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This commit is contained in:
Matthias Grob
2022-06-30 16:10:40 +02:00
parent 437148f8f3
commit 25ed6b67fb
2694 changed files with 103014 additions and 118862 deletions
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platforms/common/include/libevents_definitions.h
+2 -6
View File
@@ -39,10 +39,6 @@
#include <uORB/topics/event.h>
namespace events
{
namespace events {
using EventType = event_s;
} // namespace events
} // namespace events
platforms/common/include/px4_platform_common/app.h
+4 -5
View File
@@ -40,11 +40,9 @@
#pragma once
namespace px4
{
namespace px4 {
class AppState
{
class AppState {
public:
~AppState() {}
@@ -59,11 +57,12 @@ public:
protected:
bool _exitRequested;
bool _isRunning;
private:
AppState(const AppState &);
const AppState &operator=(const AppState &);
};
}
} // namespace px4
// Task/process based build
platforms/common/include/px4_platform_common/atomic.h
+26 -37
View File
@@ -59,22 +59,19 @@
#include <stdint.h>
#if defined(__PX4_NUTTX)
# include <nuttx/irq.h>
#endif // __PX4_NUTTX
#include <nuttx/irq.h>
#endif // __PX4_NUTTX
namespace px4
{
namespace px4 {
template <typename T>
class atomic
{
class atomic {
public:
#if defined(__PX4_POSIX)
// Ensure that all operations are lock-free, so that 'atomic' can be used from
// IRQ handlers. This might not be required everywhere though.
static_assert(__atomic_always_lock_free(sizeof(T), 0), "atomic is not lock-free for the given type T");
#endif // __PX4_POSIX
#endif // __PX4_POSIX
atomic() = default;
explicit atomic(T value) : _value(value) {}
@@ -82,8 +79,7 @@ public:
/**
* Atomically read the current value
*/
inline T load() const
{
inline T load() const {
#if defined(__PX4_NUTTX)
if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -93,7 +89,7 @@ public:
return val;
} else
#endif // __PX4_NUTTX
#endif // __PX4_NUTTX
{
return __atomic_load_n(&_value, __ATOMIC_SEQ_CST);
}
@@ -102,8 +98,7 @@ public:
/**
* Atomically store a value
*/
inline void store(T value)
{
inline void store(T value) {
#if defined(__PX4_NUTTX)
if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -112,7 +107,7 @@ public:
leave_critical_section(flags);
} else
#endif // __PX4_NUTTX
#endif // __PX4_NUTTX
{
__atomic_store(&_value, &value, __ATOMIC_SEQ_CST);
}
@@ -122,8 +117,7 @@ public:
* Atomically add a number and return the previous value.
* @return value prior to the addition
*/
inline T fetch_add(T num)
{
inline T fetch_add(T num) {
#if defined(__PX4_NUTTX)
if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -133,7 +127,7 @@ public:
return ret;
} else
#endif // __PX4_NUTTX
#endif // __PX4_NUTTX
{
return __atomic_fetch_add(&_value, num, __ATOMIC_SEQ_CST);
}
@@ -143,8 +137,7 @@ public:
* Atomically substract a number and return the previous value.
* @return value prior to the substraction
*/
inline T fetch_sub(T num)
{
inline T fetch_sub(T num) {
#if defined(__PX4_NUTTX)
if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -154,7 +147,7 @@ public:
return ret;
} else
#endif // __PX4_NUTTX
#endif // __PX4_NUTTX
{
return __atomic_fetch_sub(&_value, num, __ATOMIC_SEQ_CST);
}
@@ -164,8 +157,7 @@ public:
* Atomic AND with a number
* @return value prior to the operation
*/
inline T fetch_and(T num)
{
inline T fetch_and(T num) {
#if defined(__PX4_NUTTX)
if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -176,7 +168,7 @@ public:
return val;
} else
#endif // __PX4_NUTTX
#endif // __PX4_NUTTX
{
return __atomic_fetch_and(&_value, num, __ATOMIC_SEQ_CST);
}
@@ -186,8 +178,7 @@ public:
* Atomic XOR with a number
* @return value prior to the operation
*/
inline T fetch_xor(T num)
{
inline T fetch_xor(T num) {
#if defined(__PX4_NUTTX)
if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -198,7 +189,7 @@ public:
return val;
} else
#endif // __PX4_NUTTX
#endif // __PX4_NUTTX
{
return __atomic_fetch_xor(&_value, num, __ATOMIC_SEQ_CST);
}
@@ -208,8 +199,7 @@ public:
* Atomic OR with a number
* @return value prior to the operation
*/
inline T fetch_or(T num)
{
inline T fetch_or(T num) {
#if defined(__PX4_NUTTX)
if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -220,7 +210,7 @@ public:
return val;
} else
#endif // __PX4_NUTTX
#endif // __PX4_NUTTX
{
return __atomic_fetch_or(&_value, num, __ATOMIC_SEQ_CST);
}
@@ -230,8 +220,7 @@ public:
* Atomic NAND (~(_value & num)) with a number
* @return value prior to the operation
*/
inline T fetch_nand(T num)
{
inline T fetch_nand(T num) {
#if defined(__PX4_NUTTX)
if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -242,7 +231,7 @@ public:
return ret;
} else
#endif // __PX4_NUTTX
#endif // __PX4_NUTTX
{
return __atomic_fetch_nand(&_value, num, __ATOMIC_SEQ_CST);
}
@@ -256,8 +245,7 @@ public:
* contents of _value are written into *expected.
* @return If desired is written into _value then true is returned
*/
inline bool compare_exchange(T *expected, T desired)
{
inline bool compare_exchange(T *expected, T desired) {
#if defined(__PX4_NUTTX)
if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -275,14 +263,15 @@ public:
}
} else
#endif // __PX4_NUTTX
#endif // __PX4_NUTTX
{
return __atomic_compare_exchange(&_value, expected, &desired, false, __ATOMIC_SEQ_CST, __ATOMIC_SEQ_CST);
return __atomic_compare_exchange(&_value, expected, &desired, false, __ATOMIC_SEQ_CST,
__ATOMIC_SEQ_CST);
}
}
private:
T _value {};
T _value{};
};
using atomic_int = atomic<int>;
platforms/common/include/px4_platform_common/atomic_bitset.h
+9 -18
View File
@@ -35,18 +35,14 @@
#include "atomic.h"
namespace px4
{
namespace px4 {
template <size_t N>
class AtomicBitset
{
class AtomicBitset {
public:
AtomicBitset() = default;
size_t count() const
{
size_t count() const {
size_t total = 0;
for (const auto &x : _data) {
@@ -63,13 +59,9 @@ public:
size_t size() const { return N; }
bool operator[](size_t position) const
{
return _data[array_index(position)].load() & element_mask(position);
}
bool operator[](size_t position) const { return _data[array_index(position)].load() & element_mask(position); }
void set(size_t pos, bool val = true)
{
void set(size_t pos, bool val = true) {
const uint32_t bitmask = element_mask(pos);
if (val) {
@@ -80,8 +72,7 @@ public:
}
}
void reset()
{
void reset() {
// set bits to false
for (auto &d : _data) {
d.store(0);
@@ -90,8 +81,8 @@ public:
private:
static constexpr uint8_t BITS_PER_ELEMENT = 32;
static constexpr size_t ARRAY_SIZE = ((N % BITS_PER_ELEMENT) == 0) ? (N / BITS_PER_ELEMENT) :
(N / BITS_PER_ELEMENT + 1);
static constexpr size_t ARRAY_SIZE =
((N % BITS_PER_ELEMENT) == 0) ? (N / BITS_PER_ELEMENT) : (N / BITS_PER_ELEMENT + 1);
static constexpr size_t ALLOCATED_BITS = ARRAY_SIZE * BITS_PER_ELEMENT;
size_t array_index(size_t position) const { return position / BITS_PER_ELEMENT; }
@@ -100,4 +91,4 @@ private:
px4::atomic<uint32_t> _data[ARRAY_SIZE];
};
} // namespace px4
} // namespace px4
platforms/common/include/px4_platform_common/bitmask.h
+30 -71
View File
@@ -42,110 +42,69 @@
#if defined(__cplusplus) && (defined(__PX4_POSIX) || defined(__PX4_LINUX))
#include<type_traits>
#include <type_traits>
template<typename E>
template <typename E>
struct enable_bitmask_operators {
static const bool enable = false;
};
namespace px4
{
namespace px4 {
#define ENABLE_BIT_OPERATORS(E) \
template<> \
struct enable_bitmask_operators<E> \
{ \
#define ENABLE_BIT_OPERATORS(E) \
template <> \
struct enable_bitmask_operators<E> { \
static const bool enable = true; \
};
template<typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type
operator==(E lhs, E rhs)
{
template <typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type operator==(E lhs, E rhs) {
typedef typename std::underlying_type<E>::type underlying;
return static_cast<E>(
static_cast<underlying>(lhs) ==
static_cast<underlying>(rhs)
);
return static_cast<E>(static_cast<underlying>(lhs) == static_cast<underlying>(rhs));
}
template<typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type
operator~(E lhs)
{
template <typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type operator~(E lhs) {
typedef typename std::underlying_type<E>::type underlying;
return static_cast<E>(
~static_cast<underlying>(lhs)
);
return static_cast<E>(~static_cast<underlying>(lhs));
}
template<typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type
operator|(E lhs, E rhs)
{
template <typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type operator|(E lhs, E rhs) {
typedef typename std::underlying_type<E>::type underlying;
return static_cast<E>(
static_cast<underlying>(lhs) |
static_cast<underlying>(rhs)
);
return static_cast<E>(static_cast<underlying>(lhs) | static_cast<underlying>(rhs));
}
template<typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E &>::type
operator|=(E &lhs, E rhs)
{
template <typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E &>::type operator|=(E &lhs, E rhs) {
typedef typename std::underlying_type<E>::type underlying;
lhs = static_cast<E>(
static_cast<underlying>(lhs) |
static_cast<underlying>(rhs)
);
lhs = static_cast<E>(static_cast<underlying>(lhs) | static_cast<underlying>(rhs));
return lhs;
}
template<typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type
operator&(E lhs, E rhs)
{
template <typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type operator&(E lhs, E rhs) {
typedef typename std::underlying_type<E>::type underlying;
return static_cast<E>(
static_cast<underlying>(lhs) &
static_cast<underlying>(rhs)
);
return static_cast<E>(static_cast<underlying>(lhs) & static_cast<underlying>(rhs));
}
template<typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E &>::type
operator&=(E &lhs, E rhs)
{
template <typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E &>::type operator&=(E &lhs, E rhs) {
typedef typename std::underlying_type<E>::type underlying;
lhs = static_cast<E>(
static_cast<underlying>(lhs) &
static_cast<underlying>(rhs)
);
lhs = static_cast<E>(static_cast<underlying>(lhs) & static_cast<underlying>(rhs));
return lhs;
}
template<typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type
operator^(E lhs, E rhs)
{
template <typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E>::type operator^(E lhs, E rhs) {
typedef typename std::underlying_type<E>::type underlying;
return static_cast<E>(
static_cast<underlying>(lhs) ^
static_cast<underlying>(rhs)
);
return static_cast<E>(static_cast<underlying>(lhs) ^ static_cast<underlying>(rhs));
}
template<typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E &>::type
operator^=(E &lhs, E rhs)
{
template <typename E>
typename std::enable_if<enable_bitmask_operators<E>::enable, E &>::type operator^=(E &lhs, E rhs) {
typedef typename std::underlying_type<E>::type underlying;
lhs = static_cast<E>(
static_cast<underlying>(lhs) ^
static_cast<underlying>(rhs)
);
lhs = static_cast<E>(static_cast<underlying>(lhs) ^ static_cast<underlying>(rhs));
return lhs;
}
platforms/common/include/px4_platform_common/board_common.h
+208 -180
View File
@@ -44,8 +44,8 @@
* Included Files
************************************************************************************/
#include <errno.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
/************************************************************************************
* Definitions
@@ -57,19 +57,23 @@
*/
#if defined(BOARD_I2C_BUS_CLOCK_INIT)
# define PX4_I2C_BUS_CLOCK_INIT BOARD_I2C_BUS_CLOCK_INIT
#define PX4_I2C_BUS_CLOCK_INIT BOARD_I2C_BUS_CLOCK_INIT
#else
# if (PX4_NUMBER_I2C_BUSES) == 1
# define PX4_I2C_BUS_CLOCK_INIT {100000}
# elif (PX4_NUMBER_I2C_BUSES) == 2
# define PX4_I2C_BUS_CLOCK_INIT {100000, 100000}
# elif (PX4_NUMBER_I2C_BUSES) == 3
# define PX4_I2C_BUS_CLOCK_INIT {100000, 100000, 100000}
# elif (PX4_NUMBER_I2C_BUSES) == 4
# define PX4_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
# else
# error PX4_NUMBER_I2C_BUSES not supported
# endif
#if (PX4_NUMBER_I2C_BUSES) == 1
#define PX4_I2C_BUS_CLOCK_INIT \
{ 100000 }
#elif (PX4_NUMBER_I2C_BUSES) == 2
#define PX4_I2C_BUS_CLOCK_INIT \
{ 100000, 100000 }
#elif (PX4_NUMBER_I2C_BUSES) == 3
#define PX4_I2C_BUS_CLOCK_INIT \
{ 100000, 100000, 100000 }
#elif (PX4_NUMBER_I2C_BUSES) == 4
#define PX4_I2C_BUS_CLOCK_INIT \
{ 100000, 100000, 100000, 100000 }
#else
#error PX4_NUMBER_I2C_BUSES not supported
#endif
#endif
#ifdef BOARD_SPI_BUS_MAX_BUS_ITEMS
@@ -92,25 +96,25 @@
* defaults
*/
#if !defined(ADC_V5_V_FULL_SCALE)
#define ADC_V5_V_FULL_SCALE (6.6f) // 5 volt Rail full scale voltage
#define ADC_V5_V_FULL_SCALE (6.6f) // 5 volt Rail full scale voltage
#endif
#if !defined(ADC_V5_SCALE)
#define ADC_V5_SCALE (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
#define ADC_V5_SCALE (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
#endif
#if !defined(ADC_3V3_V_FULL_SCALE)
#define ADC_3V3_V_FULL_SCALE (3.6f) // 3.3V volt Rail full scale voltage
#define ADC_3V3_V_FULL_SCALE (3.6f) // 3.3V volt Rail full scale voltage
#endif
#if !defined(ADC_3V3_SCALE)
#define ADC_3V3_SCALE (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
#define ADC_3V3_SCALE (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
#endif
#ifndef BOARD_ADC_POS_REF_V
#define BOARD_ADC_POS_REF_V (3.3f) // Default reference voltage for every channels
#define BOARD_ADC_POS_REF_V (3.3f) // Default reference voltage for every channels
#endif
#if !defined(ADC_DP_V_DIV) // Analog differential pressure (analog airspeed sensor)
#define ADC_DP_V_DIV (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
#if !defined(ADC_DP_V_DIV) // Analog differential pressure (analog airspeed sensor)
#define ADC_DP_V_DIV (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
#endif
/* Provide define for Bricks and Battery */
@@ -118,7 +122,7 @@
/* Define the default maximum voltage resulting from the bias on ADC termination */
#if !defined(BOARD_ADC_OPEN_CIRCUIT_V)
# define BOARD_ADC_OPEN_CIRCUIT_V (1.5f)
#define BOARD_ADC_OPEN_CIRCUIT_V (1.5f)
#endif
/* Define the default Under voltage Window on the LTC4417 as set by resistors on the
@@ -126,70 +130,98 @@
*/
#if !defined(BOARD_VALID_UV)
# define BOARD_VALID_UV (3.7f)
#define BOARD_VALID_UV (3.7f)
#endif
/* Legacy default */
#if !defined(BOARD_NUMBER_BRICKS)
# define BOARD_NUMBER_BRICKS 1
# if !defined(BOARD_ADC_BRICK_VALID)
# define BOARD_ADC_BRICK_VALID (1)
# endif
#define BOARD_NUMBER_BRICKS 1
#if !defined(BOARD_ADC_BRICK_VALID)
#define BOARD_ADC_BRICK_VALID (1)
#endif
#endif
#if BOARD_NUMBER_BRICKS == 0
/* allow SITL to disable all bricks */
#elif BOARD_NUMBER_BRICKS == 1
# define BOARD_BATT_V_LIST {ADC_BATTERY_VOLTAGE_CHANNEL}
# define BOARD_BATT_I_LIST {ADC_BATTERY_CURRENT_CHANNEL}
# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK_VALID}
#define BOARD_BATT_V_LIST \
{ ADC_BATTERY_VOLTAGE_CHANNEL }
#define BOARD_BATT_I_LIST \
{ ADC_BATTERY_CURRENT_CHANNEL }
#define BOARD_BRICK_VALID_LIST \
{ BOARD_ADC_BRICK_VALID }
#elif BOARD_NUMBER_BRICKS == 2
# if defined(BOARD_NUMBER_DIGITAL_BRICKS)
# define BOARD_BATT_V_LIST {-1, -1}
# define BOARD_BATT_I_LIST {-1, -1}
# else
# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL}
# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL}
# endif
# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID}
#elif BOARD_NUMBER_BRICKS == 3
# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL, ADC_BATTERY3_VOLTAGE_CHANNEL}
# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL, ADC_BATTERY3_CURRENT_CHANNEL}
# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID, BOARD_ADC_BRICK3_VALID}
#elif BOARD_NUMBER_BRICKS == 4
# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL, ADC_BATTERY3_VOLTAGE_CHANNEL, ADC_BATTERY4_VOLTAGE_CHANNEL}
# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL, ADC_BATTERY3_CURRENT_CHANNEL, ADC_BATTERY4_CURRENT_CHANNEL}
# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID, BOARD_ADC_BRICK3_VALID, BOARD_ADC_BRICK4_VALID}
#if defined(BOARD_NUMBER_DIGITAL_BRICKS)
#define BOARD_BATT_V_LIST \
{ -1, -1 }
#define BOARD_BATT_I_LIST \
{ -1, -1 }
#else
# error Unsuported BOARD_NUMBER_BRICKS number.
#define BOARD_BATT_V_LIST \
{ ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL }
#define BOARD_BATT_I_LIST \
{ ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL }
#endif
#define BOARD_BRICK_VALID_LIST \
{ BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID }
#elif BOARD_NUMBER_BRICKS == 3
#define BOARD_BATT_V_LIST \
{ ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL, ADC_BATTERY3_VOLTAGE_CHANNEL }
#define BOARD_BATT_I_LIST \
{ ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL, ADC_BATTERY3_CURRENT_CHANNEL }
#define BOARD_BRICK_VALID_LIST \
{ BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID, BOARD_ADC_BRICK3_VALID }
#elif BOARD_NUMBER_BRICKS == 4
#define BOARD_BATT_V_LIST \
{ \
ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL, ADC_BATTERY3_VOLTAGE_CHANNEL, \
ADC_BATTERY4_VOLTAGE_CHANNEL \
}
#define BOARD_BATT_I_LIST \
{ \
ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL, ADC_BATTERY3_CURRENT_CHANNEL, \
ADC_BATTERY4_CURRENT_CHANNEL \
}
#define BOARD_BRICK_VALID_LIST \
{ BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID, BOARD_ADC_BRICK3_VALID, BOARD_ADC_BRICK4_VALID }
#else
#error Unsuported BOARD_NUMBER_BRICKS number.
#endif
/* Choose the source for ADC_SCALED_V5_SENSE */
#if defined(ADC_5V_RAIL_SENSE)
#define ADC_SCALED_V5_SENSE ADC_5V_RAIL_SENSE
#else
# if defined(ADC_SCALED_V5_CHANNEL)
# define ADC_SCALED_V5_SENSE ADC_SCALED_V5_CHANNEL
# endif
#if defined(ADC_SCALED_V5_CHANNEL)
#define ADC_SCALED_V5_SENSE ADC_SCALED_V5_CHANNEL
#endif
#endif
/* Define the source for ADC_SCALED_V3V3_SENSORS_SENSE */
#if defined(ADC_SCALED_VDD_3V3_SENSORS_CHANNEL)
# define ADC_SCALED_V3V3_SENSORS_SENSE { ADC_SCALED_VDD_3V3_SENSORS_CHANNEL }
# define ADC_SCALED_V3V3_SENSORS_COUNT 1
#define ADC_SCALED_V3V3_SENSORS_SENSE \
{ ADC_SCALED_VDD_3V3_SENSORS_CHANNEL }
#define ADC_SCALED_V3V3_SENSORS_COUNT 1
#elif defined(ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL)
# define ADC_SCALED_V3V3_SENSORS_SENSE { ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL, ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL, \
ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL, ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL }
# define ADC_SCALED_V3V3_SENSORS_COUNT 4
#define ADC_SCALED_V3V3_SENSORS_SENSE \
{ \
ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL, ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL, \
ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL, ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL \
}
#define ADC_SCALED_V3V3_SENSORS_COUNT 4
#elif defined(ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL)
# define ADC_SCALED_V3V3_SENSORS_SENSE { ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL, ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL, \
ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL }
# define ADC_SCALED_V3V3_SENSORS_COUNT 3
#define ADC_SCALED_V3V3_SENSORS_SENSE \
{ \
ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL, ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL, \
ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL \
}
#define ADC_SCALED_V3V3_SENSORS_COUNT 3
#elif defined(ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL)
# define ADC_SCALED_V3V3_SENSORS_SENSE { ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL, ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL }
# define ADC_SCALED_V3V3_SENSORS_COUNT 2
#define ADC_SCALED_V3V3_SENSORS_SENSE \
{ ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL, ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL }
#define ADC_SCALED_V3V3_SENSORS_COUNT 2
#endif
/* Define an overridable default of 0.0f V for batery v div
@@ -221,78 +253,79 @@
* We then publish the logical BOARD_USES_PX4IO
*/
#if defined(BOARD_USES_PX4IO_VERSION)
# define BOARD_USES_PX4IO 1
# if defined(BOARD_HAS_STATIC_MANIFEST) && BOARD_HAS_STATIC_MANIFEST == 1
# define PX4_MFT_HW_SUPPORTED_PX4_MFT_PX4IO 1
# endif
#define BOARD_USES_PX4IO 1
#if defined(BOARD_HAS_STATIC_MANIFEST) && BOARD_HAS_STATIC_MANIFEST == 1
#define PX4_MFT_HW_SUPPORTED_PX4_MFT_PX4IO 1
#endif
/* Allow a board_config to override the PX4IO FW search paths */
# if defined(BOARD_PX4IO_FW_SEARCH_PATHS)
# define PX4IO_FW_SEARCH_PATHS BOARD_PX4IO_FW_SEARCH_PATHS
# else
#if defined(BOARD_PX4IO_FW_SEARCH_PATHS)
#define PX4IO_FW_SEARCH_PATHS BOARD_PX4IO_FW_SEARCH_PATHS
#else
/* Use PX4IO FW search paths defaults based on version */
# if BOARD_USES_PX4IO_VERSION == 2
# define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4_io-v2_default.bin","/fs/microsd/px4_io-v2_default.bin", "/fs/microsd/px4io2.bin", nullptr }
# endif
# endif
#if BOARD_USES_PX4IO_VERSION == 2
#define PX4IO_FW_SEARCH_PATHS \
{ "/etc/extras/px4_io-v2_default.bin", "/fs/microsd/px4_io-v2_default.bin", "/fs/microsd/px4io2.bin", nullptr }
#endif
#endif
#endif
/* Provide an overridable default nop
* for BOARD_EEPROM_WP_CTRL
*/
#if !defined(BOARD_EEPROM_WP_CTRL)
# define BOARD_EEPROM_WP_CTRL(on_true)
#define BOARD_EEPROM_WP_CTRL(on_true)
#endif
/*
* Defined when a supports version and type API.
*/
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
# define BOARD_HAS_VERSIONING 1
# define HW_VER_SIMPLE(s) 0x90000+(s)
#define BOARD_HAS_VERSIONING 1
#define HW_VER_SIMPLE(s) 0x90000 + (s)
# define HW_VER_FMUV2 HW_VER_SIMPLE(HW_VER_FMUV2_STATE)
# define HW_VER_FMUV3 HW_VER_SIMPLE(HW_VER_FMUV3_STATE)
# define HW_VER_FMUV2MINI HW_VER_SIMPLE(HW_VER_FMUV2MINI_STATE)
# define HW_VER_FMUV2X HW_VER_SIMPLE(HW_VER_FMUV2X_STATE)
#define HW_VER_FMUV2 HW_VER_SIMPLE(HW_VER_FMUV2_STATE)
#define HW_VER_FMUV3 HW_VER_SIMPLE(HW_VER_FMUV3_STATE)
#define HW_VER_FMUV2MINI HW_VER_SIMPLE(HW_VER_FMUV2MINI_STATE)
#define HW_VER_FMUV2X HW_VER_SIMPLE(HW_VER_FMUV2X_STATE)
#endif
#if defined(BOARD_HAS_HW_VERSIONING)
# define BOARD_HAS_VERSIONING 1
# define HW_VER_REV(v,r) ((uint32_t)((v) & 0xff) << 8) | ((uint32_t)(r) & 0xff)
#define BOARD_HAS_VERSIONING 1
#define HW_VER_REV(v, r) ((uint32_t)((v)&0xff) << 8) | ((uint32_t)(r)&0xff)
#endif
/* Default LED logical to color mapping */
#if defined(BOARD_OVERLOAD_LED)
# define BOARD_OVERLOAD_LED_TOGGLE() led_toggle(BOARD_OVERLOAD_LED)
# define BOARD_OVERLOAD_LED_OFF() led_off(BOARD_OVERLOAD_LED)
#define BOARD_OVERLOAD_LED_TOGGLE() led_toggle(BOARD_OVERLOAD_LED)
#define BOARD_OVERLOAD_LED_OFF() led_off(BOARD_OVERLOAD_LED)
#else
# define BOARD_OVERLOAD_LED_TOGGLE()
# define BOARD_OVERLOAD_LED_OFF()
#define BOARD_OVERLOAD_LED_TOGGLE()
#define BOARD_OVERLOAD_LED_OFF()
#endif
#if defined(BOARD_HAS_CONTROL_STATUS_LEDS)
# if defined(BOARD_ARMED_LED)
# define BOARD_ARMED_LED_TOGGLE() led_toggle(BOARD_ARMED_LED)
# define BOARD_ARMED_LED_OFF() led_off(BOARD_ARMED_LED)
# define BOARD_ARMED_LED_ON() led_on(BOARD_ARMED_LED)
# else
# define BOARD_ARMED_LED_TOGGLE()
# define BOARD_ARMED_LED_OFF()
# define BOARD_ARMED_LED_ON()
# endif
#if defined(BOARD_ARMED_LED)
#define BOARD_ARMED_LED_TOGGLE() led_toggle(BOARD_ARMED_LED)
#define BOARD_ARMED_LED_OFF() led_off(BOARD_ARMED_LED)
#define BOARD_ARMED_LED_ON() led_on(BOARD_ARMED_LED)
#else
#define BOARD_ARMED_LED_TOGGLE()
#define BOARD_ARMED_LED_OFF()
#define BOARD_ARMED_LED_ON()
#endif
# if defined(BOARD_ARMED_STATE_LED)
# define BOARD_ARMED_STATE_LED_TOGGLE() led_toggle(BOARD_ARMED_STATE_LED)
# define BOARD_ARMED_STATE_LED_OFF() led_off(BOARD_ARMED_STATE_LED)
# define BOARD_ARMED_STATE_LED_ON() led_on(BOARD_ARMED_STATE_LED)
# else
# define BOARD_ARMED_STATE_LED_TOGGLE()
# define BOARD_ARMED_STATE_LED_OFF()
# define BOARD_ARMED_STATE_LED_ON()
# endif
#endif //
#if defined(BOARD_ARMED_STATE_LED)
#define BOARD_ARMED_STATE_LED_TOGGLE() led_toggle(BOARD_ARMED_STATE_LED)
#define BOARD_ARMED_STATE_LED_OFF() led_off(BOARD_ARMED_STATE_LED)
#define BOARD_ARMED_STATE_LED_ON() led_on(BOARD_ARMED_STATE_LED)
#else
#define BOARD_ARMED_STATE_LED_TOGGLE()
#define BOARD_ARMED_STATE_LED_OFF()
#define BOARD_ARMED_STATE_LED_ON()
#endif
#endif //
/************************************************************************************
* Public Data
@@ -300,14 +333,14 @@
/* board power button state notification */
typedef enum board_power_button_state_notification_e {
PWR_BUTTON_IDEL, /* Button went up without meeting shutdown button down time */
PWR_BUTTON_DOWN, /* Button went Down */
PWR_BUTTON_UP, /* Button went Up */
PWR_BUTTON_REQUEST_SHUT_DOWN, /* Button went up after meeting shutdown button down time */
PWR_BUTTON_IDEL, /* Button went up without meeting shutdown button down time */
PWR_BUTTON_DOWN, /* Button went Down */
PWR_BUTTON_UP, /* Button went Up */
PWR_BUTTON_REQUEST_SHUT_DOWN, /* Button went up after meeting shutdown button down time */
PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING, /* Response from call back board code does nothing the
* expectation is that board_shutdown will be called.
*/
* expectation is that board_shutdown will be called.
*/
PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW, /* Response from call back board code does shutdown now. */
} board_power_button_state_notification_e;
@@ -319,33 +352,31 @@ typedef int (*power_button_state_notification_t)(board_power_button_state_notifi
* prepended to a padded Soc ID.
*/
typedef enum PX4_SOC_ARCH_ID_t {
PX4_SOC_ARCH_ID_UNUSED = 0x0000,
PX4_SOC_ARCH_ID_UNUSED = 0x0000,
PX4_SOC_ARCH_ID_STM32F4 = 0x0001,
PX4_SOC_ARCH_ID_STM32F7 = 0x0002,
PX4_SOC_ARCH_ID_KINETISK66 = 0x0003,
PX4_SOC_ARCH_ID_SAMV7 = 0x0004,
PX4_SOC_ARCH_ID_NXPIMXRT1062 = 0x0005,
PX4_SOC_ARCH_ID_STM32F4 = 0x0001,
PX4_SOC_ARCH_ID_STM32F7 = 0x0002,
PX4_SOC_ARCH_ID_KINETISK66 = 0x0003,
PX4_SOC_ARCH_ID_SAMV7 = 0x0004,
PX4_SOC_ARCH_ID_NXPIMXRT1062 = 0x0005,
PX4_SOC_ARCH_ID_STM32H7 = 0x0006,
PX4_SOC_ARCH_ID_STM32H7 = 0x0006,
PX4_SOC_ARCH_ID_NXPS32K146 = 0x0007,
PX4_SOC_ARCH_ID_NXPS32K146 = 0x0007,
PX4_SOC_ARCH_ID_EAGLE = 0x1001,
PX4_SOC_ARCH_ID_QURT = 0x1002,
PX4_SOC_ARCH_ID_EAGLE = 0x1001,
PX4_SOC_ARCH_ID_QURT = 0x1002,
PX4_SOC_ARCH_ID_RPI = 0x1004,
PX4_SOC_ARCH_ID_SIM = 0x1005,
PX4_SOC_ARCH_ID_SITL = 0x1006,
PX4_SOC_ARCH_ID_RPI = 0x1004,
PX4_SOC_ARCH_ID_SIM = 0x1005,
PX4_SOC_ARCH_ID_SITL = 0x1006,
PX4_SOC_ARCH_ID_BBBLUE = 0x1008,
PX4_SOC_ARCH_ID_BBBLUE = 0x1008,
} PX4_SOC_ARCH_ID_t;
/* UUID
*
* Define the types used for board UUID, MFG UID and PX4 GUID
@@ -386,8 +417,8 @@ typedef enum PX4_SOC_ARCH_ID_t {
*/
/* Define the PX4 Globally unique ID (GUID) length and format size */
#define PX4_GUID_BYTE_LENGTH 18
#define PX4_GUID_FORMAT_SIZE ((2*PX4_GUID_BYTE_LENGTH)+1)
#define PX4_GUID_BYTE_LENGTH 18
#define PX4_GUID_FORMAT_SIZE ((2 * PX4_GUID_BYTE_LENGTH) + 1)
/* DEPRICATED as of 1.7.0 A type suitable for defining the 8 bit format of the CPU UUID */
typedef uint8_t uuid_byte_t[PX4_CPU_UUID_BYTE_LENGTH];
@@ -411,7 +442,6 @@ typedef uint8_t px4_guid_t[PX4_GUID_BYTE_LENGTH];
************************************************************************************/
__BEGIN_DECLS
/************************************************************************************
* Name: board_rc_singlewire
*
@@ -474,9 +504,11 @@ static inline bool board_rc_swap_rxtx(const char *device) { return false; }
************************************************************************************/
#ifdef RC_INVERT_INPUT
static inline bool board_rc_invert_input(const char *device, bool invert)
{
if (strcmp(device, RC_SERIAL_PORT) == 0) { RC_INVERT_INPUT(invert); return true; }
static inline bool board_rc_invert_input(const char *device, bool invert) {
if (strcmp(device, RC_SERIAL_PORT) == 0) {
RC_INVERT_INPUT(invert);
return true;
}
return false;
}
@@ -503,14 +535,13 @@ static inline bool board_rc_invert_input(const char *device, bool invert) { retu
************************************************************************************/
#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
inline static int board_read_VBUS_state(void)
{
inline static int board_read_VBUS_state(void) {
platformiocvbusstate_t state = {false};
boardctl(PLATFORMIOCVBUSSTATE, (uintptr_t)&state);
return state.ret;
}
#elif defined(GPIO_OTGFS_VBUS)
# define board_read_VBUS_state() (px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1)
#define board_read_VBUS_state() (px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1)
#else
int board_read_VBUS_state(void);
#endif
@@ -542,7 +573,7 @@ int board_read_VBUS_state(void);
#if defined(BOARD_HAS_ON_RESET)
__EXPORT void board_on_reset(int status);
#endif // BOARD_HAS_ON_RESET
#endif // BOARD_HAS_ON_RESET
/****************************************************************************
* Name: board_power_off
@@ -565,7 +596,7 @@ __EXPORT void board_on_reset(int status);
#if defined(BOARD_HAS_POWER_CONTROL)
int board_power_off(int status);
#endif // BOARD_HAS_POWER_CONTROL
#endif // BOARD_HAS_POWER_CONTROL
/****************************************************************************
* Name: board_reset
@@ -609,12 +640,12 @@ int board_reset(int status);
#ifdef CONFIG_BOARDCTL_RESET
typedef enum reset_mode_e {
BOARD_RESET_MODE_CLEAR = 0, /* Clear the mode */
BOARD_RESET_MODE_BOOT_TO_BL = 1, /* Reboot and stay in the bootloader */
typedef enum reset_mode_e {
BOARD_RESET_MODE_CLEAR = 0, /* Clear the mode */
BOARD_RESET_MODE_BOOT_TO_BL = 1, /* Reboot and stay in the bootloader */
BOARD_RESET_MODE_BOOT_TO_VALID_APP = 2, /* Reboot to a valid app or stay in bootloader */
BOARD_RESET_MODE_CAN_BL = 3, /* Used to pass a node ID and stay in the can bootloader */
BOARD_RESET_MODE_RTC_BOOT_FWOK = 4 /* Set by a a watch dogged application after running > 30 Seconds */
BOARD_RESET_MODE_CAN_BL = 3, /* Used to pass a node ID and stay in the can bootloader */
BOARD_RESET_MODE_RTC_BOOT_FWOK = 4 /* Set by a a watch dogged application after running > 30 Seconds */
} reset_mode_e;
int board_configure_reset(reset_mode_e mode, uint32_t arg);
@@ -654,52 +685,51 @@ bool board_booted_by_px4(void);
typedef enum {
PX4_MFT_PX4IO = 0,
PX4_MFT_USB = 1,
PX4_MFT_CAN2 = 2,
PX4_MFT_CAN3 = 3,
PX4_MFT_USB = 1,
PX4_MFT_CAN2 = 2,
PX4_MFT_CAN3 = 3,
} px4_hw_mft_item_id_t;
typedef enum {
px4_hw_con_unknown = 0,
px4_hw_con_onboard = 1,
px4_hw_con_unknown = 0,
px4_hw_con_onboard = 1,
px4_hw_con_connector = 3,
} px4_hw_connection_t;
typedef struct {
unsigned int present: 1; /* 1 if this board have this item */
unsigned int mandatory: 1; /* 1 if this item has to be present and working */
unsigned int connection: 2; /* See px4_hw_connection_t */
unsigned int present : 1; /* 1 if this board have this item */
unsigned int mandatory : 1; /* 1 if this item has to be present and working */
unsigned int connection : 2; /* See px4_hw_connection_t */
} px4_hw_mft_item_t;
typedef const px4_hw_mft_item_t *px4_hw_mft_item;
#define px4_hw_mft_uninitialized (px4_hw_mft_item) -1
#define px4_hw_mft_unsupported (px4_hw_mft_item) 0
typedef const px4_hw_mft_item_t *px4_hw_mft_item;
#define px4_hw_mft_uninitialized (px4_hw_mft_item) - 1
#define px4_hw_mft_unsupported (px4_hw_mft_item)0
#if defined(BOARD_HAS_VERSIONING)
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id);
# define PX4_MFT_HW_SUPPORTED(ID) (board_query_manifest((ID))->present)
# define PX4_MFT_HW_REQUIRED(ID) (board_query_manifest((ID))->mandatory)
# define PX4_MFT_HW_IS_ONBOARD(ID) (board_query_manifest((ID))->connection == px4_hw_con_onboard)
# define PX4_MFT_HW_IS_OFFBOARD(ID) (board_query_manifest((ID))->connection == px4_hw_con_connector)
# define PX4_MFT_HW_IS_CONNECTION_KNOWN(ID) (board_query_manifest((ID))->connection != px4_hw_con_unknown)
#define PX4_MFT_HW_SUPPORTED(ID) (board_query_manifest((ID))->present)
#define PX4_MFT_HW_REQUIRED(ID) (board_query_manifest((ID))->mandatory)
#define PX4_MFT_HW_IS_ONBOARD(ID) (board_query_manifest((ID))->connection == px4_hw_con_onboard)
#define PX4_MFT_HW_IS_OFFBOARD(ID) (board_query_manifest((ID))->connection == px4_hw_con_connector)
#define PX4_MFT_HW_IS_CONNECTION_KNOWN(ID) (board_query_manifest((ID))->connection != px4_hw_con_unknown)
#elif defined(BOARD_HAS_STATIC_MANIFEST) && BOARD_HAS_STATIC_MANIFEST == 1
/* Board has a static configuration and will supply what it has */
# define PX4_MFT_HW_SUPPORTED(ID) PX4_MFT_HW_SUPPORTED_##ID
# define PX4_MFT_HW_REQUIRED(ID) PX4_MFT_HW_REQUIRED_##ID
# define PX4_MFT_HW_IS_ONBOARD(ID) PX4_MFT_HW_IS_ONBOARD_##ID
# define PX4_MFT_HW_IS_OFFBOARD(ID) PX4_MFT_HW_IS_OFFBOARD_##ID
# define PX4_MFT_HW_IS_CONNECTION_KNOWN(ID) PX4_MFT_HW_IS_CONNECTION_KNOWN_##ID
# define board_query_manifest(_na) px4_hw_mft_unsupported
#define PX4_MFT_HW_SUPPORTED(ID) PX4_MFT_HW_SUPPORTED_##ID
#define PX4_MFT_HW_REQUIRED(ID) PX4_MFT_HW_REQUIRED_##ID
#define PX4_MFT_HW_IS_ONBOARD(ID) PX4_MFT_HW_IS_ONBOARD_##ID
#define PX4_MFT_HW_IS_OFFBOARD(ID) PX4_MFT_HW_IS_OFFBOARD_##ID
#define PX4_MFT_HW_IS_CONNECTION_KNOWN(ID) PX4_MFT_HW_IS_CONNECTION_KNOWN_##ID
#define board_query_manifest(_na) px4_hw_mft_unsupported
#else
/* Default are Not Supported */
# define PX4_MFT_HW_SUPPORTED(ID) (0)
# define PX4_MFT_HW_REQUIRED(ID) (0)
# define PX4_MFT_HW_IS_ONBOARD(ID) (0)
# define PX4_MFT_HW_IS_OFFBOARD(ID) (0)
# define PX4_MFT_HW_IS_CONNECTION_KNOWN(ID) (0)
# define board_query_manifest(_na) px4_hw_mft_unsupported
#define PX4_MFT_HW_SUPPORTED(ID) (0)
#define PX4_MFT_HW_REQUIRED(ID) (0)
#define PX4_MFT_HW_IS_ONBOARD(ID) (0)
#define PX4_MFT_HW_IS_OFFBOARD(ID) (0)
#define PX4_MFT_HW_IS_CONNECTION_KNOWN(ID) (0)
#define board_query_manifest(_na) px4_hw_mft_unsupported
#endif
/************************************************************************************
@@ -812,7 +842,7 @@ __EXPORT int board_get_hw_revision(void);
*
************************************************************************************/
__EXPORT void board_get_uuid(uuid_byte_t uuid_bytes); // DEPRICATED use board_get_px4_guid
__EXPORT void board_get_uuid(uuid_byte_t uuid_bytes); // DEPRICATED use board_get_px4_guid
/************************************************************************************
* Name: board_get_uuid32 DEPRICATED use board_get_px4_guid
@@ -834,7 +864,7 @@ __EXPORT void board_get_uuid(uuid_byte_t uuid_bytes); // DEPRICATED use board_ge
* The uuid_words array is populated with the CPU uuid.
