mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-07 12:01:36 +08:00
move posix, nuttx, qurt components into platforms
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
a644ed90dd
commit
2ff81393bc
@@ -0,0 +1,61 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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||||
#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set(EXTRA_DEPENDS)
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if("${CONFIG_SHMEM}" STREQUAL "1")
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
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include(hexagon_sdk)
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include_directories(${HEXAGON_SDK_INCLUDES})
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include_directories(${PX4_BINARY_DIR}/platforms/posix)
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list(APPEND SHMEM_SRCS
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shmem_posix.c
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)
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# TODO: This didn't seem to be tracked correctly from posix_eagle_release.cmake
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DCONFIG_SHMEM")
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set(EXTRA_DEPENDS generate_px4muorb_stubs)
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endif()
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px4_add_module(
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MODULE platforms__posix__px4_layer
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COMPILE_FLAGS
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SRCS
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px4_posix_impl.cpp
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px4_posix_tasks.cpp
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px4_sem.cpp
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lib_crc32.c
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drv_hrt.c
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${SHMEM_SRCS}
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DEPENDS
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platforms__common
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${EXTRA_DEPENDS}
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)
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@@ -0,0 +1,603 @@
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/****************************************************************************
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*
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file drv_hrt.c
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*
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* High-resolution timer with callouts and timekeeping.
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*/
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#include <px4_time.h>
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#include <px4_posix.h>
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#include <px4_defines.h>
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#include <px4_workqueue.h>
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#include <px4_tasks.h>
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#include <drivers/drv_hrt.h>
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#include <semaphore.h>
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#include <time.h>
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#include <string.h>
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#include <inttypes.h>
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#include <errno.h>
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#include "hrt_work.h"
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static struct sq_queue_s callout_queue;
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/* latency histogram */
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#define LATENCY_BUCKET_COUNT 8
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__EXPORT const uint16_t latency_bucket_count = LATENCY_BUCKET_COUNT;
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__EXPORT const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
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__EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
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static void hrt_call_reschedule(void);
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// Intervals in usec
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#define HRT_INTERVAL_MIN 50
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#define HRT_INTERVAL_MAX 50000000
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static px4_sem_t _hrt_lock;
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static struct work_s _hrt_work;
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#ifndef __PX4_QURT
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static hrt_abstime px4_timestart = 0;
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#else
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static int32_t dsp_offset = 0;
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#endif
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static hrt_abstime _start_delay_time = 0;
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static hrt_abstime _delay_interval = 0;
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static hrt_abstime max_time = 0;
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pthread_mutex_t _hrt_mutex = PTHREAD_MUTEX_INITIALIZER;
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static void
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hrt_call_invoke(void);
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static hrt_abstime
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_hrt_absolute_time_internal(void);
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__EXPORT hrt_abstime hrt_reset(void);
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static void hrt_lock(void)
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{
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px4_sem_wait(&_hrt_lock);
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}
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static void hrt_unlock(void)
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{
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px4_sem_post(&_hrt_lock);
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}
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#if defined(__PX4_APPLE_LEGACY)
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#include <sys/time.h>
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int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
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{
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struct timeval now;
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int rv = gettimeofday(&now, NULL);
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if (rv) {
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return rv;
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}
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tp->tv_sec = now.tv_sec;
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tp->tv_nsec = now.tv_usec * 1000;
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return 0;
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}
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int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
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{
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/* do nothing right now */
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return 0;
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}
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#elif defined(__PX4_QURT)
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#include "dspal_time.h"
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int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
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{
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/* do nothing right now */
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return 0;
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}
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int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
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{
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return clock_gettime(clk_id, tp);
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}
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#endif
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#ifndef __PX4_QURT
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/*
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* Get system time in us
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*/
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uint64_t hrt_system_time(void)
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{
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struct timespec ts;
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px4_clock_gettime(CLOCK_MONOTONIC, &ts);
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return ts_to_abstime(&ts);
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}
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#endif
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/*
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* Get absolute time.
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*/
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hrt_abstime _hrt_absolute_time_internal(void)
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{
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struct timespec ts;
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#if defined(__PX4_QURT)
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// Don't use the timestart on the DSP on Snapdragon because we manually
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// set the px4_timestart using the hrt_set_absolute_time_offset().
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px4_clock_gettime(CLOCK_MONOTONIC, &ts);
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return ts_to_abstime(&ts) + dsp_offset;
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#elif (defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR))
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// Don't do any offseting on the Linux side on the Snapdragon.
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px4_clock_gettime(CLOCK_MONOTONIC, &ts);
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return ts_to_abstime(&ts);
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#else
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if (!px4_timestart) {
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px4_clock_gettime(CLOCK_MONOTONIC, &ts);
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px4_timestart = ts_to_abstime(&ts);
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}
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px4_clock_gettime(CLOCK_MONOTONIC, &ts);
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return ts_to_abstime(&ts) - px4_timestart;
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#endif
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}
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#ifdef __PX4_QURT
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int hrt_set_absolute_time_offset(int32_t time_diff_us)
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{
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dsp_offset = time_diff_us;
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return 0;
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}
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#endif
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/*
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* Get absolute time.
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*/
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hrt_abstime hrt_absolute_time(void)
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{
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pthread_mutex_lock(&_hrt_mutex);
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hrt_abstime ret;
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if (_start_delay_time > 0) {
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ret = _start_delay_time;
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} else {
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ret = _hrt_absolute_time_internal();
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}
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ret -= _delay_interval;
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if (ret < max_time) {
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PX4_ERR("WARNING! TIME IS NEGATIVE! %d vs %d", (int)ret, (int)max_time);
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ret = max_time;
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}
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max_time = ret;
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pthread_mutex_unlock(&_hrt_mutex);
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return ret;
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}
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__EXPORT hrt_abstime hrt_reset(void)
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{
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#ifndef __PX4_QURT
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px4_timestart = 0;
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#endif
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max_time = 0;
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return _hrt_absolute_time_internal();
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}
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/*
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* Convert a timespec to absolute time.
