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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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src/modules/muorb/slpi/uORBProtobufChannel.cpp
+6
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@@ -268,6 +268,8 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
return -1;
}
hrt_init();
uORB::Manager::initialize();
uORB::Manager::get_instance()->set_uorb_communicator(
uORB::ProtobufChannel::GetInstance());
@@ -288,6 +290,7 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
// Initialize the interrupt callback registration
register_interrupt_callback_initalizer(muorb_func_ptrs.register_interrupt_callback);
work_queues_init();
hrt_work_queue_init();
const char *argv[3] = { "slpi", "start" };
@@ -304,6 +307,9 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
qurt_thread_attr_init(&aggregator_attr);
qurt_thread_attr_set_stack_addr(&aggregator_attr, aggregator_stack);
qurt_thread_attr_set_stack_size(&aggregator_attr, aggregator_stack_size);
char thread_name[QURT_THREAD_ATTR_NAME_MAXLEN];
strncpy(thread_name, "PX4_muorb_agg", QURT_THREAD_ATTR_NAME_MAXLEN);
qurt_thread_attr_set_name(&aggregator_attr, thread_name);
qurt_thread_attr_set_priority(&aggregator_attr, aggregator_thread_priority);
(void) qurt_thread_create(&aggregator_tid, &aggregator_attr, aggregator_thread_func, NULL);