), (period, Hashtbl.find found_modulos period))
with Not_found ->
incr idx; (* create new module *)
let v = sprintf "i%d" !idx in
lprintf out_h "static uint32_t %s = 0; %s++; if (%s>= (uint32_t)(TELEMETRY_FREQUENCY*%s)) %s=0;\n" v v v period v;
Hashtbl.add found_modulos period !idx;
((x, _phase), (period, !idx))
) (Xml.children mode) in
let modulos = GC.singletonize (List.map snd messages) in
List.iter (fun m ->
let v = sprintf "i%d" m in
let _type = if m >= 256 then "uint16_t" else "uint8_t" in
lprintf out_h "static %s %s = 0; %s++; if (%s>=%d) %s=0;\n" _type v v v m v;
) modulos;
(* create var to loop trough callbacks if needed *)
if (List.length messages > 0) then
lprintf out_h "uint8_t j;\n";
(** For each message in this mode *)
let messages = List.sort (fun (_,p) (_,p') -> compare p p') messages in
let i = ref 0 in (** Basic balancing:1 message every 10Hz *)
let phase = ref 0 in
let l = ref [] in
let messages = List.sort (fun (_,(p,_)) (_,(p',_)) -> compare p p') messages in
List.iter
(fun (message, p) ->
(fun ((message, _phase), (p, i)) ->
let message_name = ExtXml.attrib message "name" in
i := !i mod p;
(* if phase attribute is present, use it, otherwise shedule at 10Hz *)
let message_phase = try int_of_float (float_of_string (ExtXml.attrib message "phase")*.float_of_int freq) with _ -> !i in
phase := message_phase;
let else_ = if List.mem_assoc p !l && not (List.mem (p, !phase) !l) then "else " else "" in
lprintf out_h "%sif (i%d == %d) {\n" else_ p !phase;
l := (p, !phase) :: !l;
i := !i + freq/10;
lprintf out_h "if (i%d == (uint32_t)(TELEMETRY_FREQUENCY*%s*%f)) {\n" i p _phase;
right ();
lprintf out_h "for (j = 0; j < TELEMETRY_NB_CBS; j++) {\n";
right ();
@@ -141,7 +139,7 @@ let print_message_table = fun out_h xml ->
fprintf out_h "}\n\n"
) telemetry_types
let print_process_send = fun out_h xml freq ->
let print_process_send = fun out_h xml ->
(** For each process *)
List.iter
(fun process ->
@@ -178,9 +176,9 @@ let print_process_send = fun out_h xml freq ->
fprintf out_h "extern uint8_t telemetry_mode_%s;\n" process_name;
fprintf out_h "#endif /* PERIODIC_C_%s */\n" (Compat.uppercase_ascii process_name);
lprintf out_h "static inline void periodic_telemetry_send_%s(struct periodic_telemetry *telemetry, struct transport_tx *trans, struct link_device *dev) { /* %dHz */\n" process_name freq;
lprintf out_h "static inline void periodic_telemetry_send_%s(struct periodic_telemetry *telemetry, struct transport_tx *trans, struct link_device *dev) {\n" process_name;
right ();
output_modes out_h process_name telem_type modes freq;
output_modes out_h process_name telem_type modes;
left ();
lprintf out_h "}\n"
)
@@ -190,7 +188,7 @@ let print_process_send = fun out_h xml freq ->
(**
* main generation function
*)
let generate = fun telemetry freq out_file ->
let generate = fun telemetry out_file ->
let out = open_out out_file in
(** Print header *)
@@ -201,14 +199,22 @@ let generate = fun telemetry freq out_file ->
fprintf out "#define _VAR_PERIODIC_H_\n\n";
fprintf out "#include \"std.h\"\n";
fprintf out "#include \"generated/airframe.h\"\n";
fprintf out "#include \"subsystems/datalink/telemetry_common.h\"\n\n";
fprintf out "#define TELEMETRY_FREQUENCY %d\n\n" freq;
fprintf out "#include \"subsystems/datalink/telemetry_common.h\"\n";
fprintf out "\n";
fprintf out "#ifndef TELEMETRY_FREQUENCY\n";
fprintf out "#ifdef PERIODIC_FREQUENCY\n";
fprintf out "#define TELEMETRY_FREQUENCY PERIODIC_FREQUENCY\n";
fprintf out "#else\n";
fprintf out "#error \"neither TELEMETRY_FREQUENCY or PERIODIC_FREQUENCY are defined\"\n";
fprintf out "#endif\n";
fprintf out "#endif\n";
fprintf out "\n";
(** Print the telemetry table with ID *)
print_message_table out telemetry.Telemetry.xml;
(** Print process sending functions *)
print_process_send out telemetry.Telemetry.xml freq;
print_process_send out telemetry.Telemetry.xml;
fprintf out "#endif // _VAR_PERIODIC_H_\n";