*
************************************************************************************/
__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use board_get_px4_guid
__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use board_get_px4_guid
/************************************************************************************
* Name: board_get_uuid32_formated DEPRICATED use board_get_px4_guid_formated
@@ -867,9 +897,8 @@ __EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use boar
* Zero (OK) is returned on success;
*
************************************************************************************/
__EXPORT int board_get_uuid32_formated(char *format_buffer, int size,
const char *format,
const char *seperator); // DEPRICATED use board_get_px4_guid_formated
__EXPORT int board_get_uuid32_formated(char *format_buffer, int size, const char *format,
const char *seperator); // DEPRICATED use board_get_px4_guid_formated
/************************************************************************************
* Name: board_get_mfguid
@@ -910,7 +939,7 @@ int board_get_mfguid(mfguid_t mfgid);
*
************************************************************************************/
int board_get_mfguid_formated(char *format_buffer, int size); // DEPRICATED use board_get_px4_guid_formated
int board_get_mfguid_formated(char *format_buffer, int size); // DEPRICATED use board_get_px4_guid_formated
/************************************************************************************
* Name: board_get_px4_guid
@@ -994,7 +1023,7 @@ int board_get_px4_guid_formated(char *format_buffer, int size);
#define board_mcu_version(rev, revstr, errata) BOARD_OVERRIDE_CPU_VERSION
#else
__EXPORT int board_mcu_version(char *rev, const char **revstr, const char **errata);
#endif // !defined(BOARD_OVERRIDE_CPU_VERSION)
#endif // !defined(BOARD_OVERRIDE_CPU_VERSION)
#if defined(BOARD_HAS_POWER_CONTROL)
/************************************************************************************
@@ -1027,10 +1056,10 @@ enum board_bus_types {
BOARD_INVALID_BUS = 0,
#if defined(CONFIG_SPI)
BOARD_SPI_BUS = 1,
#endif // CONFIG_SPI
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
BOARD_I2C_BUS = 2
#endif // CONFIG_I2C
#endif // CONFIG_I2C
};
#if defined(BOARD_HAS_BUS_MANIFEST)
@@ -1038,10 +1067,9 @@ enum board_bus_types {
__EXPORT bool board_has_bus(enum board_bus_types type, uint32_t bus);
#else
# define board_has_bus(t, b) true
#define board_has_bus(t, b) true
#endif /* BOARD_HAS_BUS_MANIFEST */
/************************************************************************************
* Name: board_spi_reset
*
platforms/common/include/px4_platform_common/cli.h
-1
View File
@@ -38,7 +38,6 @@
#pragma once
/**
* Parse a CLI argument to an integer. There are 2 valid formats:
* - 'p:<param_name>'
platforms/common/include/px4_platform_common/console_buffer.h
+3 -13
View File
@@ -42,7 +42,6 @@
#include <px4_platform_common/px4_config.h>
#define CONSOLE_BUFFER_DEVICE "/dev/console_buf"
#ifdef BOARD_ENABLE_CONSOLE_BUFFER
@@ -82,18 +81,9 @@ __END_DECLS
#else
static inline int px4_console_buffer_init()
{
return 0;
}
static inline int px4_console_buffer_init() { return 0; }
static inline int px4_console_buffer_size()
{
return 0;
}
static inline int px4_console_buffer_size() { return 0; }
static inline int px4_console_buffer_read(char *buffer, int buffer_length, int *offset)
{
return 0;
}
static inline int px4_console_buffer_read(char *buffer, int buffer_length, int *offset) { return 0; }
#endif /* BOARD_ENABLE_CONSOLE_BUFFER */
platforms/common/include/px4_platform_common/constexpr_util.h
+5 -3
View File
@@ -33,8 +33,7 @@
#pragma once
static inline int _constexpr_assert_failure(const char *msg)
{
static inline int _constexpr_assert_failure(const char *msg) {
// we do 2 things that the compiler will refuse to execute at compile-time
// (and therefore trigger a compilation error):
// - define a local static variable
@@ -54,4 +53,7 @@ static inline int _constexpr_assert_failure(const char *msg)
*
* If executed at runtime, it has no effect other than slight runtime overhead.
*/
#define constexpr_assert(expr, msg) if (!(expr)) { _constexpr_assert_failure(msg); }
#define constexpr_assert(expr, msg) \
if (!(expr)) { \
_constexpr_assert_failure(msg); \
}
platforms/common/include/px4_platform_common/crypto.h
+19 -37
View File
@@ -35,20 +35,19 @@
#ifdef PX4_CRYPTO
#include <px4_platform_common/crypto_algorithms.h>
#include <px4_platform_common/sem.h>
#include <px4_random.h>
#include <stdbool.h>
#include <stdint.h>
#include <px4_random.h>
#include <px4_platform_common/crypto_algorithms.h>
#include <px4_platform_common/sem.h>
#include "crypto_backend_definitions.h"
/*
* Crypto API interface class
*/
class PX4Crypto
{
class PX4Crypto {
public:
/*
* Constructor & destructor
@@ -91,8 +90,7 @@ public:
* returns true on success, false on failure
*/
bool generate_key(uint8_t idx,
bool persistent);
bool generate_key(uint8_t idx, bool persistent);
/*
* Generate a key pair for asymmetric-key encryption
@@ -103,13 +101,9 @@ public:
* public_idx: the public key will be stored in this index in the keystore
* persistent: whether the keys need to be stored persistently
* returns true on success, false on failure
*/
bool generate_keypair(size_t key_size,
uint8_t private_idx,
uint8_t public_idx,
bool persistent);
*/
bool generate_keypair(size_t key_size, uint8_t private_idx, uint8_t public_idx, bool persistent);
/*
* Re-create or set nonce.
@@ -123,7 +117,6 @@ public:
bool renew_nonce(const uint8_t *nonce, size_t nonce_size);
/*
* Get current crypto session nonce
*
@@ -134,8 +127,7 @@ public:
* returns true on success, false on failure
*/
bool get_nonce(uint8_t *nonce,
size_t *nonce_len);
bool get_nonce(uint8_t *nonce, size_t *nonce_len);
/*
* Store a key into keystore
@@ -144,12 +136,9 @@ public:
* authenticating the key before storing
* key: The pointer to the key
* key_idx: Index where the key will be stored in keystore
*/
*/
bool set_key(uint8_t encryption_idx,
const uint8_t *key,
uint8_t key_idx);
bool set_key(uint8_t encryption_idx, const uint8_t *key, uint8_t key_idx);
/*
* Get a key from keystore. Key can be encrypted
@@ -158,16 +147,13 @@ public:
* key: The provided buffer to the key. If NULL, the function only provides
* the length of the key.
* key_len: input: the size of the provided "key" buffer.
output: the actual size of the key
output: the actual size of the key
* encryption_key_idx: The key index in keystore to be used for encrypting
* returns true on success, false on failure
*
*/
bool get_encrypted_key(uint8_t key_idx,
uint8_t *key,
size_t *key_len,
uint8_t encryption_key_idx);
bool get_encrypted_key(uint8_t key_idx, uint8_t *key, size_t *key_len, uint8_t encryption_key_idx);
/*
* PX4 Crypto API functions
@@ -180,13 +166,9 @@ public:
* signature: pointer to the signature
* message: pointer to the data to be verified
* message_size: size of the message in bytes
*/
bool signature_check(uint8_t key_index,
const uint8_t *signature,
const uint8_t *message,
size_t message_size);
*/
bool signature_check(uint8_t key_index, const uint8_t *signature, const uint8_t *message, size_t message_size);
/*
* Encrypt data. This always supports encryption in-place
@@ -200,10 +182,7 @@ public:
* returns true on success, false on failure
*/
bool encrypt_data(uint8_t key_index,
const uint8_t *message,
size_t message_size,
uint8_t *cipher,
bool encrypt_data(uint8_t key_index, const uint8_t *message, size_t message_size, uint8_t *cipher,
size_t *cipher_size);
size_t get_min_blocksize(uint8_t key_idx);
@@ -212,7 +191,10 @@ private:
crypto_session_handle_t _crypto_handle;
static px4_sem_t _lock;
static bool _initialized;
static void lock() { do {} while (px4_sem_wait(&PX4Crypto::_lock) != 0); }
static void lock() {
do {
} while (px4_sem_wait(&PX4Crypto::_lock) != 0);
}
static void unlock() { px4_sem_post(&PX4Crypto::_lock); }
};
platforms/common/include/px4_platform_common/crypto_backend.h
+10 -24
View File
@@ -37,9 +37,10 @@
extern "C" {
#endif
#include <px4_platform_common/crypto_algorithms.h>
#include <stdbool.h>
#include <stdint.h>
#include <px4_platform_common/crypto_algorithms.h>
#include "crypto_backend_definitions.h"
/*
@@ -80,7 +81,6 @@ size_t keystore_get_key(keystore_session_handle_t handle, uint8_t idx, uint8_t *
*/
bool keystore_put_key(keystore_session_handle_t handle, uint8_t idx, uint8_t *key, size_t key_size);
/*
* Architecture specific PX4 Crypto API functions
*/
@@ -113,9 +113,7 @@ void crypto_close(crypto_session_handle_t *handle);
* idx: The key index, by which the key can be used
* persistent: if set to "true", the key will be stored into the keystore
*/
bool crypto_generate_key(crypto_session_handle_t handle,
uint8_t idx,
bool persistent);
bool crypto_generate_key(crypto_session_handle_t handle, uint8_t idx, bool persistent);
/*
* Get a key from keystore, possibly encrypted
@@ -128,10 +126,7 @@ bool crypto_generate_key(crypto_session_handle_t handle,
* encryption_key_idx: The key index in keystore to be used for encrypting
* returns true on success, false on failure
*/
bool crypto_get_encrypted_key(crypto_session_handle_t handle,
uint8_t key_idx,
uint8_t *key,
size_t *max_len,
bool crypto_get_encrypted_key(crypto_session_handle_t handle, uint8_t key_idx, uint8_t *key, size_t *max_len,
uint8_t encryption_key_idx);
/*
@@ -144,9 +139,7 @@ bool crypto_get_encrypted_key(crypto_session_handle_t handle,
* encryption_key_idx: The key index in keystore to be used for encrypting
* returns true on success, false on failure
*/
bool crypto_get_nonce(crypto_session_handle_t handle,
uint8_t *nonce,
size_t *nonce_len);
bool crypto_get_nonce(crypto_session_handle_t handle, uint8_t *nonce, size_t *nonce_len);
/*
* Perform signature check using an open session to crypto
@@ -156,18 +149,11 @@ bool crypto_get_nonce(crypto_session_handle_t handle,
* message_size: size of the data
*/
bool crypto_signature_check(crypto_session_handle_t handle,
uint8_t key_index,
const uint8_t *signature,
const uint8_t *message,
size_t message_size);
bool crypto_signature_check(crypto_session_handle_t handle, uint8_t key_index, const uint8_t *signature,
const uint8_t *message, size_t message_size);
bool crypto_encrypt_data(crypto_session_handle_t handle,
uint8_t key_index,
const uint8_t *message,
size_t message_size,
uint8_t *cipher,
size_t *cipher_size);
bool crypto_encrypt_data(crypto_session_handle_t handle, uint8_t key_index, const uint8_t *message, size_t message_size,
uint8_t *cipher, size_t *cipher_size);
/*
* Returns a minimum data block size on which the crypto operations can be
@@ -182,5 +168,5 @@ bool crypto_encrypt_data(crypto_session_handle_t handle,
size_t crypto_get_min_blocksize(crypto_session_handle_t handle, uint8_t key_idx);
#if defined(__cplusplus)
} // extern "C"
} // extern "C"
#endif
platforms/common/include/px4_platform_common/defines.h
+32 -32
View File
@@ -63,7 +63,7 @@ static inline constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(
#define PX4_ROOTFSDIR ""
#define PX4_STORAGEDIR PX4_ROOTFSDIR "/fs/microsd"
#define _PX4_IOC(x,y) _IOC(x,y)
#define _PX4_IOC(x, y) _IOC(x, y)
// mode for open with O_CREAT
#define PX4_O_MODE_777 0777
@@ -82,14 +82,14 @@ static inline constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(
// mode for open with O_CREAT
#define PX4_O_MODE_777 (S_IRWXU | S_IRWXG | S_IRWXO)
#define PX4_O_MODE_666 (S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH )
#define PX4_O_MODE_666 (S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH)
#define PX4_O_MODE_600 (S_IRUSR | S_IWUSR)
// NuttX _IOC is equivalent to Linux _IO
#define _PX4_IOC(x,y) _IO(x,y)
#define _PX4_IOC(x, y) _IO(x, y)
#define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
#define USEC_PER_TICK (1000000 / PX4_TICKS_PER_SEC)
#define USEC2TICK(x) (((x) + (USEC_PER_TICK / 2)) / USEC_PER_TICK)
__BEGIN_DECLS
extern long PX4_TICKS_PER_SEC;
@@ -107,34 +107,34 @@ __END_DECLS
#define ERROR -1
#define MAX_RAND 32767
#endif // defined(__PX4_POSIX)
#endif // defined(__PX4_POSIX)
/* Math macro's for float literals. Do not use M_PI et al as they aren't
* defined (neither C nor the C++ standard define math constants) */
#define M_E_F 2.71828183f
#define M_LOG2E_F 1.44269504f
#define M_LOG10E_F 0.43429448f
#define M_LN2_F 0.69314718f
#define M_LN10_F 2.30258509f
#define M_PI_F 3.14159265f
#define M_TWOPI_F 6.28318531f
#define M_PI_2_F 1.57079632f
#define M_PI_4_F 0.78539816f
#define M_3PI_4_F 2.35619449f
#define M_SQRTPI_F 1.77245385f
#define M_1_PI_F 0.31830989f
#define M_2_PI_F 0.63661977f
#define M_2_SQRTPI_F 1.12837917f
#define M_DEG_TO_RAD_F 0.0174532925f
#define M_RAD_TO_DEG_F 57.2957795f
#define M_SQRT2_F 1.41421356f
#define M_SQRT1_2_F 0.70710678f
#define M_LN2LO_F 1.90821484E-10f
#define M_LN2HI_F 0.69314718f
#define M_SQRT3_F 1.73205081f
#define M_IVLN10_F 0.43429448f // 1 / log(10)
#define M_LOG2_E_F 0.69314718f
#define M_INVLN2_F 1.44269504f // 1 / log(2)
#define M_E_F 2.71828183f
#define M_LOG2E_F 1.44269504f
#define M_LOG10E_F 0.43429448f
#define M_LN2_F 0.69314718f
#define M_LN10_F 2.30258509f
#define M_PI_F 3.14159265f
#define M_TWOPI_F 6.28318531f
#define M_PI_2_F 1.57079632f
#define M_PI_4_F 0.78539816f
#define M_3PI_4_F 2.35619449f
#define M_SQRTPI_F 1.77245385f
#define M_1_PI_F 0.31830989f
#define M_2_PI_F 0.63661977f
#define M_2_SQRTPI_F 1.12837917f
#define M_DEG_TO_RAD_F 0.0174532925f
#define M_RAD_TO_DEG_F 57.2957795f
#define M_SQRT2_F 1.41421356f
#define M_SQRT1_2_F 0.70710678f
#define M_LN2LO_F 1.90821484E-10f
#define M_LN2HI_F 0.69314718f
#define M_SQRT3_F 1.73205081f
#define M_IVLN10_F 0.43429448f // 1 / log(10)
#define M_LOG2_E_F 0.69314718f
#define M_INVLN2_F 1.44269504f // 1 / log(2)
#define M_DEG_TO_RAD 0.017453292519943295
#define M_RAD_TO_DEG 57.295779513082323
#define M_DEG_TO_RAD 0.017453292519943295
#define M_RAD_TO_DEG 57.295779513082323
platforms/common/include/px4_platform_common/events.h
+17 -28
View File
@@ -46,35 +46,29 @@
#include <events/events_generated.h>
#include <libevents_definitions.h>
#include <stdint.h>
namespace events
{
namespace events {
namespace util
{
namespace util {
// source: https://gist.github.com/ruby0x1/81308642d0325fd386237cfa3b44785c
