DroneCAN: introduce table coding support #27685
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Drafted until those two PRs get merged and we have final hashes for them. |
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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. |
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I think a waf configure --disable-can-table-coding would be worthwhile to help debug potential regressions |
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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: