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move posix, nuttx, qurt components into platforms

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This commit is contained in:
Daniel Agar
2018-01-31 17:17:07 +01:00
committed by Lorenz Meier
parent a644ed90dd
commit 2ff81393bc
115 changed files with 251 additions and 306 deletions
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platforms/qurt/src/CMakeLists.txt
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############################################################################
#
# Copyright (c) 2017 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.
#
############################################################################
add_subdirectory(px4_layer)
platforms/qurt/src/px4_layer/CMakeLists.txt
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############################################################################
#
# 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.
#
############################################################################
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
include(hexagon_sdk)
include_directories(${HEXAGON_8074_INCLUDES})
set(QURT_LAYER_SRCS
px4_qurt_impl.cpp
px4_qurt_tasks.cpp
lib_crc32.c
../../../posix/src/px4_layer/drv_hrt.c
qurt_stubs.c
main.cpp
shmem_qurt.c
)
if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
list(APPEND QURT_LAYER_SRCS
../stubs/stubs_posix.c
../stubs/stubs_qurt.c
)
endif()
px4_add_module(
MODULE platforms_px4_layer
COMPILE_FLAGS
SRCS
${QURT_LAYER_SRCS}
${CONFIG_SRC}
DEPENDS
platforms__common
)
platforms/qurt/src/px4_layer/commands_hil.c
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/****************************************************************************
*
* 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 commands_muorb_test.c
* Commands to run for the "qurt_muorb_test" config
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
const char *get_commands(void);
const char *get_commands()
{
static const char *commands =
"uorb start\n"
"param set CAL_GYRO0_ID 2293760\n"
"param set CAL_ACC0_ID 1310720\n"
"param set CAL_ACC1_ID 1376256\n"
"param set CAL_MAG0_ID 196608\n"
// "rgbled start\n"
// "tone_alarm start\n"
"commander start --hil\n"
"sensors start\n"
"attitude_estimator_q start\n"
"position_estimator_inav start\n"
"mc_pos_control start\n"
"mc_att_control start\n"
"sleep 1\n"
"pwm_out_sim mode_pwm\n"
"param set RC1_MAX 2015\n"
"param set RC1_MIN 996\n"
"param set RC1_TRIM 1502\n"
"param set RC1_REV -1\n"
"param set RC2_MAX 2016 \n"
"param set RC2_MIN 995\n"
"param set RC2_TRIM 1500\n"
"param set RC3_MAX 2003\n"
"param set RC3_MIN 992\n"
"param set RC3_TRIM 992\n"
"param set RC4_MAX 2011\n"
"param set RC4_MIN 997\n"
"param set RC4_TRIM 1504\n"
"param set RC4_REV -1\n"
"param set RC6_MAX 2016\n"
"param set RC6_MIN 992\n"
"param set RC6_TRIM 1504\n"
"param set RC_CHAN_CNT 8\n"
"param set RC_MAP_MODE_SW 5\n"
"param set RC_MAP_POSCTL_SW 7\n"
"param set RC_MAP_RETURN_SW 8\n"
"param set MC_YAW_P 1.5\n"
"param set MC_PITCH_P 3.0\n"
"param set MC_ROLL_P 3.0\n"
"param set MC_YAWRATE_P 0.2\n"
"param set MC_PITCHRATE_P 0.03\n"
"param set MC_ROLLRATE_P 0.03\n"
"param set ATT_W_ACC 0.0002\n"
"param set ATT_W_MAG 0.002\n"
"param set ATT_W_GYRO_BIAS 0.05\n"
"sleep 1\n"
"param set MAV_TYPE 2\n"
"mixer load /dev/pwm_output0 /startup/quad_x.main.mix\n"
"list_devices\n"
"list_files\n"
"list_tasks\n"
"list_topics\n"
"sleep 10\n"
"list_tasks\n"
"sleep 10\n"
;
return commands;
}
platforms/qurt/src/px4_layer/drv_hrt.c
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/****************************************************************************
*
* Copyright (c) 2012, 2013 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 drv_hrt.c
*
* High-resolution timer with callouts and timekeeping.
*/
#include <px4_defines.h>
#include <px4_workqueue.h>
#include <drivers/drv_hrt.h>
#include <semaphore.h>
#include <time.h>
#include <sys/time.h>
#include <dspal_time.h>
#include <string.h>
#include <stdio.h>
static struct sq_queue_s callout_queue;
/* latency histogram */
#define LATENCY_BUCKET_COUNT 8
__EXPORT const uint16_t latency_bucket_count = LATENCY_BUCKET_COUNT;
__EXPORT const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
__EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
static void hrt_call_reschedule(void);
// Intervals in ms
#define HRT_INTERVAL_MIN 50
#define HRT_INTERVAL_MAX 50000
static sem_t _hrt_lock;
static struct work_s _hrt_work;
#define CLOCK_REALTIME 0
#ifndef CLOCK_MONOTONIC
#define CLOCK_MONOTONIC 1
#endif
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
struct timeval now;
int rv = gettimeofday(&now, NULL);
if (rv) {
return rv;
}
tp->tv_sec = now.tv_sec;
tp->tv_nsec = now.tv_usec * 1000;
return 0;
}
int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
{
/* do nothing right now */
return 0;
}
static void hrt_call_invoke(void);
static void hrt_lock(void)
{
//printf("hrt_lock\n");
sem_wait(&_hrt_lock);
}
static void hrt_unlock(void)
{
//printf("hrt_unlock\n");
sem_post(&_hrt_lock);
}
/*
* Get absolute time.
*/
hrt_abstime hrt_absolute_time(void)
{
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return ts_to_abstime(&ts);
}
/*
* Convert a timespec to absolute time.
*/
hrt_abstime ts_to_abstime(struct timespec *ts)
{
hrt_abstime result;
result = (hrt_abstime)(ts->tv_sec) * 1000000;
result += ts->tv_nsec / 1000;
return result;
}
/*
* Compute the delta between a timestamp taken in the past
* and now.
*
* This function is safe to use even if the timestamp is updated
* by an interrupt during execution.
*/
hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then)
{
hrt_abstime delta = hrt_absolute_time() - *then;
return delta;
}
/*
* Store the absolute time in an interrupt-safe fashion.
*
* This function ensures that the timestamp cannot be seen half-written by an interrupt handler.
*/
hrt_abstime hrt_store_absolute_time(volatile hrt_abstime *now)
{
hrt_abstime ts = hrt_absolute_time();
return ts;
}
/*
* If this returns true, the entry has been invoked and removed from the callout list,
* or it has never been entered.
*
* Always returns false for repeating callouts.
*/
bool hrt_called(struct hrt_call *entry)
{
return (entry->deadline == 0);
}
/*
* Remove the entry from the callout list.
*/
void hrt_cancel(struct hrt_call *entry)
{
hrt_lock();
sq_rem(&entry->link, &callout_queue);
entry->deadline = 0;
/* if this is a periodic call being removed by the callout, prevent it from
* being re-entered when the callout returns.
*/
entry->period = 0;
hrt_unlock();
// endif
}
/*
* initialise a hrt_call structure
*/
void hrt_call_init(struct hrt_call *entry)
{
memset(entry, 0, sizeof(*entry));
}
/*
* delay a hrt_call_every() periodic call by the given number of
* microseconds. This should be called from within the callout to
* cause the callout to be re-scheduled for a later time. The periodic
* callouts will then continue from that new base time at the
* previously specified period.
*/
void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
{
entry->deadline = hrt_absolute_time() + delay;
}
/*
* Initialise the HRT.
*/
void hrt_init(void)
{
//printf("hrt_init\n");
sq_init(&callout_queue);
sem_init(&_hrt_lock, 0, 1);
memset(&_hrt_work, 0, sizeof(_hrt_work));
}
static void
hrt_call_enter(struct hrt_call *entry)
{
struct hrt_call *call, *next;
//printf("hrt_call_enter\n");
call = (struct hrt_call *)sq_peek(&callout_queue);
if ((call == NULL) || (entry->deadline < call->deadline)) {
sq_addfirst(&entry->link, &callout_queue);
//lldbg("call enter at head, reschedule\n");
/* 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);
}
//lldbg("scheduled\n");
}
/**
* Timer interrupt handler
*
* This routine simulates a timer interrupt handler
*/
static void
hrt_tim_isr(void *p)
{
//printf("hrt_tim_isr\n");
/* 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();
struct hrt_call *next = (struct hrt_call *)sq_peek(&callout_queue);
hrt_abstime deadline = now + HRT_INTERVAL_MAX;
uint32_t ticks = USEC2TICK(HRT_INTERVAL_MAX);
//printf("hrt_call_reschedule\n");
/*
* 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 */
ticks = USEC2TICK(HRT_INTERVAL_MIN);
} else if (next->deadline < deadline) {
//lldbg("due soon\n");
ticks = USEC2TICK((next->deadline - now));
}
}
// There is no timer ISR, so simulate one by putting an event on the
// high priority work queue
//printf("ticks = %u\n", ticks);
work_queue(HPWORK, &_hrt_work, (worker_t)&hrt_tim_isr, NULL, ticks);
}
static void
hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
{
//printf("hrt_call_internal\n");
hrt_lock();
//printf("hrt_call_internal after lock\n");
/* 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);
}
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);
//lldbg("call pop\n");
/* 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();
//lldbg("call %p: %p(%p)\n", 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;
}
hrt_call_enter(call);
}
}
hrt_unlock();
}
platforms/qurt/src/px4_layer/get_commands.h
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/****************************************************************************
* 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 get_commands.cpp
* functions to call to run the set of startup commands
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#pragma once
__BEGIN_DECLS
// The commands to run are specified in a target file: commands_<target>.c
extern const char *get_commands(void);
// Enable external library hook
void qurt_external_hook(void) __attribute__((weak));
__END_DECLS
platforms/qurt/src/px4_layer/lib_crc32.c
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/************************************************************************************************
* 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);
}
platforms/qurt/src/px4_layer/main.cpp
+276
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@@ -0,0 +1,276 @@
/****************************************************************************
* 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 main.cpp
* Basic shell to execute builtin "apps"
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include <px4_middleware.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <px4_posix.h>
#include <px4_defines.h>
#include <dspal_platform.h>
#include <vector>
#include <string>
#include <map>
#include <stdio.h>
#include <stdlib.h>
#include "get_commands.h"
#include "apps.h"
#include "DriverFramework.hpp"
#define MAX_ARGS 8 // max number of whitespace separated args after app name
using namespace std;
static px4_task_t g_dspal_task = -1;
__BEGIN_DECLS
// The commands to run are specified in a target file: commands_<target>.c
extern const char *get_commands(void);
// Enable external library hook
void qurt_external_hook(void) __attribute__((weak));
__END_DECLS
void qurt_external_hook(void)
{
}
static void run_cmd(apps_map_type &apps, const vector<string> &appargs)
{
// command is appargs[0]
string command = appargs[0];
//replaces app.find with iterator code to avoid null pointer exception
for (apps_map_type::iterator it = apps.begin(); it != apps.end(); ++it)
if (it->first == command) {
// one for command name, one for null terminator
const char *arg[MAX_ARGS + 2];
unsigned int i = 0;
if (appargs.size() > MAX_ARGS + 1) {
PX4_ERR("%d too many arguments in run_cmd", appargs.size() - (MAX_ARGS + 1));
return;
}
while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
arg[i] = (char *)appargs[i].c_str();
PX4_DEBUG(" arg%d = '%s'\n", i, arg[i]);
++i;
}
arg[i] = (char *)0;
//PX4_DEBUG_PRINTF(i);
if (apps[command] == NULL) {
PX4_ERR("Null function !!\n");
} else {
apps[command](i, (char **)arg);
break;
}
}
}
void eat_whitespace(const char *&b, int &i)
{
// Eat whitespace
while (b[i] == ' ' || b[i] == '\t') { ++i; }
b = &b[i];
i = 0;
}
static void process_commands(apps_map_type &apps, const char *cmds)
{
vector<string> appargs;
int i = 0;
const char *b = cmds;
char arg[256];
// Eat leading whitespace
eat_whitespace(b, i);
for (;;) {
// End of command line
if (b[i] == '\n' || b[i] == '\0') {
strncpy(arg, b, i);
arg[i] = '\0';
appargs.push_back(arg);
// If we have a command to run
if (appargs.size() > 0) {
PX4_DEBUG("Processing command: %s", appargs[0].c_str());
for (int ai = 1; ai < (int)appargs.size(); ai++) {
PX4_DEBUG(" > arg: %s", appargs[ai].c_str());
}
run_cmd(apps, appargs);
}
appargs.clear();
if (b[i] == '\n') {
eat_whitespace(b, ++i);
continue;
} else {
break;
}
}
// End of arg
else if (b[i] == ' ') {
strncpy(arg, b, i);
arg[i] = '\0';
appargs.push_back(arg);
eat_whitespace(b, ++i);
continue;
}
++i;
}
}
namespace px4
{
extern void init_once(void);
};
__BEGIN_DECLS
int dspal_main(int argc, char *argv[]);
__END_DECLS
#define COMMANDS_ADSP_FILE "/dev/fs/px4.config"
const char *get_commands()
{
PX4_INFO("attempting to open the ADSP command file: %s", COMMANDS_ADSP_FILE);
int fd = open(COMMANDS_ADSP_FILE, O_RDONLY);
if (fd > 0) {
static char *commands;
char buf[4096];
int bytes_read, total_bytes = 0;
PX4_INFO("reading commands from %s\n", COMMANDS_ADSP_FILE);
do {
bytes_read = read(fd, (void *)buf, sizeof(buf));
if (bytes_read > 0) {
commands = (char *)realloc(commands, total_bytes + bytes_read);
memcpy(commands + total_bytes, buf, bytes_read);
total_bytes += bytes_read;
}
} while ((unsigned int)bytes_read > 0);
close(fd);
return (const char *)commands;
}
PX4_ERR("Could not open %s\n", COMMANDS_ADSP_FILE);
static const char *commands =
"uorb start\nqshell start\n"
;
return commands;
}
int dspal_entry(int argc, char *argv[])
{
PX4_INFO("In dspal_entry");
apps_map_type apps;
init_app_map(apps);
DriverFramework::Framework::initialize();
px4::init_once();
px4::init(argc, (char **)argv, "px4");
process_commands(apps, get_commands());
sleep(1); // give time for all commands to execute before starting external function
if (qurt_external_hook) {
qurt_external_hook();
}
for (;;) {
sleep(1);
}
return 0;
}
static void usage()
{
PX4_INFO("Usage: dspal {start |stop}");
}
extern "C" {
int dspal_main(int argc, char *argv[])
{
int ret = 0;
if (argc == 2 && strcmp(argv[1], "start") == 0) {
g_dspal_task = px4_task_spawn_cmd("dspal",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1500,
dspal_entry,
argv);
} else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
if (g_dspal_task < 0) {
PX4_WARN("start up thread not running");
} else {
px4_task_delete(g_dspal_task);
g_dspal_task = -1;
}
} else {
usage();
ret = -1;
}
return ret;
}
}
platforms/qurt/src/px4_layer/px4_qurt_impl.cpp
+168
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@@ -0,0 +1,168 @@
/****************************************************************************
*
* 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_linux_impl.cpp
*
* PX4 Middleware Wrapper Linux Implementation
*/
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_middleware.h>
#include <px4_workqueue.h>
#include <dataman/dataman.h>
#include <stdint.h>
#include <stdio.h>
#include <signal.h>
#include <errno.h>
#include <unistd.h>
#include <semaphore.h>
#include <systemlib/param/param.h>
#include "hrt_work.h"
#include "px4_log.h"
//extern pthread_t _shell_task_id;
__BEGIN_DECLS
extern uint64_t get_ticks_per_us();
//long PX4_TICKS_PER_SEC = 1000L;
unsigned int sleep(unsigned int sec)
{
for (unsigned int i = 0; i < sec; i++) {
usleep(1000000);
}
return 0;
}
extern void hrt_init(void);
extern void init_params();
#if 0
void qurt_log(const char *fmt, ...)