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*/
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hrt_abstime ts_to_abstime(struct timespec *ts)
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{
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hrt_abstime result;
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result = (hrt_abstime)(ts->tv_sec) * 1000000;
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result += ts->tv_nsec / 1000;
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return result;
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}
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/*
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* Compute the delta between a timestamp taken in the past
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* and now.
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*
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* This function is safe to use even if the timestamp is updated
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* by an interrupt during execution.
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*/
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hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then)
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{
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hrt_abstime delta = hrt_absolute_time() - *then;
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return delta;
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}
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/*
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* Store the absolute time in an interrupt-safe fashion.
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*
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* This function ensures that the timestamp cannot be seen half-written by an interrupt handler.
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*/
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hrt_abstime hrt_store_absolute_time(volatile hrt_abstime *now)
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{
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hrt_abstime ts = hrt_absolute_time();
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return ts;
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}
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/*
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* If this returns true, the entry has been invoked and removed from the callout list,
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* or it has never been entered.
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*
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* Always returns false for repeating callouts.
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*/
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bool hrt_called(struct hrt_call *entry)
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{
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return (entry->deadline == 0);
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}
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/*
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* Remove the entry from the callout list.
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*/
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void hrt_cancel(struct hrt_call *entry)
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{
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hrt_lock();
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sq_rem(&entry->link, &callout_queue);
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entry->deadline = 0;
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/* if this is a periodic call being removed by the callout, prevent it from
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* being re-entered when the callout returns.
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*/
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entry->period = 0;
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hrt_unlock();
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// endif
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}
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/*
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* initialise a hrt_call structure
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*/
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void hrt_call_init(struct hrt_call *entry)
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{
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memset(entry, 0, sizeof(*entry));
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}
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/*
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* delay a hrt_call_every() periodic call by the given number of
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* microseconds. This should be called from within the callout to
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* cause the callout to be re-scheduled for a later time. The periodic
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* callouts will then continue from that new base time at the
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* previously specified period.
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*/
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void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
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{
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entry->deadline = hrt_absolute_time() + delay;
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}
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/*
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* Initialise the HRT.
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*/
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void hrt_init(void)
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{
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sq_init(&callout_queue);
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int sem_ret = px4_sem_init(&_hrt_lock, 0, 1);
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if (sem_ret) {
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PX4_ERR("SEM INIT FAIL: %s", strerror(errno));
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}
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memset(&_hrt_work, 0, sizeof(_hrt_work));
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}
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|
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void hrt_start_delay()
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{
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pthread_mutex_lock(&_hrt_mutex);
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_start_delay_time = _hrt_absolute_time_internal();
|
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pthread_mutex_unlock(&_hrt_mutex);
|
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}
|
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|
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void hrt_stop_delay_delta(hrt_abstime delta)
|
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{
|
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pthread_mutex_lock(&_hrt_mutex);
|
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uint64_t delta_measured = _hrt_absolute_time_internal() - _start_delay_time;
|
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|
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if (delta_measured < delta) {
|
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delta = delta_measured;
|
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}
|
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|
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_delay_interval += delta;
|
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_start_delay_time = 0;
|
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|
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pthread_mutex_unlock(&_hrt_mutex);
|
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|
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}
|
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|
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void hrt_stop_delay()
|
||||
{
|
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pthread_mutex_lock(&_hrt_mutex);
|
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uint64_t delta = _hrt_absolute_time_internal() - _start_delay_time;
|
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_delay_interval += delta;
|
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_start_delay_time = 0;
|
||||
|
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pthread_mutex_unlock(&_hrt_mutex);
|
||||
|
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}
|
||||
|
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static void
|
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hrt_call_enter(struct hrt_call *entry)
|
||||
{
|
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struct hrt_call *call, *next;
|
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|
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//PX4_INFO("hrt_call_enter");
|
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call = (struct hrt_call *)sq_peek(&callout_queue);
|
||||
|
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if ((call == NULL) || (entry->deadline < call->deadline)) {
|
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sq_addfirst(&entry->link, &callout_queue);
|
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//if (call != NULL) PX4_INFO("call enter at head, reschedule (%lu %lu)", entry->deadline, call->deadline);
|
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/* we changed the next deadline, reschedule the timer event */
|
||||
hrt_call_reschedule();
|
||||
|
||||
} else {
|
||||
do {
|
||||
next = (struct hrt_call *)sq_next(&call->link);
|
||||
|
||||
if ((next == NULL) || (entry->deadline < next->deadline)) {
|
||||
//lldbg("call enter after head\n");
|
||||
sq_addafter(&call->link, &entry->link, &callout_queue);
|
||||
break;
|
||||
}
|
||||
} while ((call = next) != NULL);
|
||||
}
|
||||
|
||||
//PX4_INFO("scheduled");
|
||||
}
|
||||
|
||||
/**
|
||||
* Timer interrupt handler
|
||||
*
|
||||
* This routine simulates a timer interrupt handler
|
||||
*/
|
||||
static void
|
||||
hrt_tim_isr(void *p)
|
||||
{
|
||||
|
||||
//PX4_INFO("hrt_tim_isr");
|
||||
/* run any callouts that have met their deadline */
|
||||
hrt_call_invoke();
|
||||
|
||||
hrt_lock();
|
||||
|
||||
/* and schedule the next interrupt */
|
||||
hrt_call_reschedule();
|
||||
|
||||
hrt_unlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* Reschedule the next timer interrupt.