constexpr uint32_t val_32_const = 0x811c9dc5;
constexpr uint32_t prime_32_const = 0x1000193;
constexpr uint64_t val_64_const = 0xcbf29ce484222325;
constexpr uint64_t prime_64_const = 0x100000001b3;
inline constexpr uint32_t hash_32_fnv1a_const(const char *const str, const uint32_t value = val_32_const) noexcept
{
inline constexpr uint32_t hash_32_fnv1a_const(const char *const str, const uint32_t value = val_32_const) noexcept {
return (str[0] == '\0') ? value : hash_32_fnv1a_const(&str[1], (value ^ uint32_t(str[0])) * prime_32_const);
}
template<typename T>
inline constexpr void fillEventArguments(uint8_t *buf, T arg)
{
template <typename T>
inline constexpr void fillEventArguments(uint8_t *buf, T arg) {
// This assumes we're on little-endian
memcpy(buf, &arg, sizeof(T));
}
template<typename T, typename... Args>
inline constexpr void fillEventArguments(uint8_t *buf, T arg, Args... args)
{
template <typename T, typename... Args>
inline constexpr void fillEventArguments(uint8_t *buf, T arg, Args... args) {
fillEventArguments(buf, arg);
fillEventArguments(buf + sizeof(T), args...);
}
@@ -82,13 +76,11 @@ inline constexpr void fillEventArguments(uint8_t *buf, T arg, Args... args)
constexpr unsigned sizeofArguments() { return 0; }
template <typename T, typename... Args>
constexpr unsigned sizeofArguments(const T &t, const Args &... args)
{
constexpr unsigned sizeofArguments(const T &t, const Args &... args) {
return sizeof(T) + sizeofArguments(args...);
}
} // namespace util
} // namespace util
/**
* publish/send an event
@@ -98,17 +90,15 @@ void send(EventType &event);
/**
* Generate event ID from an event name
*/
template<size_t N>
constexpr uint32_t ID(const char (&name)[N])
{
template <size_t N>
constexpr uint32_t ID(const char (&name)[N]) {
// Note: the generated ID must match with the python generator under Tools/px4events
uint32_t component_id = 1u << 24; // autopilot component
uint32_t component_id = 1u << 24; // autopilot component
return (0xffffff & util::hash_32_fnv1a_const(name)) | component_id;
}
template<typename... Args>
inline void send(uint32_t id, const LogLevels &log_levels, const char *message, Args... args)
{
template <typename... Args>
inline void send(uint32_t id, const LogLevels &log_levels, const char *message, Args... args) {
EventType e{};
e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
e.id = id;
@@ -118,8 +108,7 @@ inline void send(uint32_t id, const LogLevels &log_levels, const char *message,
send(e);
}
inline void send(uint32_t id, const LogLevels &log_levels, const char *message)
{
inline void send(uint32_t id, const LogLevels &log_levels, const char *message) {
EventType e{};
e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
e.id = id;
@@ -127,6 +116,6 @@ inline void send(uint32_t id, const LogLevels &log_levels, const char *message)
send(e);
}
static constexpr uint16_t initial_event_sequence = 65535 - 10; // initialize with a high number so it wraps soon
static constexpr uint16_t initial_event_sequence = 65535 - 10; // initialize with a high number so it wraps soon
} // namespace events
} // namespace events
platforms/common/include/px4_platform_common/external_reset_lockout.h
+1 -8
View File
@@ -34,13 +34,9 @@
#pragma once
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
enum class LockoutComponent : uint8_t {
Commander = 0,
SystemShutdownLock = 1
};
enum class LockoutComponent : uint8_t { Commander = 0, SystemShutdownLock = 1 };
/**
* A board may provide a mechanism to signal that PX4 is in a critical state
@@ -53,6 +49,3 @@ enum class LockoutComponent : uint8_t {
* @param enabled true if compoment is in critical state
*/
void px4_indicate_external_reset_lockout(LockoutComponent component, bool enabled);
platforms/common/include/px4_platform_common/i2c.h
+11 -14
View File
@@ -40,11 +40,12 @@
#define I2C_BUS_MAX_BUS_ITEMS PX4_NUMBER_I2C_BUSES
struct px4_i2c_bus_t {
int bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
bool is_external; ///< static external configuration. Use px4_i2c_bus_external() to check if a bus is really external
int bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
bool is_external; ///< static external configuration. Use px4_i2c_bus_external() to check if a bus is really
///< external
};
__EXPORT extern const px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS]; ///< board-specific I2C bus configuration
__EXPORT extern const px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS]; ///< board-specific I2C bus configuration
/**
* runtime-check if a board has a specific bus as external.
@@ -55,8 +56,7 @@ __EXPORT bool px4_i2c_bus_external(const px4_i2c_bus_t &bus);
/**
* runtime-check if a board has a specific bus as external.
*/
static inline bool px4_i2c_bus_external(int bus)
{
static inline bool px4_i2c_bus_external(int bus) {
for (int i = 0; i < I2C_BUS_MAX_BUS_ITEMS; ++i) {
if (px4_i2c_buses[i].bus == bus) {
return px4_i2c_bus_external(px4_i2c_buses[i]);
@@ -66,26 +66,23 @@ static inline bool px4_i2c_bus_external(int bus)
return true;
}
/**
* @class I2CBusIterator
* Iterate over configured I2C buses by the board
*/
class I2CBusIterator
{
class I2CBusIterator {
public:
enum class FilterType {
All, ///< specific or all buses
InternalBus, ///< specific or all internal buses
ExternalBus, ///< specific or all external buses
All, ///< specific or all buses
InternalBus, ///< specific or all internal buses
ExternalBus, ///< specific or all external buses
};
/**
* @param bus specify bus: starts with 1, -1=all. Internal: arch-specific bus numbering is used,
* external: n-th external bus
*/
I2CBusIterator(FilterType filter, int bus = -1)
: _filter(filter), _bus(bus) {}
I2CBusIterator(FilterType filter, int bus = -1) : _filter(filter), _bus(bus) {}
bool next();
@@ -102,4 +99,4 @@ private:
int _external_bus_counter{0};
};
#endif // CONFIG_I2C
#endif // CONFIG_I2C
platforms/common/include/px4_platform_common/i2c_spi_buses.h
+87 -87
View File
@@ -34,37 +34,36 @@
#pragma once
#include <board_config.h>
#include <lib/conversion/rotation.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/sem.h>
#include <stdint.h>
#include <containers/List.hpp>
#include <lib/conversion/rotation.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/sem.h>
#if defined(CONFIG_I2C)
# include "i2c.h"
#endif // CONFIG_I2C
#include "i2c.h"
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
# include "spi.h"
#endif // CONFIG_SPI
#include "spi.h"
#endif // CONFIG_SPI
#if defined(CONFIG_SPI)
# include <drivers/device/spi.h>
#endif // CONFIG_SPI
#include <drivers/device/spi.h>
#endif // CONFIG_SPI
enum class I2CSPIBusOption : uint8_t {
All = 0, ///< select all runnning instances
All = 0, ///< select all runnning instances
#if defined(CONFIG_I2C)
I2CInternal,
I2CExternal,
#endif // CONFIG_I2C
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIInternal,
SPIExternal,
#endif // CONFIG_SPI
#endif // CONFIG_SPI
};
class BusCLIArguments;
@@ -81,13 +80,13 @@ struct I2CSPIDriverConfig {
int bus;
#if defined(CONFIG_I2C)
uint8_t i2c_address;
#endif // CONFIG_I2C
#endif // CONFIG_I2C
int bus_frequency;
#if defined(CONFIG_SPI)
spi_drdy_gpio_t drdy_gpio;
spi_mode_e spi_mode;
uint32_t spi_devid;
#endif // CONFIG_SPI
#endif // CONFIG_SPI
int bus_device_index;
Rotation rotation;
@@ -106,22 +105,25 @@ struct I2CSPIDriverConfig {
* @class I2CSPIInstance
* I2C/SPI driver instance used by BusInstanceIterator to find running instances.
*/
class I2CSPIInstance : public ListNode<I2CSPIInstance *>
{
class I2CSPIInstance : public ListNode<I2CSPIInstance *> {
public:
virtual ~I2CSPIInstance() = default;
#if defined(CONFIG_I2C)
virtual int8_t get_i2c_address() {return _i2c_address;}
#endif // CONFIG_I2C
virtual int8_t get_i2c_address() { return _i2c_address; }
#endif // CONFIG_I2C
private:
I2CSPIInstance(const I2CSPIDriverConfig &config)
: _module_name(config.module_name), _bus_option(config.bus_option), _bus(config.bus),
_devid_driver_index(config.devid_driver_index), _bus_device_index(config.bus_device_index)
: _module_name(config.module_name),
_bus_option(config.bus_option),
_bus(config.bus),
_devid_driver_index(config.devid_driver_index),
_bus_device_index(config.bus_device_index)
#if defined(CONFIG_I2C)
, _i2c_address(config.i2c_address)
#endif // CONFIG_I2C
{}
,
_i2c_address(config.i2c_address)
#endif // CONFIG_I2C
{
}
friend class BusInstanceIterator;
friend class I2CSPIDriverBase;
@@ -132,27 +134,27 @@ private:
const uint16_t _devid_driver_index;
const int8_t _bus_device_index;
#if defined(CONFIG_I2C)
const int8_t _i2c_address; ///< I2C address (optional)
#endif // CONFIG_I2C
const int8_t _i2c_address; ///< I2C address (optional)
#endif // CONFIG_I2C
};
class BusCLIArguments
{
class BusCLIArguments {
public:
BusCLIArguments(bool i2c_support, bool spi_support)
#if defined(CONFIG_I2C) || defined(CONFIG_SPI)
:
#endif // CONFIG_I2C || CONFIG_SPI
#endif // CONFIG_I2C || CONFIG_SPI
#if defined(CONFIG_I2C)
_i2c_support(i2c_support)
#endif // CONFIG_I2C
_i2c_support(i2c_support)
#endif // CONFIG_I2C
#if defined(CONFIG_I2C) && defined(CONFIG_SPI)
,
#endif // CONFIG_I2C && CONFIG_SPI
,
#endif // CONFIG_I2C && CONFIG_SPI
#if defined(CONFIG_SPI)
_spi_support(spi_support)
#endif // CONFIG_SPI
{}
_spi_support(spi_support)
#endif // CONFIG_SPI
{
}
/**
* Parse CLI arguments (for drivers that don't need any custom arguments, otherwise getopt() should be used)
@@ -171,56 +173,54 @@ public:
*/
const char *optArg() const { return _optarg; }
I2CSPIBusOption bus_option{I2CSPIBusOption::All};
int requested_bus{-1};
int bus_frequency{0};
#if defined(CONFIG_SPI)
int chipselect {-1};
int chipselect{-1};
spi_mode_e spi_mode{SPIDEV_MODE3};
#endif // CONFIG_SPI
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
uint8_t i2c_address {0}; ///< I2C address (a driver must set the default address)
#endif // CONFIG_I2C
bool quiet_start {false}; ///< do not print a message when startup fails
bool keep_running{false}; ///< keep driver running even if no device is detected on startup
uint8_t i2c_address{0}; ///< I2C address (a driver must set the default address)
#endif // CONFIG_I2C
bool quiet_start{false}; ///< do not print a message when startup fails
bool keep_running{false}; ///< keep driver running even if no device is detected on startup
Rotation rotation{ROTATION_NONE}; ///< sensor rotation (MAV_SENSOR_ROTATION_* or distance_sensor_s::ROTATION_*)
Rotation rotation{ROTATION_NONE}; ///< sensor rotation (MAV_SENSOR_ROTATION_* or distance_sensor_s::ROTATION_*)
int custom1{0}; ///< driver-specific custom argument
int custom2{0}; ///< driver-specific custom argument
void *custom_data{nullptr}; ///< driver-specific custom argument
int custom1{0}; ///< driver-specific custom argument
int custom2{0}; ///< driver-specific custom argument
void *custom_data{nullptr}; ///< driver-specific custom argument
// driver defaults, if not specified via CLI
#if defined(CONFIG_SPI)
int default_spi_frequency {-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_SPI
int default_spi_frequency{-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
int default_i2c_frequency {-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_I2C
int default_i2c_frequency{-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_I2C
bool support_keep_running{false}; ///< true if keep_running (see above) is supported
bool support_keep_running{false}; ///< true if keep_running (see above) is supported
private:
bool validateConfiguration();
char _options[32] {};
char _options[32]{};
int _optind{1};
const char *_optarg{nullptr};
#if defined(CONFIG_I2C)
const bool _i2c_support;
#endif // CONFIG_I2C
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
const bool _spi_support;
#endif // CONFIG_SPI
#endif // CONFIG_SPI
};
/**
* @class BusInstanceIterator
* Iterate over running instances and/or configured I2C/SPI buses with given filter options.
*/
class BusInstanceIterator
{
class BusInstanceIterator {
public:
BusInstanceIterator(const char *module_name, const BusCLIArguments &cli_arguments, uint16_t devid_driver_index);
~BusInstanceIterator();
@@ -239,7 +239,7 @@ public:
#if defined(CONFIG_SPI)
spi_drdy_gpio_t DRDYGPIO() const;
#endif // CONFIG_SPI
#endif // CONFIG_SPI
bool external() const;
int externalBusIndex() const;
@@ -249,10 +249,10 @@ public:
#if defined(CONFIG_I2C)
static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option);
#endif // CONFIG_I2C
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
static SPIBusIterator::FilterType spiFilter(I2CSPIBusOption bus_option);
#endif // CONFIG_SPI
#endif // CONFIG_SPI
const char *moduleName() const { return _module_name; }
uint16_t devidDriverIndex() const { return _devid_driver_index; }
@@ -263,13 +263,13 @@ private:
const uint16_t _devid_driver_index;
#if defined(CONFIG_I2C)
const uint8_t _i2c_address;
#endif // CONFIG_I2C
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIBusIterator _spi_bus_iterator;
#endif // CONFIG_SPI
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
I2CBusIterator _i2c_bus_iterator;
#endif // CONFIG_I2C
#endif // CONFIG_I2C
List<I2CSPIInstance *>::Iterator _current_instance;
};
@@ -277,19 +277,18 @@ private:
* @class I2CSPIDriverBase
* Base class for I2C/SPI driver modules (non-templated, used by I2CSPIDriver)
*/
class I2CSPIDriverBase : public px4::ScheduledWorkItem, public I2CSPIInstance
{
class I2CSPIDriverBase : public px4::ScheduledWorkItem, public I2CSPIInstance {
public:
I2CSPIDriverBase(const I2CSPIDriverConfig &config)
: ScheduledWorkItem(config.module_name, config.wq_config),
I2CSPIInstance(config) {}
: ScheduledWorkItem(config.module_name, config.wq_config), I2CSPIInstance(config) {}
static int module_stop(BusInstanceIterator &iterator);
static int module_status(BusInstanceIterator &iterator);
static int module_custom_method(const BusCLIArguments &cli, BusInstanceIterator &iterator,
bool run_on_work_queue = true);
using instantiate_method = I2CSPIDriverBase * (*)(const I2CSPIDriverConfig &config, int runtime_instance);
using instantiate_method = I2CSPIDriverBase *(*)(const I2CSPIDriverConfig &config, int runtime_instance);
protected:
virtual ~I2CSPIDriverBase() = default;
@@ -302,11 +301,14 @@ protected:
* This will be called from the work queue.