{
va_list args;
va_start(args, fmt);
printf(fmt, args);
printf("n");
va_end(args);
}
#endif
//extern int _posix_init(void);
__END_DECLS
extern struct wqueue_s gwork[NWORKERS];
namespace px4
{
void init_once(void);
void init_once(void)
{
// Required for QuRT
//_posix_init();
// _shell_task_id = pthread_self();
// PX4_INFO("Shell id is %lu", _shell_task_id);
work_queues_init();
hrt_work_queue_init();
hrt_init();
param_init();
/* Shared memory param sync*/
init_params();
}
void init(int argc, char *argv[], const char *app_name)
{
PX4_DEBUG("App name: %s\n", app_name);
}
}
/** Retrieve from the data manager store */
ssize_t
dm_read(
dm_item_t item, /* The item type to retrieve */
unsigned index, /* The index of the item */
void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
)
{
return 0;
}
/** write to the data manager store */
ssize_t
dm_write(
dm_item_t item, /* The item type to store */
unsigned index, /* The index of the item */
dm_persitence_t persistence, /* The persistence level of this item */
const void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
)
{
return 0;
}
size_t strnlen(const char *s, size_t maxlen)
{
size_t i = 0;
while (s[i] != '\0' && i < maxlen) {
++i;
}
return i;
}
int fprintf(FILE *stream, const char *format, ...)
{
PX4_ERR("Error: Calling unresolved symbol stub:[%s(%s,...)]", __FUNCTION__, format);
return 0;
}
int fputc(int c, FILE *stream)
{
return c;
}
platforms/qurt/src/px4_layer/px4_qurt_tasks.cpp
+403
View File
@@ -0,0 +1,403 @@
/****************************************************************************
*
* Copyright (C) 2015-2016 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_qurt_tasks.c
* Implementation of existing task API for QURT.
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include "px4_log.h"
#include "px4_posix.h"
#include "px4_workqueue.h"
#include "px4_time.h"
#include "hrt_work.h"
#include <drivers/drv_hrt.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <stdbool.h>
#if !defined(__PX4_QURT)
#include <signal.h>
#endif
#include <fcntl.h>
#include <sched.h>
#include <unistd.h>
#include <string.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <string>
#include <px4_tasks.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;
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;
int argc;
char *argv[];
// strings are allocated after the
} pthdata_t;
static void *entry_adapter(void *ptr)
{
pthdata_t *data;
data = (pthdata_t *) ptr;
data->entry(data->argc, data->argv);
//PX4_WARN("Before waiting infinte busy loop");
//for( ;; )
//{
// volatile int x = 0;
// ++x;
// }
free(ptr);
px4_task_exit(0);
return NULL;
}
void
px4_systemreset(bool to_bootloader)
{
PX4_WARN("Called px4_system_reset but NOT yet implemented.");
}
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
char *const argv[])
{
struct sched_param param;
pthread_attr_t attr;
pthread_t task;
int rv;
int argc = 0;
int i;
unsigned int len = 0;
unsigned long offset;
unsigned long structsize;
char *p = (char *)argv;
PX4_DEBUG("Creating %s\n", name);
PX4_DEBUG("attr address: 0x%X, param address: 0x%X", &attr, &param);
// Calculate argc
while (p != (char *)0) {
p = argv[argc];
if (p == (char *)0) {
break;
}
++argc;
len += strlen(p) + 1;
}
structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
pthdata_t *taskdata = nullptr;
// not safe to pass stack data to the thread creation
taskdata = (pthdata_t *)malloc(structsize + len);
offset = ((unsigned long)taskdata) + structsize;
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 *)0;
rv = pthread_attr_init(&attr);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to init thread attrs");