|
||||
*
|
||||
* This routine must be called with interrupts disabled.
|
||||
*/
|
||||
static void
|
||||
hrt_call_reschedule()
|
||||
{
|
||||
hrt_abstime now = hrt_absolute_time();
|
||||
hrt_abstime delay = HRT_INTERVAL_MAX;
|
||||
struct hrt_call *next = (struct hrt_call *)sq_peek(&callout_queue);
|
||||
hrt_abstime deadline = now + HRT_INTERVAL_MAX;
|
||||
|
||||
//PX4_INFO("hrt_call_reschedule");
|
||||
|
||||
/*
|
||||
* Determine what the next deadline will be.
|
||||
*
|
||||
* Note that we ensure that this will be within the counter
|
||||
* period, so that when we truncate all but the low 16 bits
|
||||
* the next time the compare matches it will be the deadline
|
||||
* we want.
|
||||
*
|
||||
* It is important for accurate timekeeping that the compare
|
||||
* interrupt fires sufficiently often that the base_time update in
|
||||
* hrt_absolute_time runs at least once per timer period.
|
||||
*/
|
||||
if (next != NULL) {
|
||||
//lldbg("entry in queue\n");
|
||||
if (next->deadline <= (now + HRT_INTERVAL_MIN)) {
|
||||
//lldbg("pre-expired\n");
|
||||
/* set a minimal deadline so that we call ASAP */
|
||||
delay = HRT_INTERVAL_MIN;
|
||||
|
||||
} else if (next->deadline < deadline) {
|
||||
//lldbg("due soon\n");
|
||||
delay = next->deadline - now;
|
||||
}
|
||||
}
|
||||
|
||||
// There is no timer ISR, so simulate one by putting an event on the
|
||||
// high priority work queue
|
||||
|
||||
// Remove the existing expiry and update with the new expiry
|
||||
hrt_work_cancel(&_hrt_work);
|
||||
|
||||
hrt_work_queue(&_hrt_work, (worker_t)&hrt_tim_isr, NULL, delay);
|
||||
}
|
||||
|
||||
static void
|
||||
hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
|
||||
{
|
||||
PX4_DEBUG("hrt_call_internal deadline=%lu interval = %lu", deadline, interval);
|
||||
hrt_lock();
|
||||
|
||||
//PX4_INFO("hrt_call_internal after lock");
|
||||
/* if the entry is currently queued, remove it */
|
||||
/* note that we are using a potentially uninitialised
|
||||
entry->link here, but it is safe as sq_rem() doesn't
|
||||
dereference the passed node unless it is found in the
|
||||
list. So we potentially waste a bit of time searching the
|
||||
queue for the uninitialised entry->link but we don't do
|
||||
anything actually unsafe.
|
||||
*/
|
||||
if (entry->deadline != 0) {
|
||||
sq_rem(&entry->link, &callout_queue);
|
||||
}
|
||||
|
||||
#if 1
|
||||
|
||||
// Use this to debug busy CPU that keeps rescheduling with 0 period time
|
||||
/*if (interval < HRT_INTERVAL_MIN) {*/
|
||||
/*PX4_ERR("hrt_call_internal interval too short: %" PRIu64, interval);*/
|
||||
/*PX4_BACKTRACE();*/
|
||||
/*}*/
|
||||
|
||||
#endif
|
||||
entry->deadline = deadline;
|
||||
entry->period = interval;
|
||||
entry->callout = callout;
|
||||
entry->arg = arg;
|
||||
|
||||
hrt_call_enter(entry);
|
||||
hrt_unlock();
|
||||
}
|
||||
|
||||
/*
|
||||
* Call callout(arg) after delay has elapsed.
|
||||
*
|
||||
* If callout is NULL, this can be used to implement a timeout by testing the call
|
||||
* with hrt_called().
|
||||
*/
|
||||
void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg)
|
||||
{
|
||||
//printf("hrt_call_after\n");
|
||||
hrt_call_internal(entry,
|
||||
hrt_absolute_time() + delay,
|
||||
0,
|
||||
callout,
|
||||
arg);
|
||||
}
|
||||
|
||||
/*
|
||||
* Call callout(arg) after delay, and then after every interval.
|
||||
*
|
||||
* Note thet the interval is timed between scheduled, not actual, call times, so the call rate may
|
||||
* jitter but should not drift.
|
||||
*/
|
||||
void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg)
|
||||
{
|
||||
hrt_call_internal(entry,
|
||||
hrt_absolute_time() + delay,
|
||||
interval,
|
||||
callout,
|
||||
arg);
|
||||
}
|
||||
|
||||
/*
|
||||
* Call callout(arg) at absolute time calltime.
|
||||
*/
|
||||
void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg)
|
||||
{
|
||||
hrt_call_internal(entry, calltime, 0, callout, arg);
|
||||
}
|
||||
|
||||
#if 0
|
||||
/*
|
||||
* Convert absolute time to a timespec.