* A module overriding this, needs to call I2CSPIDriverBase::exit_and_cleanup() as the very last statement.
*/
virtual void exit_and_cleanup() { ScheduleClear(); _task_exited.store(true); }
virtual void exit_and_cleanup() {
ScheduleClear();
_task_exited.store(true);
}
bool should_exit() const { return _task_should_exit.load(); }
static int module_start(const BusCLIArguments &cli, BusInstanceIterator &iterator, void(*print_usage)(),
static int module_start(const BusCLIArguments &cli, BusInstanceIterator &iterator, void (*print_usage)(),
instantiate_method instantiate);
private:
@@ -322,24 +324,20 @@ private:
* @class I2CSPIDriver
* Base class for I2C/SPI driver modules
*/
template<class T>
class I2CSPIDriver : public I2CSPIDriverBase
{
template <class T>
class I2CSPIDriver : public I2CSPIDriverBase {
public:
static int module_start(const BusCLIArguments &cli, BusInstanceIterator &iterator)
{
static int module_start(const BusCLIArguments &cli, BusInstanceIterator &iterator) {
return I2CSPIDriverBase::module_start(cli, iterator, &T::print_usage, InstantiateHelper<T>::m);
}
protected:
I2CSPIDriver(const I2CSPIDriverConfig &config)
: I2CSPIDriverBase(config) {}
I2CSPIDriver(const I2CSPIDriverConfig &config) : I2CSPIDriverBase(config) {}
virtual ~I2CSPIDriver() = default;
// *INDENT-OFF* remove once there's astyle >3.1 in CI
void Run() final
{
void Run() final {
static_cast<T *>(this)->RunImpl();
if (should_exit()) {
@@ -348,21 +346,23 @@ protected:
}
// *INDENT-ON*
private:
// SFINAE to use R::instantiate if it exists, and R::instantiate_default otherwise
template <typename R>
class InstantiateHelper
{
class InstantiateHelper {
template <typename C>
static constexpr I2CSPIDriverBase::instantiate_method get(decltype(&C::instantiate)) { return &C::instantiate; }
static constexpr I2CSPIDriverBase::instantiate_method get(decltype(&C::instantiate)) {
return &C::instantiate;
}
template <typename C>
static constexpr I2CSPIDriverBase::instantiate_method get(...) { return &C::instantiate_default; }
static constexpr I2CSPIDriverBase::instantiate_method get(...) {
return &C::instantiate_default;
}
public:
static constexpr I2CSPIDriverBase::instantiate_method m = get<R>(0);
};
static I2CSPIDriverBase *instantiate_default(const I2CSPIDriverConfig &config, int runtime_instance)
{
static I2CSPIDriverBase *instantiate_default(const I2CSPIDriverConfig &config, int runtime_instance) {
T *instance = new T(config);
if (!instance) {
platforms/common/include/px4_platform_common/init.h
+2 -3
View File
@@ -41,8 +41,7 @@ __END_DECLS
#ifdef __cplusplus
namespace px4
{
namespace px4 {
/**
* Startup init method. It has no specific functionality, just prints a welcome
@@ -50,6 +49,6 @@ namespace px4
*/
__EXPORT void init(int argc, char *argv[], const char *process_name);
} // namespace px4
} // namespace px4
#endif /* __cplusplus */
platforms/common/include/px4_platform_common/log.h
+116 -172
View File
@@ -38,17 +38,14 @@
#pragma once
#define _PX4_LOG_LEVEL_DEBUG 0
#define _PX4_LOG_LEVEL_INFO 1
#define _PX4_LOG_LEVEL_WARN 2
#define _PX4_LOG_LEVEL_ERROR 3
#define _PX4_LOG_LEVEL_PANIC 4
#define _PX4_LOG_LEVEL_DEBUG 0
#define _PX4_LOG_LEVEL_INFO 1
#define _PX4_LOG_LEVEL_WARN 2
#define _PX4_LOG_LEVEL_ERROR 3
#define _PX4_LOG_LEVEL_PANIC 4
// Used to silence unused variable warning
static inline void do_nothing(int level, ...)
{
(void)level;
}
static inline void do_nothing(int level, ...) { (void)level; }
__BEGIN_DECLS
@@ -63,74 +60,73 @@ __END_DECLS
* __px4_log_omit:
* Compile out the message
****************************************************************************/
#define __px4_log_omit(level, FMT, ...) do_nothing(level, ##__VA_ARGS__)
#define __px4_log_omit(level, FMT, ...) do_nothing(level, ##__VA_ARGS__)
#if defined(__PX4_QURT)
#include "qurt_log.h"
/****************************************************************************
* Messages that should never be filtered or compiled out
****************************************************************************/
#define PX4_INFO(FMT, ...) qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_INFO_RAW(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
#define PX4_INFO(FMT, ...) qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_INFO_RAW(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
#if defined(TRACE_BUILD)
/****************************************************************************
* Extremely Verbose settings for a Trace build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(DEBUG_BUILD)
/****************************************************************************
* Verbose settings for a Debug build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(RELEASE_BUILD)
/****************************************************************************
* Non-verbose settings for a Release build to minimize strings in build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#else
/****************************************************************************
* Medium verbose settings for a default build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#endif
#define PX4_LOG_NAMED(name, FMT, ...) qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED(name, FMT, ...) qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) \
if (cond) qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#else
#include <inttypes.h>
#include <stdint.h>
#include <sys/cdefs.h>
#include <stdio.h>
#include <stdarg.h>
#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include <inttypes.h>
#include <px4_platform_common/defines.h>
#include <stdarg.h>
#include <stdint.h>
#include <stdio.h>
#include <sys/cdefs.h>
__BEGIN_DECLS
__EXPORT extern const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1];
__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
__attribute__((format(printf, 3, 4)));
__EXPORT void px4_log_raw(int level, const char *fmt, ...)
__attribute__((format(printf, 2, 3)));
__attribute__((format(printf, 3, 4)));
__EXPORT void px4_log_raw(int level, const char *fmt, ...) __attribute__((format(printf, 2, 3)));
#if __GNUC__
// Allow empty format strings.
@@ -139,7 +135,6 @@ __attribute__((format(printf, 2, 3)));
__END_DECLS
/****************************************************************************
* Implementation of log section formatting based on printf
*
@@ -150,34 +145,33 @@ __END_DECLS
* Additional behavior can be added using "{\" for __px4__log_startline and
* "}" for __px4__log_endline and any other required setup or teardown steps
****************************************************************************/
#define __px4__log_printcond(cond, ...) if (cond) printf(__VA_ARGS__)
#define __px4__log_printline(level, ...) printf(__VA_ARGS__)
#define __px4__log_printcond(cond, ...) \
if (cond) printf(__VA_ARGS__)
#define __px4__log_printline(level, ...) printf(__VA_ARGS__)
#define __px4__log_timestamp_fmt "%-10" PRIu64 " "
#define __px4__log_timestamp_arg ,hrt_absolute_time()
#define __px4__log_level_fmt "%-5s "
#define __px4__log_level_arg(level) ,__px4_log_level_str[level]
#define __px4__log_thread_fmt "%#X "
#define __px4__log_thread_arg ,(unsigned int)pthread_self()
#define __px4__log_modulename_fmt "%-10s "
#define __px4__log_modulename_pfmt "[%s] "
#define __px4__log_modulename_arg ,"[" MODULE_NAME "]"
#define __px4__log_timestamp_fmt "%-10" PRIu64 " "
#define __px4__log_timestamp_arg , hrt_absolute_time()
#define __px4__log_level_fmt "%-5s "
#define __px4__log_level_arg(level) , __px4_log_level_str[level]
#define __px4__log_thread_fmt "%#X "
#define __px4__log_thread_arg , (unsigned int)pthread_self()
#define __px4__log_modulename_fmt "%-10s "
#define __px4__log_modulename_pfmt "[%s] "
#define __px4__log_modulename_arg , "[" MODULE_NAME "]"
#define __px4__log_file_and_line_fmt " (file %s line %u)"
#define __px4__log_file_and_line_arg , __FILE__, __LINE__
#define __px4__log_end_fmt "\n"
#define __px4__log_file_and_line_fmt " (file %s line %u)"
#define __px4__log_file_and_line_arg , __FILE__, __LINE__
#define __px4__log_end_fmt "\n"
#ifdef __PX4_POSIX
#define PX4_LOG_COLORIZED_OUTPUT //if defined and output is a tty, colorize the output according to the log level
#endif /* __PX4_POSIX */
#define PX4_LOG_COLORIZED_OUTPUT // if defined and output is a tty, colorize the output according to the log level
#endif /* __PX4_POSIX */
/****************************************************************************
* Output format macros
* Use these to implement the code level macros below
****************************************************************************/
/****************************************************************************
* __px4_log_named_cond:
* Convert a message in the form:
@@ -187,12 +181,7 @@ __END_DECLS
* if the first arg/condition is true.
****************************************************************************/
#define __px4_log_named_cond(name, cond, FMT, ...) \
__px4__log_printcond(cond,\
"%s " \
FMT\
__px4__log_end_fmt \
,name, ##__VA_ARGS__\
)
__px4__log_printcond(cond, "%s " FMT __px4__log_end_fmt, name, ##__VA_ARGS__)
/****************************************************************************
* __px4_log:
@@ -201,13 +190,9 @@ __END_DECLS
* to
* printf("%-5s val is %d\n", __px4_log_level_str[3], val);
****************************************************************************/
#define __px4_log(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt \
FMT\
__px4__log_end_fmt \
__px4__log_level_arg(level), ##__VA_ARGS__\
)
#define __px4_log(level, FMT, ...) \
__px4__log_printline(level, __px4__log_level_fmt FMT __px4__log_end_fmt __px4__log_level_arg(level), \
##__VA_ARGS__)
/****************************************************************************
* __px4_log_modulename:
@@ -218,10 +203,10 @@ __END_DECLS
* MODULENAME, val);
****************************************************************************/
#define __px4_log_modulename(level, fmt, ...) \
do { \
#define __px4_log_modulename(level, fmt, ...) \
do { \
px4_log_modulename(level, MODULE_NAME, fmt, ##__VA_ARGS__); \
} while(0)
} while (0)
/****************************************************************************
* __px4_log_raw:
@@ -232,11 +217,10 @@ __END_DECLS
*
* This can be used for simple printfs with all the formatting control.
****************************************************************************/
#define __px4_log_raw(level, fmt, ...) \
do { \
#define __px4_log_raw(level, fmt, ...) \
do { \
px4_log_raw(level, fmt, ##__VA_ARGS__); \
} while(0)
} while (0)
/****************************************************************************
* __px4_log_timestamp:
@@ -246,16 +230,12 @@ __END_DECLS
* printf("%-5s %10lu val is %d\n", __px4_log_level_str[3],
* hrt_absolute_time(), val);
****************************************************************************/
#define __px4_log_timestamp(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
)
#define __px4_log_timestamp(level, FMT, ...) \
__px4__log_printline( \
level, \
__px4__log_level_fmt __px4__log_timestamp_fmt FMT __px4__log_end_fmt __px4__log_level_arg(level) \
__px4__log_timestamp_arg, \
##__VA_ARGS__)
/****************************************************************************
* __px4_log_timestamp_thread:
@@ -265,18 +245,12 @@ __END_DECLS
* printf("%-5s %10lu %#X val is %d\n", __px4_log_level_str[3],
* hrt_absolute_time(), pthread_self(), val);
****************************************************************************/
#define __px4_log_timestamp_thread(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
__px4__log_thread_arg\
, ##__VA_ARGS__\
)
#define __px4_log_timestamp_thread(level, FMT, ...) \
__px4__log_printline(level, \
__px4__log_level_fmt __px4__log_timestamp_fmt __px4__log_thread_fmt FMT \
__px4__log_end_fmt __px4__log_level_arg(level) \
__px4__log_timestamp_arg __px4__log_thread_arg, \
##__VA_ARGS__)
/****************************************************************************
* __px4_log_file_and_line:
@@ -286,18 +260,11 @@ __END_DECLS
* printf("%-5s val is %d (file %s line %u)\n",
* __px4_log_level_str[3], val, __FILE__, __LINE__);
****************************************************************************/
#define __px4_log_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
#define __px4_log_file_and_line(level, FMT, ...) \
__px4__log_printline(level, \
__px4__log_level_fmt __px4__log_timestamp_fmt FMT __px4__log_file_and_line_fmt \
__px4__log_end_fmt __px4__log_level_arg(level) __px4__log_timestamp_arg, \
##__VA_ARGS__ __px4__log_file_and_line_arg)
/****************************************************************************
* __px4_log_timestamp_file_and_line:
@@ -308,18 +275,11 @@ __END_DECLS
* __px4_log_level_str[3], hrt_absolute_time(),
* val, __FILE__, __LINE__);
****************************************************************************/
#define __px4_log_timestamp_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
#define __px4_log_timestamp_file_and_line(level, FMT, ...) \
__px4__log_printline(level, \
__px4__log_level_fmt __px4__log_timestamp_fmt FMT __px4__log_file_and_line_fmt \
__px4__log_end_fmt __px4__log_level_arg(level) __px4__log_timestamp_arg, \
##__VA_ARGS__ __px4__log_file_and_line_arg)
/****************************************************************************
* __px4_log_thread_file_and_line:
@@ -330,18 +290,11 @@ __END_DECLS
* __px4_log_level_str[3], pthread_self(),
* val, __FILE__, __LINE__);
****************************************************************************/
#define __px4_log_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_thread_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
#define __px4_log_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level, \
__px4__log_level_fmt __px4__log_thread_fmt FMT __px4__log_file_and_line_fmt \
__px4__log_end_fmt __px4__log_level_arg(level) __px4__log_thread_arg, \
##__VA_ARGS__ __px4__log_file_and_line_arg)
/****************************************************************************
* __px4_log_timestamp_thread_file_and_line:
@@ -352,21 +305,12 @@ __END_DECLS
* __px4_log_level_str[3], hrt_absolute_time(),
* pthread_self(), val, __FILE__, __LINE__);
****************************************************************************/
#define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
__px4__log_thread_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
#define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level, \
__px4__log_level_fmt __px4__log_timestamp_fmt __px4__log_thread_fmt FMT \
__px4__log_file_and_line_fmt __px4__log_end_fmt __px4__log_level_arg(level) \
__px4__log_timestamp_arg __px4__log_thread_arg, \
##__VA_ARGS__ __px4__log_file_and_line_arg)
/****************************************************************************
* Code level macros
@@ -376,51 +320,51 @@ __END_DECLS
/****************************************************************************
* Messages that should never be filtered or compiled out
****************************************************************************/
#define PX4_INFO(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
#define PX4_INFO(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
#ifdef __NUTTX
#define PX4_INFO_RAW printf
#define PX4_INFO_RAW printf
#else
#define PX4_INFO_RAW(FMT, ...) __px4_log_raw(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
#define PX4_INFO_RAW(FMT, ...) __px4_log_raw(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
#endif
#if defined(TRACE_BUILD)
/****************************************************************************
* Extremely Verbose settings for a Trace build
****************************************************************************/
#define PX4_PANIC(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_timestamp_thread(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_timestamp_thread(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#elif defined(DEBUG_BUILD)
/****************************************************************************
* Verbose settings for a Debug build
****************************************************************************/
#define PX4_PANIC(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_timestamp(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_timestamp(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#elif defined(RELEASE_BUILD)
/****************************************************************************
* Non-verbose settings for a Release build to minimize strings in build
****************************************************************************/
#define PX4_PANIC(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#else
/****************************************************************************
* Medium verbose settings for a default build
****************************************************************************/
#define PX4_PANIC(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#endif
#define PX4_LOG_NAMED(name, FMT, ...) __px4_log_named_cond(name, true, FMT, ##__VA_ARGS__)
#define PX4_LOG_NAMED(name, FMT, ...) __px4_log_named_cond(name, true, FMT, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) __px4_log_named_cond(name, cond, FMT, ##__VA_ARGS__)
#endif
platforms/common/include/px4_platform_common/module.h
+33 -73
View File
@@ -38,14 +38,13 @@
#pragma once
#include <pthread.h>
#include <unistd.h>
#include <stdbool.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/time.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/time.h>
#include <stdbool.h>
#include <systemlib/px4_macros.h>
#include <unistd.h>
#ifdef __cplusplus
@@ -111,9 +110,8 @@ extern pthread_mutex_t px4_modules_mutex;
* // on error return != 0 (and _task_id must be -1)
* }
*/
template<class T>
class ModuleBase
{
template <class T>
class ModuleBase {
public:
ModuleBase() : _task_should_exit{false} {}
virtual ~ModuleBase() {}
@@ -125,13 +123,9 @@ public:
* @param argc Pointer to the task argument variable array.
* @return Returns 0 iff successful, -1 otherwise.
*/
static int main(int argc, char *argv[])
{
if (argc <= 1 ||
strcmp(argv[1], "-h") == 0 ||
strcmp(argv[1], "help") == 0 ||
strcmp(argv[1], "info") == 0 ||
strcmp(argv[1], "usage") == 0) {
static int main(int argc, char *argv[]) {
if (argc <= 1 || strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "help") == 0 ||
strcmp(argv[1], "info") == 0 || strcmp(argv[1], "usage") == 0) {
return T::print_usage();
}
@@ -148,7 +142,7 @@ public:
return stop_command();
}
lock_module(); // Lock here, as the method could access _object.
lock_module(); // Lock here, as the method could access _object.
int ret = T::custom_command(argc - 1, argv + 1);
unlock_module();
@@ -165,8 +159,7 @@ public:
* @param argc Pointer to the task argument variable array.
* @return Returns 0 iff successful, -1 otherwise.
*/
static int run_trampoline(int argc, char *argv[])
{
static int run_trampoline(int argc, char *argv[]) {
int ret = 0;
// We don't need the task name at this point.
@@ -196,8 +189,7 @@ public:
* @param argc Pointer to the task argument variable array.
* @return Returns 0 iff successful, -1 otherwise.
*/
static int start_command_base(int argc, char *argv[])
{
static int start_command_base(int argc, char *argv[]) {
int ret = 0;
lock_module();
@@ -222,8 +214,7 @@ public:
* and waits for the task to complete.
* @return Returns 0 iff successful, -1 otherwise.