return (rv < 0) ? rv : -rv;
}
PX4_DEBUG("stack address after pthread_attr_init: 0x%X", attr.stackaddr);
PX4_DEBUG("attr address: 0x%X, param address: 0x%X", &attr, &param);
rv = pthread_attr_getschedparam(&attr, &param);
PX4_DEBUG("stack address after pthread_attr_getschedparam: 0x%X", attr.stackaddr);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to get thread sched param");
return (rv < 0) ? rv : -rv;
}
#if 0
rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set inherit sched");
return (rv < 0) ? rv : -rv;
}
rv = pthread_attr_setschedpolicy(&attr, scheduler);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set sched policy");
return (rv < 0) ? rv : -rv;
}
#endif
size_t fixed_stacksize = -1;
pthread_attr_getstacksize(&attr, &fixed_stacksize);
PX4_DEBUG("stack size: %d passed stacksize(%d)", fixed_stacksize, stack_size);
fixed_stacksize = 8 * 1024;
fixed_stacksize = (fixed_stacksize < (size_t)stack_size) ? (size_t)stack_size : fixed_stacksize;
PX4_DEBUG("setting the thread[%s] stack size to[%d]", name, fixed_stacksize);
pthread_attr_setstacksize(&attr, PX4_STACK_ADJUSTED(fixed_stacksize));
PX4_DEBUG("stack address after pthread_attr_setstacksize: 0x%X", attr.stackaddr);
param.sched_priority = priority;
rv = pthread_attr_setschedparam(&attr, &param);
if (rv != 0) {
PX4_ERR("px4_task_spawn_cmd: failed to set sched param");
return (rv < 0) ? rv : -rv;
}
rv = pthread_create(&task, &attr, &entry_adapter, (void *) taskdata);
if (rv != 0) {
PX4_ERR("px4_task_spawn_cmd: pthread_create failed, error: %d", rv);
return (rv < 0) ? rv : -rv;
}
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused == false) {
taskmap[i].pid = task;
taskmap[i].name = name;
taskmap[i].isused = true;
break;
}
}
if (i >= PX4_MAX_TASKS) {
return -ENOSPC;
}
return i;
}
int px4_task_delete(px4_task_t id)
{
int rv = 0;
pthread_t pid;
PX4_WARN("Called px4_task_delete");
if (id < PX4_MAX_TASKS && taskmap[id].isused) {
pid = taskmap[id].pid;
} else {
return -EINVAL;
}
// If current thread then exit, otherwise cancel
if (pthread_self() == pid) {
taskmap[id].isused = false;
pthread_exit(0);
} else {
rv = pthread_cancel(pid);
}
taskmap[id].isused = false;
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) {
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_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, taskname %s", sig, taskmap[id].name.c_str());
if (id < PX4_MAX_TASKS && taskmap[id].pid != 0) {
pid = taskmap[id].pid;
} 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 %d", taskmap[idx].name.c_str(), taskmap[idx].pid);
count++;
}
}
if (count == 0) {
PX4_INFO(" No running tasks");
}
}
px4_task_t px4_getpid()
{
pthread_t pid = pthread_self();
//
// if (pid == _shell_task_id)
// return SHELL_TASK_ID;
// Get pthread ID from the opaque ID
for (int i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused && taskmap[i].pid == pid) {
return i;
}
}
return ~0;
}
const char *px4_get_taskname()
{
pthread_t pid = pthread_self();
for (int i = 0; i < PX4_MAX_TASKS; i++) {
if (taskmap[i].isused && taskmap[i].pid == pid) {
return taskmap[i].name.c_str();
}
}
return "Unknown App";
}
static void timer_cb(void *data)
{
px4_sem_t *sem = reinterpret_cast<px4_sem_t *>(data);
sem_post(sem);
}
int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *ts)
{
work_s _hpwork = {};
// Get the current time.
struct timespec ts_now;
px4_clock_gettime(CLOCK_MONOTONIC, &ts_now);
// We get an absolute time but want to calculate a timeout in us.
hrt_abstime timeout_us = ts_to_abstime((struct timespec *)ts) - ts_to_abstime(&ts_now);
// Create a timer to unblock.
hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)sem, timeout_us);
sem_wait(sem);
hrt_work_cancel(&_hpwork);
return 0;
}
int px4_prctl(int option, const char *arg2, px4_task_t pid)
{
int rv;
switch (option) {
case PR_SET_NAME:
// set the threads name - Not supported
// rv = pthread_setname_np(pthread_self(), arg2);
rv = -1;
break;
default:
rv = -1;
PX4_WARN("FAILED SETTING TASK NAME");
break;
}
return rv;
}
platforms/qurt/src/px4_layer/qurt_stubs.c
+120
View File
@@ -0,0 +1,120 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include "px4_log.h"
#include <semaphore.h>
void block_indefinite(void);
void _Read_uleb(void);
void _Parse_fde_instr(void);
void _Parse_csd(void);
void _Valbytes(void);
void _Get_eh_data(void);
void _Parse_lsda(void);
void __cxa_guard_release(void);
void _Read_enc_ptr(void);
void _Read_sleb(void);
void __cxa_guard_acquire(void);
void __cxa_pure_virtual(void);
void block_indefinite(void)
{
sem_t forever;
sem_init(&forever, 0, 0);
sem_wait(&forever);
}
void _Read_uleb(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void _Parse_fde_instr(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void _Parse_csd(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void _Valbytes(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void _Get_eh_data(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void _Parse_lsda(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void __cxa_guard_release(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void _Read_enc_ptr(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void _Read_sleb(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void __cxa_guard_acquire(void)
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
void __cxa_pure_virtual()
{
PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
block_indefinite();
}
platforms/qurt/src/px4_layer/shmem_qurt.c
+353
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@@ -0,0 +1,353 @@
/****************************************************************************
*
* 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 <string.h>
#include <stdbool.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
#include <sys/stat.h>
#include <atomic_ops.h>
#include "systemlib/param/param.h"
#include <shmem.h>
#include <drivers/drv_hrt.h>
//#define SHMEM_DEBUG
//#define PARAM_LOCK_DEBUG
static atomic_word_t mem_lock;
int mem_fd;
unsigned char *map_base, *virt_addr;
struct shmem_info *shmem_info_p;
int get_shmem_lock(const char *caller_file_name, int caller_line_number);
void release_shmem_lock(const char *caller_file_name, int caller_line_number);
void init_shared_memory(void);
void copy_params_to_shmem(struct param_info_s *);
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;
static unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
// Small helper to get log2 for ints
static unsigned log2_for_int(unsigned v)
{
unsigned r = 0;
while (v >>= 1) {
++r;
}
return r;
}
struct param_wbuf_s {
union param_value_u val;
param_t param;
bool unsaved;
};
extern struct param_wbuf_s *param_find_changed(param_t param);
int get_shmem_lock(const char *caller_file_name, int caller_line_number)
{
unsigned int i = 0;
#ifdef PARAM_LOCK_DEBUG
PX4_INFO("lock value %d before get from %s, line: %d\n", mem_lock.value, strrchr(caller_file_name, '/'),
caller_line_number);
#endif
while (!atomic_compare_and_set(&mem_lock, 1, 0)) {
i++;
usleep(1000);
if (i > 100) {
break;
}
}
if (i > 100) {
PX4_INFO("Could not get lock, file name: %s, line number: %d.\n",
strrchr(caller_file_name, '/'), caller_line_number);
return -1;
} else {
PX4_DEBUG("Lock acquired, file name: %s, line number: %d\n",
caller_file_name, caller_line_number);
}
return 0; //got the lock
}
void release_shmem_lock(const char *caller_file_name, int caller_line_number)
{
atomic_set(&mem_lock, 1);
#ifdef PARAM_LOCK_DEBUG
PX4_INFO("release lock, file name: %s, line number: %d.\n",
strrchr(caller_file_name, '/'), caller_line_number);
#endif
return;
}
void init_shared_memory(void)
{
int i;
if (shmem_info_p) {
return;
}
//virt_addr = map_memory(MAP_ADDRESS);
map_base = calloc(MAP_SIZE, 1); //16KB
if (map_base == NULL) {
PX4_INFO("adsp memory malloc failed\n");
return;
}
virt_addr = map_base;
shmem_info_p = (struct shmem_info *) virt_addr;
atomic_init(&mem_lock, 1);
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
shmem_info_p->krait_changed_index[i] = 0;
}
PX4_INFO("adsp memory mapped\n");
}
void copy_params_to_shmem(struct param_info_s *param_info_base)
{
param_t param;
unsigned int i;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
return;
}
//else PX4_INFO("Got lock\n");
for (param = 0; param < param_count(); param++) {
//{PX4_INFO("writing to offset %d\n", (unsigned char*)(shmem_info_p->adsp_params[param].name)-(unsigned char*)shmem_info_p);}
struct param_wbuf_s *s = param_find_changed(param);
if (s == NULL) {
shmem_info_p->params_val[param] = param_info_base[param].val;
}
else {
shmem_info_p->params_val[param] = s->val;
}
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("%d: written %d for param %s to shared mem", param, shmem_info_p->params_val[param].i, param_name(param));
} else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("%d: written %f for param %s to shared mem", param, shmem_info_p->params_val[param].f, param_name(param));
}
#endif
}
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
shmem_info_p->adsp_changed_index[i] = 0;
krait_changed_index[i] = 0;
}
release_shmem_lock(__FILE__, __LINE__);
//PX4_INFO("Released lock\n");
}
/*update value and param's change bit in shared memory*/
void update_to_shmem(param_t param, union param_value_u value)
{
unsigned int byte_changed, bit_changed;
if (!handle_in_range(param)) {
return;
}
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_ERR("Could not get shmem lock\n");
return;
}
shmem_info_p->params_val[param] = value;
byte_changed = param / 8;
bit_changed = 1 << param % 8;
shmem_info_p->adsp_changed_index[byte_changed] |= bit_changed;
//PX4_INFO("set %d bit on adsp index[%d] to %d\n", bit_changed, byte_changed, shmem_info_p->adsp_changed_index[byte_changed]);
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("Set value %d for param %s to shmem, set adsp index %d:%d\n", value.i, param_name(param), byte_changed,
bit_changed);
}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("Set value %f for param %s to shmem, set adsp index %d:%d\n", value.f, param_name(param), byte_changed,
bit_changed);
}
#endif
release_shmem_lock(__FILE__, __LINE__);
}
void update_index_from_shmem(void)
{
unsigned int i;
param_t params[MAX_SHMEM_PARAMS / 8 + 1];
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_ERR("Could not get shmem lock\n");
return;
}
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
// Check if any param has been changed.
if (krait_changed_index[i] != shmem_info_p->krait_changed_index[i]) {
// If a param has changed, we need to find out which one.
// From the byte and bit that is different, we can resolve the param number.
unsigned bit = log2_for_int(
krait_changed_index[i]
^ shmem_info_p->krait_changed_index[i]);
param_t param_to_get = i * 8 + bit;
// Update our krait_changed_index as well.
krait_changed_index[i] = shmem_info_p->krait_changed_index[i];
params[i] = param_to_get;
} else {
params[i] = 0xFFFF;
}
}
release_shmem_lock(__FILE__, __LINE__);
// FIXME: this is a hack but it gets the param so that it gets added
// to the local list param_values in param_shmem.c.
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
if (params[i] != 0xFFFF) {
int32_t dummy;
param_get(params[i], &dummy);
}
}
}
static void update_value_from_shmem(param_t param, union param_value_u *value)
{
unsigned int byte_changed, bit_changed;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_ERR("Could not get shmem lock\n");
return;
}
*value = shmem_info_p->params_val[param];
/*also clear the index since we are holding the lock*/
byte_changed = param / 8;
bit_changed = 1 << param % 8;
shmem_info_p->krait_changed_index[byte_changed] &= ~bit_changed;
release_shmem_lock(__FILE__, __LINE__);
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("Got value %d for param %s from shmem, cleared krait index %d:%d\n", value->i, param_name(param), byte_changed,
bit_changed);
}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("Got value %f for param %s from shmem, cleared krait index %d:%d\n", value->f, param_name(param), byte_changed,
bit_changed);
}
#endif
}
int update_from_shmem(param_t param, union param_value_u *value)
{
unsigned int byte_changed, bit_changed;
unsigned int retval = 0;
if (!handle_in_range(param) || value == NULL) {
return retval;
}
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 (krait_changed_index[byte_changed] & bit_changed) {
update_value_from_shmem(param, value);
krait_changed_index[byte_changed] &= ~bit_changed;
retval = 1;
}
//else {PX4_INFO("no change to param %s\n", param_name(param));}
PX4_DEBUG("%s %d bit on krait changed index[%d]\n",
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
return retval;
}