|
||||
*/
|
||||
void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
|
||||
#endif
|
||||
|
||||
static void
|
||||
hrt_call_invoke(void)
|
||||
{
|
||||
struct hrt_call *call;
|
||||
hrt_abstime deadline;
|
||||
|
||||
hrt_lock();
|
||||
|
||||
while (true) {
|
||||
/* get the current time */
|
||||
hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
call = (struct hrt_call *)sq_peek(&callout_queue);
|
||||
|
||||
if (call == NULL) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (call->deadline > now) {
|
||||
break;
|
||||
}
|
||||
|
||||
sq_rem(&call->link, &callout_queue);
|
||||
//PX4_INFO("call pop");
|
||||
|
||||
/* save the intended deadline for periodic calls */
|
||||
deadline = call->deadline;
|
||||
|
||||
/* zero the deadline, as the call has occurred */
|
||||
call->deadline = 0;
|
||||
|
||||
/* invoke the callout (if there is one) */
|
||||
if (call->callout) {
|
||||
// Unlock so we don't deadlock in callback
|
||||
hrt_unlock();
|
||||
|
||||
//PX4_INFO("call %p: %p(%p)", call, call->callout, call->arg);
|
||||
call->callout(call->arg);
|
||||
|
||||
hrt_lock();
|
||||
}
|
||||
|
||||
/* if the callout has a non-zero period, it has to be re-entered */
|
||||
if (call->period != 0) {
|
||||
// re-check call->deadline to allow for
|
||||
// callouts to re-schedule themselves
|
||||
// using hrt_call_delay()
|
||||
if (call->deadline <= now) {
|
||||
call->deadline = deadline + call->period;
|
||||
//PX4_INFO("call deadline set to %lu now=%lu", call->deadline, now);
|
||||
}
|
||||
|
||||
hrt_call_enter(call);
|
||||
}
|
||||
}
|
||||
|
||||
hrt_unlock();
|
||||
}
|
||||
|
||||
@@ -0,0 +1,125 @@
|
||||
/************************************************************************************************
|
||||
* libc/misc/lib_crc32.c
|
||||
*
|
||||
* This file is a part of NuttX:
|
||||
*
|
||||
* Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
|
||||
*
|
||||
* The logic in this file was developed by Gary S. Brown:
|
||||
*
|
||||
* COPYRIGHT (C) 1986 Gary S. Brown. You may use this program, or code or tables
|
||||
* extracted from it, as desired without restriction.
|
||||
*
|
||||
* First, the polynomial itself and its table of feedback terms. The polynomial is:
|
||||
*
|
||||
* X^32+X^26+X^23+X^22+X^16+X^12+X^11+X^10+X^8+X^7+X^5+X^4+X^2+X^1+X^0
|
||||
*
|
||||
* Note that we take it "backwards" and put the highest-order term in the lowest-order bit.
|
||||
* The X^32 term is "implied"; the LSB is the X^31 term, etc. The X^0 term (usually shown
|
||||
* as "+1") results in the MSB being 1
|
||||
*
|
||||
* Note that the usual hardware shift register implementation, which is what we're using
|
||||
* (we're merely optimizing it by doing eight-bit chunks at a time) shifts bits into the
|
||||
* lowest-order term. In our implementation, that means shifting towards the right. Why
|
||||
* do we do it this way? Because the calculated CRC must be transmitted in order from
|
||||
* highest-order term to lowest-order term. UARTs transmit characters in order from LSB
|
||||
* to MSB. By storing the CRC this way we hand it to the UART in the order low-byte to
|
||||
* high-byte; the UART sends each low-bit to hight-bit; and the result is transmission bit
|
||||
* by bit from highest- to lowest-order term without requiring any bit shuffling on our
|
||||
* part. Reception works similarly
|
||||
*
|
||||
* The feedback terms table consists of 256, 32-bit entries. Notes
|
||||
*
|
||||
* - The table can be generated at runtime if desired; code to do so is shown later. It
|
||||
* might not be obvious, but the feedback terms simply represent the results of eight
|
||||
* shift/xor operations for all combinations of data and CRC register values
|
||||
*
|
||||
* - The values must be right-shifted by eight bits by the updcrc logic; the shift must
|
||||
* be u_(bring in zeroes). On some hardware you could probably optimize the shift in
|
||||
* assembler by using byte-swap instructions polynomial $edb88320
|
||||
************************************************************************************************/
|
||||
|
||||
/************************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************************/
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <crc32.h>
|
||||
|
||||
// Needed for Linux
|
||||
#define FAR
|
||||
|
||||
/************************************************************************************************
|
||||
* Private Data
|
||||
************************************************************************************************/
|
||||
|
||||
static const uint32_t crc32_tab[] = {
|
||||
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
|
||||
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
|
||||
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
|
||||
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
|
||||
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
|
||||
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
|
||||
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
|
||||
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
|
||||
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
|
||||
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
|
||||
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
|
||||
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
|
||||
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
|
||||
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
|
||||
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
|
||||
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
|
||||
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
|
||||
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
|
||||
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
|
||||
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
|
||||
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
|
||||
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
|
||||
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
|
||||
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
|
||||
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
|
||||
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
|
||||
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
|
||||
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
|
||||
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
|
||||
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
|
||||
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
|
||||
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
|
||||
};
|
||||
|
||||
/************************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************************/
|
||||
/************************************************************************************************
|
||||
* Name: crc32part
|
||||
*
|
||||
* Description:
|
||||
* Continue CRC calculation on a part of the buffer.