*/
static int stop_command()
{
static int stop_command() {
int ret = 0;
lock_module();
@@ -237,10 +228,10 @@ public:
do {
unlock_module();
px4_usleep(10000); // 10 ms
px4_usleep(10000); // 10 ms
lock_module();
if (++i > 500 && _task_id != -1) { // wait at most 5 sec
if (++i > 500 && _task_id != -1) { // wait at most 5 sec
PX4_ERR("timeout, forcing stop");
if (_task_id != task_id_is_work_queue) {
@@ -274,8 +265,7 @@ public:
* @brief Handle 'command status': check if running and call print_status() if it is
* @return Returns 0 iff successful, -1 otherwise.
*/
static int status_command()
{
static int status_command() {
int ret = -1;
lock_module();
@@ -296,8 +286,7 @@ public:
* more specific information.
* @return Returns 0 iff successful, -1 otherwise.
*/
virtual int print_status()
{
virtual int print_status() {
PX4_INFO("running");
return 0;
}
@@ -306,45 +295,32 @@ public:
* @brief Main loop method for modules running in their own thread. Called from run_trampoline().
* This method must return when should_exit() returns true.
*/
virtual void run()
{
}
virtual void run() {}
/**
* @brief Returns the status of the module.
* @return Returns true if the module is running, false otherwise.
*/
static bool is_running()
{
return _task_id != -1;
}
static bool is_running() { return _task_id != -1; }
protected:
/**
* @brief Tells the module to stop (used from outside or inside the module thread).
*/
virtual void request_stop()
{
_task_should_exit.store(true);
}
virtual void request_stop() { _task_should_exit.store(true); }
/**
* @brief Checks if the module should stop (used within the module thread).
* @return Returns True iff successful, false otherwise.
*/
bool should_exit() const
{
return _task_should_exit.load();
}
bool should_exit() const { return _task_should_exit.load(); }
/**
* @brief Exits the module and delete the object. Called from within the module's thread.
* For work queue modules, this needs to be called from the derived class in the
* cycle method, when should_exit() returns true.
*/
static void exit_and_cleanup()
{
static void exit_and_cleanup() {
// Take the lock here:
// - if startup fails and we're faster than the parent thread, it will set
// _task_id and subsequently it will look like the task is running.
@@ -354,7 +330,7 @@ protected:
delete _object.load();
_object.store(nullptr);
_task_id = -1; // Signal a potentially waiting thread for the module to exit that it can continue.
_task_id = -1; // Signal a potentially waiting thread for the module to exit that it can continue.
unlock_module();
}
@@ -362,8 +338,7 @@ protected:
* @brief Waits until _object is initialized, (from the new thread). This can be called from task_spawn().
* @return Returns 0 iff successful, -1 on timeout or otherwise.
*/
static int wait_until_running(int timeout_ms = 1000)
{
static int wait_until_running(int timeout_ms = 1000) {
int i = 0;
do {
@@ -382,10 +357,7 @@ protected:
/**
* @brief Get the module's object instance, (this is null if it's not running).
*/
static T *get_instance()
{
return (T *)_object.load();
}
static T *get_instance() { return (T *)_object.load(); }
/**
* @var _object Instance if the module is running.
@@ -403,33 +375,25 @@ private:
/**
* @brief lock_module Mutex to lock the module thread.
*/
static void lock_module()
{
pthread_mutex_lock(&px4_modules_mutex);
}
static void lock_module() { pthread_mutex_lock(&px4_modules_mutex); }
/**
* @brief unlock_module Mutex to unlock the module thread.
*/
static void unlock_module()
{
pthread_mutex_unlock(&px4_modules_mutex);
}
static void unlock_module() { pthread_mutex_unlock(&px4_modules_mutex); }
/** @var _task_should_exit Boolean flag to indicate if the task should exit. */
px4::atomic_bool _task_should_exit{false};
};
template<class T>
template <class T>
px4::atomic<T *> ModuleBase<T>::_object{nullptr};
template<class T>
template <class T>
int ModuleBase<T>::_task_id = -1;
#endif /* __cplusplus */
__BEGIN_DECLS
/**
@@ -482,20 +446,18 @@ __EXPORT void PRINT_MODULE_USAGE_SUBCATEGORY(const char *subcategory);
*/
__EXPORT void PRINT_MODULE_USAGE_NAME_SIMPLE(const char *executable_name, const char *category);
/**
* @brief Prints a command with a short description what it does.
*/
__EXPORT void PRINT_MODULE_USAGE_COMMAND_DESCR(const char *name, const char *description);
#define PRINT_MODULE_USAGE_COMMAND(name) \
PRINT_MODULE_USAGE_COMMAND_DESCR(name, NULL);
#define PRINT_MODULE_USAGE_COMMAND(name) PRINT_MODULE_USAGE_COMMAND_DESCR(name, NULL);
/**
* @brief Prints the default commands: stop & status.
*/
#define PRINT_MODULE_USAGE_DEFAULT_COMMANDS() \
PRINT_MODULE_USAGE_COMMAND("stop"); \
PRINT_MODULE_USAGE_COMMAND("stop"); \
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "print status info");
/**
@@ -527,7 +489,7 @@ __EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG(void);
* @param is_optional true if this parameter is optional
*/
__EXPORT void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
const char *description, bool is_optional);
const char *description, bool is_optional);
/**
* @brief Prints a float parameter.
@@ -539,7 +501,7 @@ __EXPORT void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, in
* @param is_optional true if this parameter is optional
*/
__EXPORT void PRINT_MODULE_USAGE_PARAM_FLOAT(char option_char, float default_val, float min_val, float max_val,
const char *description, bool is_optional);
const char *description, bool is_optional);
/**
* @brief Prints a flag parameter, without any value.
@@ -564,7 +526,7 @@ __EXPORT void PRINT_MODULE_USAGE_PARAM_FLAG(char option_char, const char *descri
* @param is_optional True iff this parameter is optional.
*/
__EXPORT void PRINT_MODULE_USAGE_PARAM_STRING(char option_char, const char *default_val, const char *values,
const char *description, bool is_optional);
const char *description, bool is_optional);
/**
* @brief Prints a comment, that applies to the next arguments or parameters. For example to indicate that
@@ -573,7 +535,6 @@ __EXPORT void PRINT_MODULE_USAGE_PARAM_STRING(char option_char, const char *defa
*/
__EXPORT void PRINT_MODULE_USAGE_PARAM_COMMENT(const char *comment);
/**
* @brief Prints the definition for an argument, which does not have the typical -p <val> form,
* but for example 'param set <param> <value>'
@@ -583,5 +544,4 @@ __EXPORT void PRINT_MODULE_USAGE_PARAM_COMMENT(const char *comment);
*/
__EXPORT void PRINT_MODULE_USAGE_ARG(const char *values, const char *description, bool is_optional);
__END_DECLS
platforms/common/include/px4_platform_common/module_params.h
+8 -14
View File
@@ -43,21 +43,15 @@
#include "param.h"
class ModuleParams : public ListNode<ModuleParams *>
{
class ModuleParams : public ListNode<ModuleParams *> {
public:
ModuleParams(ModuleParams *parent)
{
setParent(parent);
}
ModuleParams(ModuleParams *parent) { setParent(parent); }
/**
* @brief Sets the parent module. This is typically not required,
* only in cases where the parent cannot be set via constructor.
*/
void setParent(ModuleParams *parent)
{
void setParent(ModuleParams *parent) {
if (parent) {
parent->_children.add(this);
}
@@ -65,9 +59,10 @@ public:
_parent = parent;
}
virtual ~ModuleParams()
{
if (_parent) { _parent->_children.remove(this); }
virtual ~ModuleParams() {
if (_parent) {
_parent->_children.remove(this);
}
}
// Disallow copy construction and move assignment.
@@ -81,8 +76,7 @@ protected:
* @brief Call this method whenever the module gets a parameter change notification.
* It will automatically call updateParams() for all children, which then call updateParamsImpl().
*/
virtual void updateParams()
{
virtual void updateParams() {
for (const auto &child : _children) {
child->updateParams();
}
platforms/common/include/px4_platform_common/mtd_manifest.h
+21 -20
View File
@@ -33,35 +33,36 @@
#pragma once
#include <stdint.h>
typedef enum {
MTD_PARAMETERS = 1,
MTD_WAYPOINTS = 2,
MTD_CALDATA = 3,
MTD_MFT = 4,
MTD_ID = 5,
MTD_NET = 6,
typedef enum {
MTD_PARAMETERS = 1,
MTD_WAYPOINTS = 2,
MTD_CALDATA = 3,
MTD_MFT = 4,
MTD_ID = 5,
MTD_NET = 6,
} px4_mtd_types_t;
#define PX4_MFT_MTD_TYPES {MTD_PARAMETERS, MTD_WAYPOINTS, MTD_CALDATA, MTD_MFT, MTD_ID, MTD_NET}
#define PX4_MFT_MTD_STR_TYPES {"MTD_PARAMETERS", "MTD_WAYPOINTS", "MTD_CALDATA", "MTD_MFT", "MTD_ID", "MTD_NET"}
#define PX4_MFT_MTD_TYPES \
{ MTD_PARAMETERS, MTD_WAYPOINTS, MTD_CALDATA, MTD_MFT, MTD_ID, MTD_NET }
#define PX4_MFT_MTD_STR_TYPES \
{ "MTD_PARAMETERS", "MTD_WAYPOINTS", "MTD_CALDATA", "MTD_MFT", "MTD_ID", "MTD_NET" }
typedef struct {
const px4_mtd_types_t type;
const char *path;
const uint32_t nblocks;
typedef struct {
const px4_mtd_types_t type;
const char *path;
const uint32_t nblocks;
} px4_mtd_part_t;
typedef struct {
const px4_mft_device_t *device;
const uint32_t npart;
const px4_mtd_part_t partd[];
typedef struct {
const px4_mft_device_t *device;
const uint32_t npart;
const px4_mtd_part_t partd[];
} px4_mtd_entry_t;
typedef struct {
const uint32_t nconfigs;
typedef struct {
const uint32_t nconfigs;
const px4_mtd_entry_t *entries[];
} px4_mtd_manifest_t;
__BEGIN_DECLS
/************************************************************************************
* Name: px4_mtd_config
platforms/common/include/px4_platform_common/param.h
+74 -105
View File
@@ -39,37 +39,29 @@
#pragma once
#include "param_macros.h"
#include <float.h>
#include <math.h>
#include <parameters/px4_parameters.hpp>
#include "param_macros.h"
/**
* get the parameter handle from a parameter enum
*/
inline static param_t param_handle(px4::params p)
{
return (param_t)p;
}
inline static param_t param_handle(px4::params p) { return (param_t)p; }
#define _DEFINE_SINGLE_PARAMETER(x) do_not_explicitly_use_this_namespace::PAIR(x);
#define _DEFINE_SINGLE_PARAMETER(x) \
do_not_explicitly_use_this_namespace::PAIR(x);
#define _CALL_UPDATE(x) \
STRIP(x).update();
#define _CALL_UPDATE(x) STRIP(x).update();
// define the parameter update method, which will update all parameters.
// It is marked as 'final', so that wrong usages lead to a compile error (see below)
#define _DEFINE_PARAMETER_UPDATE_METHOD(...) \
protected: \
void updateParamsImpl() final { \
APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
} \
private:
#define _DEFINE_PARAMETER_UPDATE_METHOD(...) \
protected: \
void updateParamsImpl() final { APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) } \
\
private:
// Define a list of parameters. This macro also creates code to update parameters.
// If you get a compile error like:
@@ -77,47 +69,40 @@ inline static param_t param_handle(px4::params p)
// It means you have a custom inheritance tree (at least one class with params that inherits from another
// class with params) and you need to use DEFINE_PARAMETERS_CUSTOM_PARENT() for **all** classes in
// that tree.
#define DEFINE_PARAMETERS(...) \
#define DEFINE_PARAMETERS(...) \
APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__) \
_DEFINE_PARAMETER_UPDATE_METHOD(__VA_ARGS__)
#define _DEFINE_PARAMETER_UPDATE_METHOD_CUSTOM_PARENT(parent_class, ...) \
protected: \
void updateParamsImpl() override { \
parent_class::updateParamsImpl(); \
APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
} \
private:
protected: \
void updateParamsImpl() override { \
parent_class::updateParamsImpl(); \
APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
} \
\
private:
#define DEFINE_PARAMETERS_CUSTOM_PARENT(parent_class, ...) \
APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__) \
APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__) \
_DEFINE_PARAMETER_UPDATE_METHOD_CUSTOM_PARENT(parent_class, __VA_ARGS__)
// This namespace never needs to be used directly. Use the DEFINE_PARAMETERS_CUSTOM_PARENT and
// DEFINE_PARAMETERS macros instead (the Param classes don't depend on using the macro, the macro just
// makes sure that update() is automatically called).
namespace do_not_explicitly_use_this_namespace
{
namespace do_not_explicitly_use_this_namespace {
template<typename T, px4::params p>
class Param
{
};
template <typename T, px4::params p>
class Param {};
// We use partial template specialization for each param type. This is only supported for classes, not individual methods,
// which is why we have to repeat the whole class
template<px4::params p>
class Param<float, p>
{
// We use partial template specialization for each param type. This is only supported for classes, not individual
// methods, which is why we have to repeat the whole class
template <px4::params p>
class Param<float, p> {
public:
// static type-check
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
Param()
{
Param() {
param_set_used(handle());
update();
}
@@ -129,12 +114,12 @@ public:
/// Store the parameter value to the parameter storage (@see param_set())
bool commit() const { return param_set(handle(), &_val) == 0; }
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
/// Store the parameter value to the parameter storage, w/o notifying the system (@see
/// param_set_no_notification())
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
/// Set and commit a new value. Returns true if the value changed.
bool commit_no_notification(float val)
{
bool commit_no_notification(float val) {
if (fabsf(val - _val) > FLT_EPSILON) {
set(val);
commit_no_notification();
@@ -146,8 +131,7 @@ public:
void set(float val) { _val = val; }
void reset()
{
void reset() {
param_reset_no_notification(handle());
update();
}
@@ -155,21 +139,19 @@ public:
bool update() { return param_get(handle(), &_val) == 0; }
param_t handle() const { return param_handle(p); }
private:
float _val;
};
// external version
template<px4::params p>
class Param<float &, p>
{
template <px4::params p>
class Param<float &, p> {
public:
// static type-check
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
Param(float &external_val)
: _val(external_val)
{
Param(float &external_val) : _val(external_val) {
param_set_used(handle());
update();
}
@@ -181,12 +163,12 @@ public:
/// Store the parameter value to the parameter storage (@see param_set())
bool commit() const { return param_set(handle(), &_val) == 0; }
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
/// Store the parameter value to the parameter storage, w/o notifying the system (@see
/// param_set_no_notification())
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
/// Set and commit a new value. Returns true if the value changed.
bool commit_no_notification(float val)
{
bool commit_no_notification(float val) {
if (fabsf(val - _val) > FLT_EPSILON) {
set(val);
commit_no_notification();
@@ -198,8 +180,7 @@ public:
void set(float val) { _val = val; }
void reset()
{
void reset() {
param_reset_no_notification(handle());
update();
}
@@ -207,19 +188,18 @@ public:
bool update() { return param_get(handle(), &_val) == 0; }
param_t handle() const { return param_handle(p); }
private:
float &_val;
};
template<px4::params p>
class Param<int32_t, p>
{
template <px4::params p>
class Param<int32_t, p> {
public:
// static type-check
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
Param()
{
Param() {
param_set_used(handle());
update();
}
@@ -231,12 +211,12 @@ public:
/// Store the parameter value to the parameter storage (@see param_set())
bool commit() const { return param_set(handle(), &_val) == 0; }
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
/// Store the parameter value to the parameter storage, w/o notifying the system (@see
/// param_set_no_notification())
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
/// Set and commit a new value. Returns true if the value changed.
bool commit_no_notification(int32_t val)
{
bool commit_no_notification(int32_t val) {
if (val != _val) {
set(val);
commit_no_notification();
@@ -248,8 +228,7 @@ public:
void set(int32_t val) { _val = val; }
void reset()
{
void reset() {
param_reset_no_notification(handle());
update();
}
@@ -257,21 +236,19 @@ public:
bool update() { return param_get(handle(), &_val) == 0; }
param_t handle() const { return param_handle(p); }
private:
int32_t _val;
};
//external version
template<px4::params p>
class Param<int32_t &, p>
{
// external version
template <px4::params p>
class Param<int32_t &, p> {
public:
// static type-check
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
Param(int32_t &external_val)
: _val(external_val)
{
Param(int32_t &external_val) : _val(external_val) {
param_set_used(handle());
update();
}
@@ -283,12 +260,12 @@ public:
/// Store the parameter value to the parameter storage (@see param_set())
bool commit() const { return param_set(handle(), &_val) == 0; }
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
/// Store the parameter value to the parameter storage, w/o notifying the system (@see
/// param_set_no_notification())
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
/// Set and commit a new value. Returns true if the value changed.
bool commit_no_notification(int32_t val)
{
bool commit_no_notification(int32_t val) {
if (val != _val) {
set(val);
commit_no_notification();
@@ -300,8 +277,7 @@ public:
void set(int32_t val) { _val = val; }
void reset()
{
void reset() {
param_reset_no_notification(handle());
update();
}
@@ -309,19 +285,18 @@ public:
bool update() { return param_get(handle(), &_val) == 0; }
param_t handle() const { return param_handle(p); }
private:
int32_t &_val;
};
template<px4::params p>
class Param<bool, p>
{
template <px4::params p>
class Param<bool, p> {
public:
// static type-check
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
Param()
{
Param() {
param_set_used(handle());
update();
}
@@ -331,22 +306,20 @@ public:
const bool &reference() const { return _val; }
/// Store the parameter value to the parameter storage (@see param_set())
bool commit() const
{
bool commit() const {
int32_t value_int = (int32_t)_val;
return param_set(handle(), &value_int) == 0;
}
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
bool commit_no_notification() const
{
/// Store the parameter value to the parameter storage, w/o notifying the system (@see
/// param_set_no_notification())
bool commit_no_notification() const {
int32_t value_int = (int32_t)_val;
return param_set_no_notification(handle(), &value_int) == 0;
}
/// Set and commit a new value. Returns true if the value changed.
bool commit_no_notification(bool val)
{
bool commit_no_notification(bool val) {
if (val != _val) {
set(val);
commit_no_notification();
@@ -358,14 +331,12 @@ public:
void set(bool val) { _val = val; }
void reset()
{
void reset() {
param_reset_no_notification(handle());
update();
}
bool update()
{
bool update() {
int32_t value_int;
int ret = param_get(handle(), &value_int);
@@ -378,6 +349,7 @@ public:
}
param_t handle() const { return param_handle(p); }
private:
bool _val;
};
@@ -399,15 +371,12 @@ using ParamBool = Param<bool, p>;
} /* namespace do_not_explicitly_use_this_namespace */
// Raise an appropriate compile error if a Param class is used directly (just to simplify debugging)
template<px4::params p>
class ParamInt
{
static_assert((int)p &&false, "Do not use this class directly, use the DEFINE_PARAMETERS macro instead");
template <px4::params p>
class ParamInt {
static_assert((int)p && false, "Do not use this class directly, use the DEFINE_PARAMETERS macro instead");
};
template<px4::params p>
class ParamFloat
{
static_assert((int)p &&false, "Do not use this class directly, use the DEFINE_PARAMETERS macro instead");
template <px4::params p>
class ParamFloat {
static_assert((int)p && false, "Do not use this class directly, use the DEFINE_PARAMETERS macro instead");
};
platforms/common/include/px4_platform_common/param_macros.h
+1706 -146
View File
File diff suppressed because it is too large Load Diff
platforms/common/include/px4_platform_common/posix.h
+28 -29
View File
@@ -39,11 +39,11 @@
#pragma once
#include <fcntl.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/tasks.h>
#include <stdint.h>
#include <unistd.h>
#include <fcntl.h>
#if defined(__PX4_QURT)
#include <dspal_types.h>
@@ -53,8 +53,8 @@
#include "sem.h"
#define PX4_F_RDONLY 1
#define PX4_F_WRONLY 2
#define PX4_F_RDONLY 1
#define PX4_F_WRONLY 2
#ifdef __PX4_NUTTX
@@ -68,20 +68,20 @@ typedef pollevent_t px4_pollevent_t;
#else
#define _GLOBAL
#endif
#define px4_open _GLOBAL open
#define px4_close _GLOBAL close
#define px4_ioctl _GLOBAL ioctl
#define px4_write _GLOBAL write
#define px4_read _GLOBAL read
#define px4_poll _GLOBAL poll
#define px4_access _GLOBAL access
#define px4_getpid _GLOBAL getpid
#define px4_open _GLOBAL open
#define px4_close _GLOBAL close
#define px4_ioctl _GLOBAL ioctl
#define px4_write _GLOBAL write
#define px4_read _GLOBAL read
#define px4_poll _GLOBAL poll
#define px4_access _GLOBAL access
#define px4_getpid _GLOBAL getpid
#define PX4_STACK_OVERHEAD 0
#define PX4_STACK_OVERHEAD 0
#elif defined(__PX4_POSIX)
#define PX4_STACK_OVERHEAD (1024 * 24)
#define PX4_STACK_OVERHEAD (1024 * 24)
#define px4_cache_aligned_data()
#define px4_cache_aligned_alloc malloc
@@ -92,34 +92,33 @@ typedef short px4_pollevent_t;
typedef struct {
/* This part of the struct is POSIX-like */
int fd; /* The descriptor being polled */
px4_pollevent_t events; /* The input event flags */
px4_pollevent_t revents; /* The output event flags */
int fd; /* The descriptor being polled */
px4_pollevent_t events; /* The input event flags */
px4_pollevent_t revents; /* The output event flags */
/* Required for PX4 compatibility */
px4_sem_t *sem; /* Pointer to semaphore used to post output event */
void *priv; /* For use by drivers */
px4_sem_t *sem; /* Pointer to semaphore used to post output event */
void *priv; /* For use by drivers */
} px4_pollfd_struct_t;
#ifndef POLLIN
#define POLLIN (0x01)
#define POLLIN (0x01)
#endif
__EXPORT int px4_open(const char *path, int flags, ...);
__EXPORT int px4_close(int fd);
__EXPORT ssize_t px4_read(int fd, void *buffer, size_t buflen);
__EXPORT ssize_t px4_write(int fd, const void *buffer, size_t buflen);
__EXPORT int px4_ioctl(int fd, int cmd, unsigned long arg);
__EXPORT int px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout);
__EXPORT int px4_access(const char *pathname, int mode);
__EXPORT px4_task_t px4_getpid(void);
__EXPORT int px4_open(const char *path, int flags, ...);
__EXPORT int px4_close(int fd);
__EXPORT ssize_t px4_read(int fd, void *buffer, size_t buflen);
__EXPORT ssize_t px4_write(int fd, const void *buffer, size_t buflen);
__EXPORT int px4_ioctl(int fd, int cmd, unsigned long arg);
__EXPORT int px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout);
__EXPORT int px4_access(const char *pathname, int mode);
__EXPORT px4_task_t px4_getpid(void);
__END_DECLS
#else
#error "No TARGET OS Provided"
#endif
// The stack size is intended for 32-bit architectures; therefore
// we often run out of stack space when pointers are larger than 4 bytes.
// Double the stack size on posix when we're on a 64-bit architecture.
@@ -128,6 +127,6 @@ __END_DECLS
__BEGIN_DECLS
__EXPORT void px4_show_files(void);
__EXPORT void px4_show_files(void);
__END_DECLS
platforms/common/include/px4_platform_common/printload.h
+1 -3
View File
@@ -42,7 +42,6 @@
#pragma once
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#ifndef CONFIG_FS_PROCFS_MAX_TASKS
@@ -57,7 +56,7 @@ struct print_load_s {
uint64_t new_time{0};
uint64_t interval_start_time{0};
uint64_t last_times[CONFIG_FS_PROCFS_MAX_TASKS] {};
uint64_t last_times[CONFIG_FS_PROCFS_MAX_TASKS]{};
float interval_time_us{0.f};
};
@@ -67,7 +66,6 @@ __EXPORT void init_print_load(struct print_load_s *s);
__EXPORT void print_load(int fd, struct print_load_s *print_state);
typedef void (*print_load_callback_f)(void *user);
/**
platforms/common/include/px4_platform_common/px4_config.h
+7 -5
View File
@@ -41,16 +41,18 @@
#if defined(__PX4_NUTTX)
#include <nuttx/config.h>
#include <board_config.h>
#include <nuttx/arch.h>
#include "micro_hal.h"
#include <board_config.h>
#elif defined (__PX4_POSIX)
#include <nuttx/config.h>
#include "micro_hal.h"
#elif defined(__PX4_POSIX)
#include <board_config.h>
#include "micro_hal.h"
#endif
/* PX4 board kconfig symbols */
platforms/common/include/px4_platform_common/px4_manifest.h
+12 -17
View File
@@ -33,18 +33,15 @@
#pragma once
#include <stdint.h>
typedef enum {
MFT = 0,
MTD = 1,
LAST_MFT_TYPE
} px4_manifest_types_e;
typedef enum { MFT = 0, MTD = 1, LAST_MFT_TYPE } px4_manifest_types_e;
/* must match px4_manifest_types_e */
#define PX4_MFT_TYPES {MFT, MTD}
#define PX4_MFT_STR_TYPES {"MFT", "MTD"}
typedef struct {
#define PX4_MFT_TYPES \
{ MFT, MTD }
#define PX4_MFT_STR_TYPES \
{ "MFT", "MTD" }
typedef struct {
enum px4_bus_type {
I2C = 0,
SPI = 1,
@@ -54,23 +51,22 @@ typedef struct {
uint32_t devid;
} px4_mft_device_t;
#define PX4_MK_I2C_DEVID(b,a) ((b) << 16 | ((a) & 0xffff))
#define PX4_I2C_DEVID_BUS(d) (((d) >> 16) & 0xffff)
#define PX4_I2C_DEVID_ADDR(d) ((d) & 0xffff)
#define PX4_MK_I2C_DEVID(b, a) ((b) << 16 | ((a)&0xffff))
#define PX4_I2C_DEVID_BUS(d) (((d) >> 16) & 0xffff)
#define PX4_I2C_DEVID_ADDR(d) ((d)&0xffff)
typedef struct {
const px4_manifest_types_e type;
const void *pmft;
const void *pmft;
} px4_mft_entry_s;
typedef struct {
const uint32_t nmft;
const uint32_t nmft;
const px4_mft_entry_s *mfts;
} px4_mft_s;
#include "px4_platform_common/mtd_manifest.h"
__BEGIN_DECLS
/************************************************************************************
* Name: board_get_manifest
@@ -120,6 +116,5 @@ __EXPORT int px4_mft_configure(const px4_mft_s *mft);
*
************************************************************************************/
__EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
const char *sub, const char *val);
__EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type, const char *sub, const char *val);
__END_DECLS
platforms/common/include/px4_platform_common/px4_mtd.h
+9 -11
View File
@@ -39,12 +39,12 @@ __BEGIN_DECLS
typedef struct {
struct mtd_dev_s *mtd_dev;
int *partition_block_counts;
int *partition_types;
const char **partition_names;
int *partition_block_counts;
int *partition_types;
const char **partition_names;
struct mtd_dev_s **part_dev;
uint32_t devid;
unsigned n_partitions_current;
uint32_t devid;
unsigned n_partitions_current;
} mtd_instance_s;
/*
@@ -66,16 +66,14 @@ __EXPORT mtd_instance_s *px4_mtd_get_instances(unsigned int *count);
Get device complete geometry or a device
*/
__EXPORT int px4_mtd_get_geometry(const mtd_instance_s *instance, unsigned long *blocksize, unsigned long *erasesize,
unsigned long *neraseblocks, unsigned *blkpererase, unsigned *nblocks,
unsigned *partsize);
__EXPORT int px4_mtd_get_geometry(const mtd_instance_s *instance, unsigned long *blocksize, unsigned long *erasesize,
unsigned long *neraseblocks, unsigned *blkpererase, unsigned *nblocks,
unsigned *partsize);
/*
Get size of a parttion on an instance.
*/
__EXPORT ssize_t px4_mtd_get_partition_size(const mtd_instance_s *instance, const char *partname);
FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
uint8_t address);
FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev, uint8_t address);
__END_DECLS
platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp
+7 -12
View File
@@ -33,17 +33,14 @@
#pragma once
#include "WorkItem.hpp"
#include <drivers/drv_hrt.h>
namespace px4
{
#include "WorkItem.hpp"
class ScheduledWorkItem : public WorkItem
{
namespace px4 {
class ScheduledWorkItem : public WorkItem {
public:
bool Scheduled() { return !hrt_called(&_call); }
/**
@@ -74,19 +71,17 @@ public:
void ScheduleClear();
protected:
ScheduledWorkItem(const char *name, const wq_config_t &config) : WorkItem(name, config) {}
virtual ~ScheduledWorkItem() override;
virtual void print_run_status() override;
private:
virtual void Run() override = 0;
static void schedule_trampoline(void *arg);
static void schedule_trampoline(void *arg);
hrt_call _call{};
hrt_call _call{};
};
} // namespace px4
} // namespace px4
platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
+17 -25
View File
@@ -33,25 +33,22 @@
#pragma once
#include "WorkQueueManager.hpp"
#include "WorkQueue.hpp"
#include <containers/IntrusiveQueue.hpp>
#include <containers/IntrusiveSortedList.hpp>
#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <string.h>
namespace px4
{
#include <containers/IntrusiveQueue.hpp>
#include <containers/IntrusiveSortedList.hpp>
class WorkItem : public IntrusiveSortedListNode<WorkItem *>, public IntrusiveQueueNode<WorkItem *>
{
#include "WorkQueue.hpp"
#include "WorkQueueManager.hpp"
namespace px4 {
class WorkItem : public IntrusiveSortedListNode<WorkItem *>, public IntrusiveQueueNode<WorkItem *> {
public:
WorkItem() = delete;
// no copy, assignment, move, move assignment
@@ -63,8 +60,7 @@ public:
// WorkItems sorted by name
bool operator<=(const WorkItem &rhs) const { return (strcmp(ItemName(), rhs.ItemName()) <= 0); }
inline void ScheduleNow()
{
inline void ScheduleNow() {
if (_wq != nullptr) {
_wq->Add(this);
}
@@ -84,7 +80,6 @@ public:
const char *ItemName() const { return _item_name; }
protected:
explicit WorkItem(const char *name, const wq_config_t &config);
explicit WorkItem(const char *name, const WorkItem &work_item);
@@ -95,10 +90,9 @@ protected:
* Remove work item from the runnable queue, if it's there
*/
void ScheduleClear();
protected:
void RunPreamble()
{
protected:
void RunPreamble() {
if (_run_count == 0) {
_time_first_run = hrt_absolute_time();
_run_count = 1;
@@ -126,14 +120,12 @@ protected:
float average_rate() const;
float average_interval() const;
hrt_abstime _time_first_run{0};
const char *_item_name;
uint32_t _run_count{0};
hrt_abstime _time_first_run{0};
const char *_item_name;
uint32_t _run_count{0};
private:
WorkQueue *_wq{nullptr};
WorkQueue *_wq{nullptr};
};
} // namespace px4
} // namespace px4
platforms/common/include/px4_platform_common/px4_work_queue/WorkItemSingleShot.hpp
+7 -6
View File
@@ -33,11 +33,11 @@
#pragma once
#include "WorkItem.hpp"
#include <px4_platform_common/sem.h>
namespace px4
{
#include "WorkItem.hpp"
namespace px4 {
/**
* @class WorkItemSingleShot
@@ -47,8 +47,7 @@ namespace px4
* initializer.ScheduleNow();
* initializer.wait();
*/
class WorkItemSingleShot : public px4::WorkItem
{
class WorkItemSingleShot : public px4::WorkItem {
public:
using worker_method = void (*)(void *arg);
@@ -66,12 +65,14 @@ public:
WorkItemSingleShot &operator=(WorkItemSingleShot &&) = delete;
void wait();
protected:
void Run() override;
private:
void *_argument;
worker_method _method;
px4_sem_t _sem;
};
} // namespace px4
} // namespace px4
platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp
+24 -22
View File
@@ -33,23 +33,22 @@
#pragma once
#include "WorkQueueManager.hpp"
#include <containers/BlockingList.hpp>
#include <containers/List.hpp>
#include <containers/IntrusiveQueue.hpp>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/sem.h>
#include <px4_platform_common/tasks.h>
namespace px4
{
#include <containers/BlockingList.hpp>
#include <containers/IntrusiveQueue.hpp>
#include <containers/List.hpp>
#include "WorkQueueManager.hpp"
namespace px4 {
class WorkItem;
class WorkQueue : public IntrusiveSortedListNode<WorkQueue *>
{
class WorkQueue : public IntrusiveSortedListNode<WorkQueue *> {
public:
explicit WorkQueue(const wq_config_t &wq_config);
WorkQueue() = delete;
@@ -74,10 +73,11 @@ public:
void print_status(bool last = false);
// WorkQueues sorted numerically by relative priority (-1 to -255)
bool operator<=(const WorkQueue &rhs) const { return _config.relative_priority >= rhs.get_config().relative_priority; }
bool operator<=(const WorkQueue &rhs) const {
return _config.relative_priority >= rhs.get_config().relative_priority;
}
private:
bool should_exit() const { return _should_exit.load(); }
inline void SignalWorkerThread();
@@ -89,22 +89,24 @@ private:
irqstate_t _flags;
#else
// loop as the wait may be interrupted by a signal
void work_lock() { do {} while (px4_sem_wait(&_qlock) != 0); }
void work_lock() {
do {
} while (px4_sem_wait(&_qlock) != 0);
}
void work_unlock() { px4_sem_post(&_qlock); }
px4_sem_t _qlock;
#endif
IntrusiveQueue<WorkItem *> _q;
px4_sem_t _process_lock;
px4_sem_t _exit_lock;
const wq_config_t &_config;
BlockingList<WorkItem *> _work_items;
px4::atomic_bool _should_exit{false};
IntrusiveQueue<WorkItem *> _q;
px4_sem_t _process_lock;
px4_sem_t _exit_lock;
const wq_config_t &_config;
BlockingList<WorkItem *> _work_items;
px4::atomic_bool _should_exit{false};
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
int _lockstep_component {-1};
#endif // ENABLE_LOCKSTEP_SCHEDULER
int _lockstep_component{-1};
#endif // ENABLE_LOCKSTEP_SCHEDULER
};
} // namespace px4
} // namespace px4
platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
+7 -10
View File
@@ -35,20 +35,18 @@
#include <stdint.h>
namespace px4
{
namespace px4 {
class WorkQueue; // forward declaration
class WorkQueue; // forward declaration
struct wq_config_t {
const char *name;
uint16_t stacksize;
int8_t relative_priority; // relative to max
int8_t relative_priority; // relative to max
};
namespace wq_configurations
{
static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3150, 0}; // PX4 inner loop highest priority
namespace wq_configurations {
static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3150, 0}; // PX4 inner loop highest priority
static constexpr wq_config_t SPI0{"wq:SPI0", 2336, -1};
static constexpr wq_config_t SPI1{"wq:SPI1", 2336, -2};
@@ -94,7 +92,7 @@ static constexpr wq_config_t lp_default{"wq:lp_default", 1920, -50};
static constexpr wq_config_t test1{"wq:test1", 2000, 0};
static constexpr wq_config_t test2{"wq:test2", 2000, 0};
} // namespace wq_configurations
} // namespace wq_configurations
/**
* Start the work queue manager task.
@@ -137,5 +135,4 @@ const wq_config_t &serial_port_to_wq(const char *serial);
const wq_config_t &ins_instance_to_wq(uint8_t instance);
} // namespace px4
} // namespace px4
platforms/common/include/px4_platform_common/sem.h
+22 -22
View File
@@ -44,10 +44,10 @@
#if !defined(__PX4_NUTTX)
/* Values for protocol attribute */
#define SEM_PRIO_NONE 0
#define SEM_PRIO_INHERIT 1
#define SEM_PRIO_PROTECT 2
#define sem_setprotocol(s,p)
#define SEM_PRIO_NONE 0
#define SEM_PRIO_INHERIT 1
#define SEM_PRIO_PROTECT 2
#define sem_setprotocol(s, p)
#endif
#if (defined(__PX4_DARWIN) || defined(__PX4_CYGWIN) || defined(__PX4_POSIX)) && !defined(__PX4_QURT)
@@ -60,20 +60,20 @@ typedef struct {
int value;
} px4_sem_t;
__EXPORT int px4_sem_init(px4_sem_t *s, int pshared, unsigned value);
__EXPORT int px4_sem_setprotocol(px4_sem_t *s, int protocol);
__EXPORT int px4_sem_wait(px4_sem_t *s);
__EXPORT int px4_sem_trywait(px4_sem_t *sem);
__EXPORT int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
__EXPORT int px4_sem_post(px4_sem_t *s);
__EXPORT int px4_sem_getvalue(px4_sem_t *s, int *sval);
__EXPORT int px4_sem_destroy(px4_sem_t *s);
__EXPORT int px4_sem_init(px4_sem_t *s, int pshared, unsigned value);
__EXPORT int px4_sem_setprotocol(px4_sem_t *s, int protocol);
__EXPORT int px4_sem_wait(px4_sem_t *s);
__EXPORT int px4_sem_trywait(px4_sem_t *sem);
__EXPORT int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
__EXPORT int px4_sem_post(px4_sem_t *s);
__EXPORT int px4_sem_getvalue(px4_sem_t *s, int *sval);
__EXPORT int px4_sem_destroy(px4_sem_t *s);
__END_DECLS
//#elif defined(__PX4_QURT)
//typedef sem_t px4_sem_t;
// typedef sem_t px4_sem_t;
//#define px4_sem_init sem_init
//#define px4_sem_setprotocol sem_setprotocol
@@ -89,18 +89,18 @@ typedef sem_t px4_sem_t;
__BEGIN_DECLS
#define px4_sem_init sem_init
#define px4_sem_setprotocol sem_setprotocol
#define px4_sem_wait sem_wait
#define px4_sem_trywait sem_trywait
#define px4_sem_post sem_post
#define px4_sem_getvalue sem_getvalue
#define px4_sem_destroy sem_destroy
#define px4_sem_init sem_init
#define px4_sem_setprotocol sem_setprotocol
#define px4_sem_wait sem_wait
#define px4_sem_trywait sem_trywait
#define px4_sem_post sem_post
#define px4_sem_getvalue sem_getvalue
#define px4_sem_destroy sem_destroy
#if defined(__PX4_QURT)
__EXPORT int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
__EXPORT int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
#else
#define px4_sem_timedwait sem_timedwait
#define px4_sem_timedwait sem_timedwait
#endif
__END_DECLS
platforms/common/include/px4_platform_common/sem.hpp
+6 -4
View File
@@ -41,7 +41,6 @@
#include "sem.h"
/**
* @class Smart locking object that uses a semaphore. It automatically
* takes the lock when created and releases the lock when the object goes out of
@@ -58,11 +57,14 @@
* //critical section end
* }
*/
class SmartLock
{
class SmartLock {
public:
SmartLock(px4_sem_t &sem) : _sem(sem) { do {} while (px4_sem_wait(&_sem) != 0); }
SmartLock(px4_sem_t &sem) : _sem(sem) {
do {
} while (px4_sem_wait(&_sem) != 0);
}
~SmartLock() { px4_sem_post(&_sem); }
private:
px4_sem_t &_sem;
};
platforms/common/include/px4_platform_common/shutdown.h
+4 -12
View File
@@ -38,10 +38,9 @@
#pragma once
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include <inttypes.h>
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
__BEGIN_DECLS
@@ -51,7 +50,6 @@ __BEGIN_DECLS
*/
typedef bool (*shutdown_hook_t)(void);
/**
* Register a method that should be called when powering off (and also on reboot).
* @param hook callback method. It must not block, but return immediately.
@@ -62,7 +60,6 @@ typedef bool (*shutdown_hook_t)(void);
*/
__EXPORT int px4_register_shutdown_hook(shutdown_hook_t hook);
/**
* Unregister a shutdown hook
* @param hook callback method to be removed
@@ -70,7 +67,6 @@ __EXPORT int px4_register_shutdown_hook(shutdown_hook_t hook);
*/
__EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
/**
* Request the system to reboot.
* Note the following:
@@ -84,8 +80,7 @@ __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
*/
#if defined(CONFIG_BOARDCTL_RESET)
__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0);
#endif // CONFIG_BOARDCTL_RESET
#endif // CONFIG_BOARDCTL_RESET
/**
* Request the system to shut down or reboot.
@@ -99,8 +94,7 @@ __EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us =
*/
#if defined(BOARD_HAS_POWER_CONTROL) || defined(__PX4_POSIX)
__EXPORT int px4_shutdown_request(uint32_t delay_us = 0);
#endif // BOARD_HAS_POWER_CONTROL
#endif // BOARD_HAS_POWER_CONTROL
/**
* Grab the shutdown lock. It will prevent the system from shutting down until the lock is released.
@@ -109,12 +103,10 @@ __EXPORT int px4_shutdown_request(uint32_t delay_us = 0);
*/
__EXPORT int px4_shutdown_lock(void);
/**
* Release the shutdown lock.
* @return 0 on success, <0 on error
*/
__EXPORT int px4_shutdown_unlock(void);
__END_DECLS
platforms/common/include/px4_platform_common/spi.h
+34 -30
View File
@@ -33,29 +33,32 @@
#pragma once
#include <stdint.h>
#include <board_config.h>
#include <stdint.h>
#if defined(CONFIG_SPI)
/*
* Helper macros to handle device ID's. They are used to match drivers against SPI buses and chip-select signals.
* They match with corresponding definitions in NuttX.
* 'type' is typically PX4_SPI_DEVICE_ID for PX4 drivers, and 'index' is used for the driver (DRV_*) or chip-select index.
* 'type' is typically PX4_SPI_DEVICE_ID for PX4 drivers, and 'index' is used for the driver (DRV_*) or chip-select
* index.
*/
#define PX4_SPIDEV_ID(type, index) ((((type) & 0xffff) << 16) | ((index) & 0xffff))
#define PX4_SPI_DEVICE_ID (1 << 12)
#define PX4_SPI_DEV_ID(devid) ((devid) & 0xffff)
#define PX4_SPIDEV_ID(type, index) ((((type)&0xffff) << 16) | ((index)&0xffff))
#define PX4_SPI_DEVICE_ID (1 << 12)
#define PX4_SPI_DEV_ID(devid) ((devid)&0xffff)
#define PX4_SPIDEVID_TYPE(devid) (((uint32_t)(devid) >> 16) & 0xffff)
typedef uint32_t spi_drdy_gpio_t;
#define SPI_BUS_MAX_DEVICES 6
struct px4_spi_bus_device_t {
uint32_t cs_gpio; ///< chip-select GPIO (0 if this device is not used)
spi_drdy_gpio_t drdy_gpio; ///< data ready GPIO (0 if not set)
uint32_t devid; ///< SPIDEV_ID(type,index). For PX4 devices on NuttX: index is the device type, and for external buses the CS index
uint16_t devtype_driver; ///< driver device type, e.g. DRV_IMU_DEVTYPE_ICM20689 (on NuttX: PX4_SPI_DEV_ID(devid) == devtype_driver)
uint32_t cs_gpio; ///< chip-select GPIO (0 if this device is not used)
spi_drdy_gpio_t drdy_gpio; ///< data ready GPIO (0 if not set)
uint32_t devid; ///< SPIDEV_ID(type,index). For PX4 devices on NuttX: index is the device type, and for
///< external buses the CS index
uint16_t devtype_driver; ///< driver device type, e.g. DRV_IMU_DEVTYPE_ICM20689 (on NuttX:
///< PX4_SPI_DEV_ID(devid) == devtype_driver)
};
struct px4_spi_bus_devices_t {
@@ -64,16 +67,19 @@ struct px4_spi_bus_devices_t {
struct px4_spi_bus_t {
px4_spi_bus_device_t devices[SPI_BUS_MAX_DEVICES];
int bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
uint32_t power_enable_gpio{0}; ///< GPIO (if non-zero) to control the power of the attached devices on this bus (0 means power is off)
bool is_external; ///< static external configuration. Use px4_spi_bus_external() to check if a bus is really external
bool requires_locking; ///< whether the bus should be locked during transfers (true if NuttX drivers access the bus)
int bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
uint32_t power_enable_gpio{0}; ///< GPIO (if non-zero) to control the power of the attached devices on this bus
///< (0 means power is off)
bool is_external; ///< static external configuration. Use px4_spi_bus_external() to check if a bus is really
///< external
bool requires_locking; ///< whether the bus should be locked during transfers (true if NuttX drivers access the
///< bus)
};
struct px4_spi_bus_all_hw_t {
px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS];
int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version &
///< board_get_hw_revision), -1=unused
};
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
@@ -84,15 +90,15 @@ struct px4_spi_bus_all_hw_t {
__EXPORT void px4_set_spi_buses_from_hw_version();
__EXPORT extern const px4_spi_bus_all_hw_t
px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS]; ///< board-specific SPI bus configuration all hw versions
px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS]; ///< board-specific SPI bus configuration all hw versions
__EXPORT extern const px4_spi_bus_t *px4_spi_buses; ///< board-specific SPI bus configuration for current board revision
__EXPORT extern const px4_spi_bus_t
*px4_spi_buses; ///< board-specific SPI bus configuration for current board revision
#else
static inline void px4_set_spi_buses_from_hw_version() {}
__EXPORT extern const px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS]; ///< board-specific SPI bus configuration
__EXPORT extern const px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS]; ///< board-specific SPI bus configuration
#endif
/**
* Find a SPI bus given a device ID. Note: only internal buses are checked.
* @return the bus or -1
@@ -113,8 +119,7 @@ __EXPORT bool px4_spi_bus_external(const px4_spi_bus_t &bus);
/**
* runtime-check if a board has a specific bus as external.
*/
static inline bool px4_spi_bus_external(int bus)
{
static inline bool px4_spi_bus_external(int bus) {
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
if (px4_spi_buses[i].bus == bus) {
return px4_spi_bus_external(px4_spi_buses[i]);
@@ -124,17 +129,15 @@ static inline bool px4_spi_bus_external(int bus)
return true;
}
/**
* @class SPIBusIterator
* Iterate over configured SPI buses by the board
*/
class SPIBusIterator
{
class SPIBusIterator {
public:
enum class FilterType {
InternalBus, ///< specific or all internal buses
ExternalBus, ///< specific external bus + CS index
InternalBus, ///< specific or all internal buses
ExternalBus, ///< specific external bus + CS index
};
/**
@@ -143,11 +146,12 @@ public:
* @param filter
* @param devid_driver_index DRV_*
* @param chipselect pin of SPIInternal (-1=all) or chip-select index of SPIExternal starting from 1 (optional)
* @param bus starts with 1 (-1=all, but only for internal). Numbering for internal is arch-specific, for external
* it is the n-th external bus.
* @param bus starts with 1 (-1=all, but only for internal). Numbering for internal is arch-specific, for
* external it is the n-th external bus.
*/
SPIBusIterator(FilterType filter, uint16_t devid_driver_index, int16_t chipselect = -1, int bus = -1)
: _filter(filter), _devid_driver_index(devid_driver_index),
: _filter(filter),
_devid_driver_index(devid_driver_index),
_chipselect(chipselect),
_bus(filter == FilterType::ExternalBus && bus == -1 ? 1 : bus) {}
@@ -174,4 +178,4 @@ private:
int _bus_device_index{-1};
};
#endif // CONFIG_SPI
#endif // CONFIG_SPI
platforms/common/include/px4_platform_common/tasks.h
+19 -21
View File
@@ -52,9 +52,9 @@ typedef int px4_task_t;
/** Default scheduler type */
#if CONFIG_RR_INTERVAL > 0
# define SCHED_DEFAULT SCHED_RR
#define SCHED_DEFAULT SCHED_RR
#else
# define SCHED_DEFAULT SCHED_FIFO
#define SCHED_DEFAULT SCHED_FIFO
#endif
#define px4_task_exit(x) _exit(x)
@@ -65,13 +65,15 @@ typedef int px4_task_t;
#include <sched.h>
/** Default scheduler type */
#define SCHED_DEFAULT SCHED_FIFO
#define SCHED_DEFAULT SCHED_FIFO
#if defined(__PX4_LINUX) || defined(__PX4_DARWIN) || defined(__PX4_CYGWIN)
#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
#define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
#define SCHED_PRIORITY_DEFAULT (((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2) + sched_get_priority_min(SCHED_FIFO))
#define SCHED_PRIORITY_DEFAULT \
(((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2) + \
sched_get_priority_min(SCHED_FIFO))
#elif defined(__PX4_QURT)
@@ -83,10 +85,10 @@ typedef int px4_task_t;
#error "No target OS defined"
#endif
#if defined (__PX4_LINUX)
#if defined(__PX4_LINUX)
#include <sys/prctl.h>
#else
#define PR_SET_NAME 1
#define PR_SET_NAME 1
#endif
typedef int px4_task_t;
@@ -105,44 +107,44 @@ typedef struct {
// Fast drivers - they need to run as quickly as possible to minimize control
// latency.
#define SCHED_PRIORITY_FAST_DRIVER (SCHED_PRIORITY_MAX - 0)
#define SCHED_PRIORITY_FAST_DRIVER (SCHED_PRIORITY_MAX - 0)
// Actuator outputs should run as soon as the rate controller publishes
// the actuator controls topic
#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (PX4_WQ_HP_BASE - 3)
#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (PX4_WQ_HP_BASE - 3)
// Attitude controllers typically are in a blocking wait on driver data
// they should be the first to run on an update, using the current sensor
// data and the *previous* attitude reference from the position controller
// which typically runs at a slower rate
#define SCHED_PRIORITY_ATTITUDE_CONTROL (PX4_WQ_HP_BASE - 4)
#define SCHED_PRIORITY_ATTITUDE_CONTROL (PX4_WQ_HP_BASE - 4)
// Estimators should run after the attitude controller but before anything
// else in the system. They wait on sensor data which is either coming
// from the sensor hub or from a driver. Keeping this class at a higher
// priority ensures that the estimator runs first if it can, but will
// wait for the sensor hub if its data is coming from it.
#define SCHED_PRIORITY_ESTIMATOR (PX4_WQ_HP_BASE - 5)
#define SCHED_PRIORITY_ESTIMATOR (PX4_WQ_HP_BASE - 5)
// Position controllers typically are in a blocking wait on estimator data
// so when new sensor data is available they will run last. Keeping them
// on a high priority ensures that they are the first process to be run
// when the estimator updates.
#define SCHED_PRIORITY_POSITION_CONTROL (PX4_WQ_HP_BASE - 7)
#define SCHED_PRIORITY_POSITION_CONTROL (PX4_WQ_HP_BASE - 7)
// The log capture (which stores log data into RAM) should run faster
// than other components, but should not run before the control pipeline
#define SCHED_PRIORITY_LOG_CAPTURE (PX4_WQ_HP_BASE - 10)
#define SCHED_PRIORITY_LOG_CAPTURE (PX4_WQ_HP_BASE - 10)
// Slow drivers should run at a rate where they do not impact the overall
// system execution
#define SCHED_PRIORITY_SLOW_DRIVER (PX4_WQ_HP_BASE - 35)
#define SCHED_PRIORITY_SLOW_DRIVER (PX4_WQ_HP_BASE - 35)
// The navigation system needs to execute regularly but has no realtime needs
#define SCHED_PRIORITY_NAVIGATION (SCHED_PRIORITY_DEFAULT + 5)
#define SCHED_PRIORITY_NAVIGATION (SCHED_PRIORITY_DEFAULT + 5)
// SCHED_PRIORITY_DEFAULT
#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 10)
#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15)
#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 10)
#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15)
// SCHED_PRIORITY_IDLE
typedef int (*px4_main_t)(int argc, char *argv[]);
@@ -150,11 +152,7 @@ typedef int (*px4_main_t)(int argc, char *argv[]);
__BEGIN_DECLS
/** Starts a task and performs any specific accounting, scheduler setup, etc. */
__EXPORT px4_task_t px4_task_spawn_cmd(const char *name,
int scheduler,
int priority,
int stack_size,
px4_main_t entry,
__EXPORT px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
char *const argv[]);
/** Deletes a task - does not do resource cleanup **/
platforms/common/include/px4_platform_common/time.h
+3 -5
View File
@@ -1,9 +1,9 @@
#pragma once
#include <unistd.h>
#include <pthread.h>
#include <sys/types.h>
#include <time.h>
#include <pthread.h>
#include <unistd.h>
#if defined(__PX4_APPLE_LEGACY)
#define clockid_t int
@@ -24,9 +24,7 @@ __EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
__EXPORT int px4_usleep(useconds_t usec);
__EXPORT unsigned int px4_sleep(unsigned int seconds);
__EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
pthread_mutex_t *mutex,
const struct timespec *abstime);
__EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime);
__END_DECLS
#else
platforms/common/include/px4_platform_common/workqueue.h
+10 -10
View File
@@ -37,13 +37,13 @@
#if defined(__PX4_NUTTX)
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <nuttx/wqueue.h>
#elif defined(__PX4_POSIX)
#include <stdint.h>
#include <queue.h>
#include <px4_platform_types.h>
#include <queue.h>
#include <stdint.h>
__BEGIN_DECLS
@@ -52,8 +52,8 @@ __BEGIN_DECLS
#define NWORKERS 2
struct wqueue_s {
pid_t pid; /* The task ID of the worker thread */
struct dq_queue_s q; /* The queue of pending work */
pid_t pid; /* The task ID of the worker thread */
struct dq_queue_s q; /* The queue of pending work */
};
extern struct wqueue_s g_work[NWORKERS];
@@ -63,11 +63,11 @@ extern struct wqueue_s g_work[NWORKERS];
typedef void (*worker_t)(void *arg);
struct work_s {
struct dq_entry_s dq; /* Implements a doubly linked list */
worker_t worker; /* Work callback */
void *arg; /* Callback argument */
uint64_t qtime; /* Time work queued */
uint32_t delay; /* Delay until work performed */
struct dq_entry_s dq; /* Implements a doubly linked list */
worker_t worker; /* Work callback */
void *arg; /* Callback argument */
uint64_t qtime; /* Time work queued */
uint32_t delay; /* Delay until work performed */
};
/****************************************************************************
platforms/common/include/px4_random.h
+1 -2
View File
@@ -42,6 +42,5 @@
*/
__BEGIN_DECLS
size_t px4_get_secure_random(uint8_t *out,
size_t outlen);
size_t px4_get_secure_random(uint8_t *out, size_t outlen);
__END_DECLS