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QuRT and POSIX changes

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Partial commit of the changes for QuRT and related changes for POSIX

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-24 00:52:44 -07:00
parent a4c33f5173
commit 3336fce1f4
25 changed files with 919 additions and 2435 deletions
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src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+24 -13
View File
@@ -79,14 +79,17 @@ typedef struct
static void entry_adapter ( void *ptr )
{
pthdata_t *data;
data = (pthdata_t *) ptr;
pthdata_t *data = (pthdata_t *) ptr;
data->entry(data->argc, data->argv);
free(ptr);
printf("TEST3\n");
#if 0
//data->entry(data->argc, data->argv);
printf("TEST4\n");
printf("Before px4_task_exit\n");
px4_task_exit(0);
//free(ptr);
printf("After px4_task_exit\n");
#endif
}
void
@@ -95,7 +98,7 @@ px4_systemreset(bool to_bootloader)
printf("Called px4_system_reset\n");
}
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
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;
@@ -105,14 +108,18 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
unsigned long structsize;
char * p;
//printf("arg %d %s %s %p\n", argc, argv[0], argv[1], argv[2]);
printf("arg %d %p\n", argc, argv);
// Calculate argc
for(;;) {
p = argv[argc];
printf("arg %d %s\n", argc, argv[argc]);
if (p == (char *)0)
break;
++argc;
len += strlen(p)+1;
if (argv) {
for(;;) {
p = argv[argc];
if (p == (char *)0)
break;
printf("arg %d %s\n", argc, argv[argc]);
++argc;
len += strlen(p)+1;
}
}
structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
pthdata_t *taskdata;
@@ -125,6 +132,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
taskdata->argc = argc;
for (i=0; i<argc; i++) {
printf("TEST\n");
printf("arg %d %s\n", i, argv[i]);
taskdata->argv[i] = (char *)offset;
strcpy((char *)offset, argv[i]);
@@ -138,10 +146,11 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
taskmap[i].pid = i+1;
taskmap[i].name = name;
taskmap[i].isused = true;
taskmap[i].sp = malloc(stack_size);;
taskmap[i].sp = malloc(stack_size);
break;
}
}
printf("TEST2\n");
thread_create(entry_adapter, taskmap[i].sp, i+1, (void *) taskdata);
return i+1;
@@ -156,6 +165,8 @@ int px4_task_delete(px4_task_t id)
void px4_task_exit(int ret)
{
thread_stop();
// Free stack
}
void px4_killall(void)