DroneCAN: introduce table coding support#27685
Draft
tpwrules wants to merge 1 commit intoArduPilot:masterfrom
Draft
DroneCAN: introduce table coding support#27685tpwrules wants to merge 1 commit intoArduPilot:masterfrom
tpwrules wants to merge 1 commit intoArduPilot:masterfrom
Conversation
Contributor
Author
|
Drafted until those two PRs get merged and we have final hashes for them. |
Contributor
Author
|
Passed some basic smoke tests using a serial GPS connected to CubeOrange-periph connected to CubeRedPrimary. Tested old/new code on one/both nodes, and tested CANFD support. |
tpwrules
force-pushed
the
pr/dronecan-table-coding
branch
2 times, most recently
from
ac1f5a8 to
f3664c2
Compare
Contributor
|
I think a waf configure --disable-can-table-coding would be worthwhile to help debug potential regressions |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This system saves over 9K flash on Cube Orange, over 5K flash on Pixhawk1-1M, and 250-2000 bytes across MatekL431-based peripherals. DroneCAN-enabled bootloaders do not seem to profit however, so this should be disabled for them (still needs to be done).
be sure to update submodules
Did some light performance testing using
--enable-statsand@SYS/threads.txt(with increased printing precision). On Cube Orange, with one node connected, the DroneCAN thread CPU usage goes from 2.59% without this PR to 2.63% with. If I then setCAN_D1_UC_ESC_BMto 15 andCAN_D1_UC_SRV_BMto 240 to get some good traffic (~600FPS), then the CPU usage changes from 3.25% without this PR to 3.33% with. So overall a 0.08% increase in CPU usage, or a 12% increase on the thread relative to the less active baseline. Both seem eminently reasonable for the savings.Tested using the dronecan_dsdlc test scripts and Ardupilot SITL. Also bench tested in various scenarios. Not flown it on anything yet.
Brings in these two PRs: