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Qurt specific drivers for testing and some updates to the startup process (#20917)

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* Added a couple of Qurt specific drivers for testing and some updates to Qurt startup code
This commit is contained in:
Eric Katzfey
2023-01-12 20:17:30 -05:00
committed by GitHub
parent 767fcb2774
commit 2a315f86ca
10 changed files with 1008 additions and 2 deletions
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platforms/qurt/src/px4/tasks.cpp
+50 -2
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@@ -70,6 +70,35 @@ static pthread_mutex_t task_mutex;
extern "C" {
int pthread_setname_np(pthread_t __target_thread, const char *__name) { return 0; }
// This function is in pthread.h but is not, apparently, defined in the
// Qurt system image. So, it is being defined here. Unfortunately it doesn't
// seem to work. It looks like the Qurt pthread implementation likes to allocate
// the stack itself and not give us that ability.
// int pthread_attr_setstackaddr(pthread_attr_t *attr, void * stackaddr) {
// if (attr == NULL) return -1;
// if (stackaddr == NULL) return -1;
// attr->stackaddr = stackaddr;
// attr->internal_stack = 0;
// return 0;
// }
// This function is in pthread.h but is not, apparently, defined in the
// Qurt system image. So, it is being defined here.
int pthread_attr_setthreadname(pthread_attr_t *attr, const char *name)
{
if (attr == NULL) { return -1; }
if (&attr->name[0] == NULL) { return -1; }
if (name == NULL) { return -1; }
memcpy(attr->name, name, PTHREAD_NAME_LEN);
attr->name[PTHREAD_NAME_LEN - 1] = 0;
return 0;
}
// Qurt only has one scheduling policy so this just returns a success
int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy) { return 0; }
}
@@ -172,11 +201,30 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
strcpy(&taskmap[task_index].name[4], name);
struct sched_param param;
// Qurt threads have different priority numbers. 1 is the highest
// priority and 255 is the lowest. But we are using the pthread
// implementation on Qurt which returns 255 when you call sched_get_priority_max.
// However, the Qurt pthread implementation deals with this properly when
// creating the underlying Qurt task by mapping the high number into a low number.
// For high priorities bump everything down a little so that critical Qurt
// threads are not impacted.
if (priority > 128) {
priority -= 16;
}
// Likewise, for low priorities, bump everything up a little.
else if (priority < 128) {
priority += 10;
}
param.sched_priority = priority;
pthread_attr_init(&taskmap[task_index].attr);
//pthread_attr_setthreadname(&taskmap[task_index].attr, taskmap[task_index].name);
//pthread_attr_setstackaddr(&taskmap[task_index].attr, taskmap[task_index].stack);
pthread_attr_setthreadname(&taskmap[task_index].attr, taskmap[task_index].name);
// See note above about the pthread_attr_setstackaddr function
// pthread_attr_setstackaddr(&taskmap[task_index].attr, taskmap[task_index].stack);
pthread_attr_setstacksize(&taskmap[task_index].attr, PX4_TASK_STACK_SIZE);
pthread_attr_setschedparam(&taskmap[task_index].attr, &param);