|
||||
*
|
||||
************************************************************************************************/
|
||||
|
||||
uint32_t crc32part(FAR const uint8_t *src, size_t len, uint32_t crc32val)
|
||||
{
|
||||
size_t i;
|
||||
|
||||
for (i = 0; i < len; i++) {
|
||||
crc32val = crc32_tab[(crc32val ^ src[i]) & 0xff] ^ (crc32val >> 8);
|
||||
}
|
||||
|
||||
return crc32val;
|
||||
}
|
||||
|
||||
/************************************************************************************************
|
||||
* Name: crc32
|
||||
*
|
||||
* Description:
|
||||
* Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
|
||||
*
|
||||
************************************************************************************************/
|
||||
|
||||
uint32_t crc32(FAR const uint8_t *src, size_t len)
|
||||
{
|
||||
return crc32part(src, len, 0);
|
||||
}
|
||||
@@ -0,0 +1,114 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4_posix_impl.cpp
|
||||
*
|
||||
* PX4 Middleware Wrapper Linux Implementation
|
||||
*/
|
||||
|
||||
#include <px4_defines.h>
|
||||
#include <px4_middleware.h>
|
||||
#include <px4_workqueue.h>
|
||||
#include <px4_defines.h>
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <signal.h>
|
||||
#include <errno.h>
|
||||
#include <unistd.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include "hrt_work.h"
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include "px4_time.h"
|
||||
#include <pthread.h>
|
||||
|
||||
extern pthread_t _shell_task_id;
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
|
||||
|
||||
#ifdef CONFIG_SHMEM
|
||||
extern void init_params(void);
|
||||
#endif
|
||||
|
||||
__END_DECLS
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
void init_once();
|
||||
|
||||
void init_once()
|
||||
{
|
||||
_shell_task_id = pthread_self();
|
||||
//printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);
|
||||
work_queues_init();
|
||||
hrt_work_queue_init();
|
||||
hrt_init();
|
||||
param_init();
|
||||
|
||||
#ifdef CONFIG_SHMEM
|
||||
PX4_DEBUG("Syncing params to shared memory\n");
|
||||
init_params();
|
||||
#endif
|
||||
}
|
||||
|
||||
void init(int argc, char *argv[], const char *app_name)
|
||||
{
|
||||
printf("\n");
|
||||
printf("______ __ __ ___ \n");
|
||||
printf("| ___ \\ \\ \\ / / / |\n");
|
||||
printf("| |_/ / \\ V / / /| |\n");
|
||||
printf("| __/ / \\ / /_| |\n");
|
||||
printf("| | / /^\\ \\ \\___ |\n");
|
||||
printf("\\_| \\/ \\/ |_/\n");
|
||||
printf("\n");
|
||||
printf("%s starting.\n", app_name);
|
||||
printf("\n");
|
||||
|
||||
// set the threads name
|
||||
#ifdef __PX4_DARWIN
|
||||
(void)pthread_setname_np(app_name);
|
||||
#else
|
||||
(void)pthread_setname_np(pthread_self(), app_name);
|
||||
#endif
|
||||
}
|
||||
|
||||
uint64_t get_time_micros()
|
||||
{
|
||||
return hrt_absolute_time();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,451 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
* Author: @author Mark Charlebois <charlebm#gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4_posix_tasks.c
|
||||
* Implementation of existing task API for Linux
|
||||
*/
|
||||
|
||||
#include <px4_log.h>
|
||||
#include <px4_defines.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <errno.h>
|
||||
#include <stdbool.h>
|
||||
#include <signal.h>
|
||||
#include <fcntl.h>
|
||||
#include <sched.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <pthread.h>
|
||||
#include <limits.h>
|
||||
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
#include <string>
|
||||
|
||||
#include <px4_tasks.h>
|
||||
#include <px4_posix.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#define MAX_CMD_LEN 100
|
||||
|
||||
#define PX4_MAX_TASKS 50
|
||||
#define SHELL_TASK_ID (PX4_MAX_TASKS+1)
|
||||
|
||||
pthread_t _shell_task_id = 0;
|
||||
pthread_mutex_t task_mutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
|
||||
struct task_entry {
|
||||
pthread_t pid;
|
||||
std::string name;
|
||||
bool isused;
|
||||
task_entry() : isused(false) {}
|
||||
};
|
||||
|
||||
static task_entry taskmap[PX4_MAX_TASKS] = {};
|
||||
|
||||
typedef struct {
|
||||
px4_main_t entry;
|
||||
char name[16]; //pthread_setname_np is restricted to 16 chars
|
||||
int argc;
|
||||
char *argv[];
|
||||
// strings are allocated after the struct data
|
||||
} pthdata_t;
|
||||
|
||||
static void *entry_adapter(void *ptr)
|
||||
{
|
||||
pthdata_t *data = (pthdata_t *) ptr;
|
||||
|
||||
int rv;
|
||||
|
||||
// set the threads name
|
||||
#ifdef __PX4_DARWIN
|
||||
rv = pthread_setname_np(data->name);
|
||||
#else
|
||||
rv = pthread_setname_np(pthread_self(), data->name);
|
||||
#endif
|
||||
|
||||
if (rv) {
|
||||
PX4_ERR("px4_task_spawn_cmd: failed to set name of thread %d %d\n", rv, errno);
|
||||
}
|
||||
|
||||
data->entry(data->argc, data->argv);
|
||||
free(ptr);
|
||||
PX4_DEBUG("Before px4_task_exit");
|
||||
px4_task_exit(0);
|
||||
PX4_DEBUG("After px4_task_exit");
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
void
|
||||
px4_systemreset(bool to_bootloader)
|
||||
{
|
||||
PX4_WARN("Called px4_system_reset");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
|
||||
char *const argv[])
|
||||
{
|
||||
|
||||
int rv;
|
||||
int argc = 0;
|
||||
int i;
|
||||
unsigned int len = 0;
|
||||
unsigned long offset;
|
||||
unsigned long structsize;
|
||||
char *p = (char *)argv;
|
||||
|
||||
pthread_attr_t attr;
|
||||
struct sched_param param = {};
|
||||
|
||||
// Calculate argc
|
||||
while (p != (char *)nullptr) {
|
||||
p = argv[argc];
|
||||
|
||||
if (p == (char *)nullptr) {
|
||||
break;
|
||||
}
|
||||
|
||||
++argc;
|
||||
len += strlen(p) + 1;
|
||||
}
|
||||
|
||||
structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
|
||||
|
||||
// not safe to pass stack data to the thread creation
|
||||
pthdata_t *taskdata = (pthdata_t *)malloc(structsize + len);
|
||||
memset(taskdata, 0, structsize + len);
|
||||
offset = ((unsigned long)taskdata) + structsize;
|
||||
|
||||
strncpy(taskdata->name, name, 16);
|
||||
taskdata->name[15] = 0;
|
||||
taskdata->entry = entry;
|
||||
taskdata->argc = argc;
|
||||
|
||||
for (i = 0; i < argc; i++) {
|
||||
PX4_DEBUG("arg %d %s\n", i, argv[i]);
|
||||
taskdata->argv[i] = (char *)offset;
|
||||
strcpy((char *)offset, argv[i]);
|
||||
offset += strlen(argv[i]) + 1;
|
||||
}
|
||||
|
||||
// Must add NULL at end of argv
|
||||
taskdata->argv[argc] = (char *)nullptr;
|
||||
|
||||
PX4_DEBUG("starting task %s", name);
|
||||
|
||||
rv = pthread_attr_init(&attr);
|
||||
|
||||
if (rv != 0) {
|
||||
PX4_ERR("px4_task_spawn_cmd: failed to init thread attrs");
|
||||
free(taskdata);
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
|
||||
#ifndef __PX4_DARWIN
|
||||
|
||||
if (stack_size < PTHREAD_STACK_MIN) {
|
||||
stack_size = PTHREAD_STACK_MIN;
|
||||
}
|
||||
|
||||
rv = pthread_attr_setstacksize(&attr, PX4_STACK_ADJUSTED(stack_size));
|
||||
|
||||
if (rv != 0) {
|
||||
PX4_ERR("pthread_attr_setstacksize to %d returned error (%d)", stack_size, rv);
|
||||
pthread_attr_destroy(&attr);
|
||||
free(taskdata);
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
|
||||
|
||||
if (rv != 0) {
|
||||
PX4_ERR("px4_task_spawn_cmd: failed to set inherit sched");
|
||||
pthread_attr_destroy(&attr);
|
||||
free(taskdata);
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
|
||||
rv = pthread_attr_setschedpolicy(&attr, scheduler);
|
||||
|
||||
if (rv != 0) {
|
||||
PX4_ERR("px4_task_spawn_cmd: failed to set sched policy");
|
||||
pthread_attr_destroy(&attr);
|
||||
free(taskdata);
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
|
||||
#ifdef __PX4_CYGWIN
|
||||
/* Priorities on Windows are defined a lot differently */
|
||||
priority = SCHED_PRIORITY_DEFAULT;
|
||||
#endif
|
||||
|
||||
param.sched_priority = priority;
|
||||
|
||||
rv = pthread_attr_setschedparam(&attr, ¶m);
|
||||
|
||||
if (rv != 0) {
|
||||
PX4_ERR("px4_task_spawn_cmd: failed to set sched param");
|
||||
pthread_attr_destroy(&attr);
|
||||
free(taskdata);
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
|
||||
pthread_mutex_lock(&task_mutex);
|
||||
|
||||
int taskid = 0;
|
||||
|
||||
for (i = 0; i < PX4_MAX_TASKS; ++i) {
|
||||
if (taskmap[i].isused == false) {
|
||||
taskmap[i].name = name;
|
||||
taskmap[i].isused = true;
|
||||
taskid = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (i >= PX4_MAX_TASKS) {
|
||||
pthread_attr_destroy(&attr);
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
free(taskdata);
|
||||
return -ENOSPC;
|
||||
}
|
||||
|
||||
rv = pthread_create(&taskmap[taskid].pid, &attr, &entry_adapter, (void *) taskdata);
|
||||
|
||||
if (rv != 0) {
|
||||
|
||||
if (rv == EPERM) {
|
||||
//printf("WARNING: NOT RUNING AS ROOT, UNABLE TO RUN REALTIME THREADS\n");
|
||||
rv = pthread_create(&taskmap[taskid].pid, nullptr, &entry_adapter, (void *) taskdata);
|
||||
|
||||
if (rv != 0) {
|
||||
PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
|
||||
taskmap[taskid].isused = false;
|
||||
pthread_attr_destroy(&attr);
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
free(taskdata);
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
|
||||
} else {
|
||||
pthread_attr_destroy(&attr);
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
free(taskdata);
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
}
|
||||
|
||||
pthread_attr_destroy(&attr);
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
|
||||
return i;
|
||||
}
|
||||
|
||||
int px4_task_delete(px4_task_t id)
|
||||
{
|
||||
int rv = 0;
|
||||
pthread_t pid;
|
||||
PX4_DEBUG("Called px4_task_delete");
|
||||
|
||||
if (id < PX4_MAX_TASKS && taskmap[id].isused) {
|
||||
pid = taskmap[id].pid;
|
||||
|
||||
} else {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
pthread_mutex_lock(&task_mutex);
|
||||
|
||||
// If current thread then exit, otherwise cancel
|
||||
if (pthread_self() == pid) {
|
||||
pthread_join(pid, nullptr);
|
||||
taskmap[id].isused = false;
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
pthread_exit(nullptr);
|
||||
|
||||
} else {
|
||||
rv = pthread_cancel(pid);
|
||||
}
|
||||
|
||||
taskmap[id].isused = false;
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
void px4_task_exit(int ret)
|
||||
{
|
||||
int i;
|
||||
pthread_t pid = pthread_self();
|
||||
|
||||
// Get pthread ID from the opaque ID
|
||||
for (i = 0; i < PX4_MAX_TASKS; ++i) {
|
||||
if (taskmap[i].pid == pid) {
|
||||
pthread_mutex_lock(&task_mutex);
|
||||
taskmap[i].isused = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (i >= PX4_MAX_TASKS) {
|
||||
PX4_ERR("px4_task_exit: self task not found!");
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str());
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
|
||||
pthread_exit((void *)(unsigned long)ret);
|
||||
}
|
||||
|
||||
int px4_task_kill(px4_task_t id, int sig)
|
||||
{
|
||||
int rv = 0;
|
||||
pthread_t pid;
|
||||
PX4_DEBUG("Called px4_task_kill %d", sig);
|
||||
|
||||
if (id < PX4_MAX_TASKS && taskmap[id].isused && taskmap[id].pid != 0) {
|
||||
pthread_mutex_lock(&task_mutex);
|
||||
pid = taskmap[id].pid;
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
|
||||
} else {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
// If current thread then exit, otherwise cancel
|
||||
rv = pthread_kill(pid, sig);
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
void px4_show_tasks()
|
||||
{
|
||||
int idx;
|
||||
int count = 0;
|
||||
|
||||
PX4_INFO("Active Tasks:");
|
||||
|
||||
for (idx = 0; idx < PX4_MAX_TASKS; idx++) {
|
||||
if (taskmap[idx].isused) {
|
||||
PX4_INFO(" %-10s %lu", taskmap[idx].name.c_str(), (unsigned long)taskmap[idx].pid);
|
||||
count++;
|
||||
}
|
||||
}
|
||||
|
||||
if (count == 0) {
|
||||
PX4_INFO(" No running tasks");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
bool px4_task_is_running(const char *taskname)
|
||||
{
|
||||
int idx;
|
||||
|
||||
for (idx = 0; idx < PX4_MAX_TASKS; idx++) {
|
||||
if (taskmap[idx].isused && (strcmp(taskmap[idx].name.c_str(), taskname) == 0)) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
px4_task_t px4_getpid()
|
||||
{
|
||||
pthread_t pid = pthread_self();
|
||||
px4_task_t ret = -1;
|
||||
|
||||
pthread_mutex_lock(&task_mutex);
|
||||
|
||||
for (int i = 0; i < PX4_MAX_TASKS; i++) {
|
||||
if (taskmap[i].isused && taskmap[i].pid == pid) {
|
||||
ret = i;
|
||||
}
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
return ret;
|
||||
}
|
||||
|
||||
const char *px4_get_taskname()
|
||||
{
|
||||
pthread_t pid = pthread_self();
|
||||
const char *prog_name = "UnknownApp";
|
||||
|
||||
pthread_mutex_lock(&task_mutex);
|
||||
|
||||
for (int i = 0; i < PX4_MAX_TASKS; i++) {
|
||||
if (taskmap[i].isused && taskmap[i].pid == pid) {
|
||||
prog_name = taskmap[i].name.c_str();
|
||||
}
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
|
||||
return prog_name;
|
||||
}
|
||||
|
||||
int px4_prctl(int option, const char *arg2, px4_task_t pid)
|
||||
{
|
||||
int rv;
|
||||
|
||||
switch (option) {
|
||||
case PR_SET_NAME:
|
||||
// set the threads name
|
||||
#ifdef __PX4_DARWIN
|
||||
rv = pthread_setname_np(arg2);
|
||||
#else
|
||||
rv = pthread_setname_np(pthread_self(), arg2);
|
||||
#endif
|
||||
break;
|
||||
|
||||
default:
|
||||
rv = -1;
|
||||
PX4_WARN("FAILED SETTING TASK NAME");
|
||||
break;
|
||||
}
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,205 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4_sem.cpp
|
||||
*
|
||||
* PX4 Middleware Wrapper Linux Implementation
|
||||
*/
|
||||
|
||||
#include <px4_defines.h>
|
||||
#include <px4_middleware.h>
|
||||
#include <px4_workqueue.h>
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <pthread.h>
|
||||
#include <errno.h>
|
||||
|
||||
#if defined(__PX4_DARWIN) || defined(__PX4_CYGWIN)
|
||||
|
||||
#include <px4_posix.h>
|
||||
|
||||
int px4_sem_init(px4_sem_t *s, int pshared, unsigned value)
|
||||
{
|
||||
// We do not used the process shared arg
|
||||
(void)pshared;
|
||||
s->value = value;
|
||||
pthread_cond_init(&(s->wait), NULL);
|
||||
pthread_mutex_init(&(s->lock), NULL);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int px4_sem_setprotocol(px4_sem_t *s, int protocol)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
int px4_sem_wait(px4_sem_t *s)
|
||||
{
|
||||
int ret = pthread_mutex_lock(&(s->lock));
|
||||
|
||||
if (ret) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
s->value--;
|
||||
|
||||
if (s->value < 0) {
|
||||
ret = pthread_cond_wait(&(s->wait), &(s->lock));
|
||||
|
||||
} else {
|
||||
ret = 0;
|
||||
}
|
||||
|
||||
if (ret) {
|
||||
PX4_WARN("px4_sem_wait failure");
|
||||
}
|
||||
|
||||
int mret = pthread_mutex_unlock(&(s->lock));
|
||||
|
||||
return (ret) ? ret : mret;
|
||||
}
|
||||
|
||||
int px4_sem_trywait(px4_sem_t *s)
|
||||
{
|
||||
int ret = pthread_mutex_lock(&(s->lock));
|
||||
|
||||
if (ret) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
if (s->value <= 0) {
|
||||
errno = EAGAIN;
|
||||
ret = -1;
|
||||
|
||||
} else {
|
||||
s->value--;
|
||||
}
|
||||
|
||||
int mret = pthread_mutex_unlock(&(s->lock));
|
||||
|
||||
return (ret) ? ret : mret;
|
||||
}
|
||||
|
||||
int px4_sem_timedwait(px4_sem_t *s, const struct timespec *abstime)
|
||||
{
|
||||
int ret = pthread_mutex_lock(&(s->lock));
|
||||
|
||||
if (ret) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
s->value--;
|
||||
errno = 0;
|
||||
|
||||
if (s->value < 0) {
|
||||
ret = pthread_cond_timedwait(&(s->wait), &(s->lock), abstime);
|
||||
|
||||
} else {
|
||||
ret = 0;
|
||||
}
|
||||
|
||||
int err = ret;
|
||||
|
||||
if (err != 0 && err != ETIMEDOUT) {
|
||||
setbuf(stdout, NULL);
|
||||
setbuf(stderr, NULL);
|
||||
const unsigned NAMELEN = 32;
|
||||
char thread_name[NAMELEN] = {};
|
||||
(void)pthread_getname_np(pthread_self(), thread_name, NAMELEN);
|
||||
PX4_WARN("%s: px4_sem_timedwait failure: ret: %d, %s", thread_name, ret, strerror(err));
|
||||
}
|
||||
|
||||
int mret = pthread_mutex_unlock(&(s->lock));
|
||||
|
||||
return (err) ? err : mret;
|
||||
}
|
||||
|
||||
int px4_sem_post(px4_sem_t *s)
|
||||
{
|
||||
int ret = pthread_mutex_lock(&(s->lock));
|
||||
|
||||
if (ret) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
s->value++;
|
||||
|
||||
if (s->value <= 0) {
|
||||
ret = pthread_cond_signal(&(s->wait));
|
||||
|
||||
} else {
|
||||
ret = 0;
|
||||
}
|
||||
|
||||
if (ret) {
|
||||
PX4_WARN("px4_sem_post failure");
|
||||
}
|
||||
|
||||
int mret = pthread_mutex_unlock(&(s->lock));
|
||||
|
||||
// return the cond signal failure if present,
|
||||
// else return the mutex status
|
||||
return (ret) ? ret : mret;
|
||||
}
|
||||
|
||||
int px4_sem_getvalue(px4_sem_t *s, int *sval)
|
||||
{
|
||||
int ret = pthread_mutex_lock(&(s->lock));
|
||||
|
||||
if (ret) {
|
||||
PX4_WARN("px4_sem_getvalue failure");
|
||||
}
|
||||
|
||||
if (ret) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
*sval = s->value;
|
||||
ret = pthread_mutex_unlock(&(s->lock));
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int px4_sem_destroy(px4_sem_t *s)
|
||||
{
|
||||
pthread_mutex_lock(&(s->lock));
|
||||
pthread_cond_destroy(&(s->wait));
|
||||
pthread_mutex_unlock(&(s->lock));
|
||||
pthread_mutex_destroy(&(s->lock));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,131 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 Vijay Venkatraman. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_defines.h>
|
||||
#include <px4_posix.h>
|
||||
#include <string.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <errno.h>
|
||||
#include <semaphore.h>
|
||||
|
||||
#include <sys/stat.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#include "systemlib/param/param.h"
|
||||
|
||||
#include <shmem.h>
|
||||
#include "px4muorb.h"
|
||||
|
||||
//#define SHMEM_DEBUG
|
||||
void update_to_shmem(param_t param, union param_value_u value);
|
||||
int update_from_shmem(param_t param, union param_value_u *value);
|
||||
void update_index_from_shmem(void);
|
||||
uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
|
||||
extern unsigned char *adsp_changed_index;
|
||||
|
||||
struct param_wbuf_s {
|
||||
union param_value_u val;
|
||||
param_t param;
|
||||
bool unsaved;
|
||||
};
|
||||
|
||||
/*update value and param's change bit in shared memory*/
|
||||
void update_to_shmem(param_t param, union param_value_u value)
|
||||
{
|
||||
if (px4muorb_param_update_to_shmem(param, (unsigned char *) &value,
|
||||
sizeof(value))) {
|
||||
PX4_ERR("krait update param %u failed", param);
|
||||
}
|
||||
}
|
||||
|
||||
void update_index_from_shmem(void)
|
||||
{
|
||||
if (!adsp_changed_index) {
|
||||
PX4_ERR("%s no param buffer", __FUNCTION__);
|
||||
return;
|
||||
}
|
||||
|
||||
px4muorb_param_update_index_from_shmem(adsp_changed_index,
|
||||
PARAM_BUFFER_SIZE);
|
||||
}
|
||||
|
||||
static void update_value_from_shmem(param_t param, union param_value_u *value)
|
||||
{
|
||||
if (px4muorb_param_update_value_from_shmem(param, (unsigned char *) value,
|
||||
sizeof(union param_value_u))) {
|
||||
PX4_ERR("%s get param failed", __FUNCTION__);
|
||||
}
|
||||
}
|
||||
|
||||
int update_from_shmem(param_t param, union param_value_u *value)
|
||||
{
|
||||
unsigned int byte_changed, bit_changed;
|
||||
unsigned int retval = 0;
|
||||
|
||||
if (!adsp_changed_index) {
|
||||
PX4_ERR("%s no param buffer", __FUNCTION__);
|
||||
return 0;
|
||||
}
|
||||
|
||||
update_from_shmem_current_time = hrt_absolute_time();
|
||||
|
||||
if ((update_from_shmem_current_time - update_from_shmem_prev_time)
|
||||
> 1000000) { //update every 1 second
|
||||
update_from_shmem_prev_time = update_from_shmem_current_time;
|
||||
update_index_from_shmem();
|
||||
}
|
||||
|
||||
byte_changed = param / 8;
|
||||
bit_changed = 1 << param % 8;
|
||||
|
||||
if (adsp_changed_index[byte_changed] & bit_changed) {
|
||||
update_value_from_shmem(param, value);
|
||||
adsp_changed_index[byte_changed] &= ~bit_changed; //clear the bit
|
||||
retval = 1;
|
||||
}
|
||||
|
||||
//else {PX4_INFO("no change to param %s", param_name(param));}
|
||||
|
||||
PX4_DEBUG("%s %d bit on adsp index[%d]",
|
||||
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user