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Code format fixes

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-02-19 16:59:42 +01:00
committed by Julian Oes
parent d6a99c79c1
commit 5846a22a8f
11 changed files with 284 additions and 238 deletions
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src/platforms/posix/px4_layer/px4_posix_impl.cpp
+3 -3
View File
@@ -59,9 +59,9 @@ __BEGIN_DECLS
long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
#ifdef ENABLE_SHMEM
extern void init_params(void);
extern void init_params(void);
#endif
#ifdef ENABLE_SHMEM
extern void init_own_params(void);
extern unsigned int init_other_params(void);
@@ -86,7 +86,7 @@ void init_once(void)
#ifdef ENABLE_SHMEM
PX4_INFO("Starting shared memory param sync\n");
init_own_params();
param_sync_done=init_other_params();
param_sync_done = init_other_params();
#endif
}
src/platforms/posix/px4_layer/shmem_posix.c
+81 -69
View File
@@ -58,8 +58,8 @@
int mem_fd;
unsigned char *map_base, *virt_addr;
struct shmem_info* shmem_info_p;
static void* map_memory(off_t target);
struct shmem_info *shmem_info_p;
static void *map_memory(off_t target);
int get_shmem_lock(void);
void release_shmem_lock(void);
@@ -67,65 +67,66 @@ 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);
uint64_t update_from_shmem_prev_time=0, update_from_shmem_current_time=0;
static unsigned char adsp_changed_index[MAX_SHMEM_PARAMS/8+1];
uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
static unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
struct param_wbuf_s {
param_t param;
union param_value_u val;
bool unsaved;
};
extern struct param_wbuf_s * param_find_changed(param_t param);
extern struct param_wbuf_s *param_find_changed(param_t param);
#define MEMDEVICE "/dev/mem"
static void* map_memory(off_t target)
static void *map_memory(off_t target)
{
if((mem_fd = open(MEMDEVICE, O_RDWR | O_SYNC)) == -1)
{
PX4_ERR("Cannot open %s\n", MEMDEVICE);
exit(1);
}
if ((mem_fd = open(MEMDEVICE, O_RDWR | O_SYNC)) == -1) {
PX4_ERR("Cannot open %s\n", MEMDEVICE);
exit(1);
}
/* Map one page */
map_base = (unsigned char*) mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, target & ~MAP_MASK);
if(map_base == (void *) -1)
{
PX4_ERR("Cannot mmap /dev/atl_mem\n");
exit(1);
}
/* Map one page */
map_base = (unsigned char *) mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, target & ~MAP_MASK);
return (map_base + (target & MAP_MASK) + LOCK_SIZE);
if (map_base == (void *) - 1) {
PX4_ERR("Cannot mmap /dev/atl_mem\n");
exit(1);
}
return (map_base + (target & MAP_MASK) + LOCK_SIZE);
}
int get_shmem_lock(void)
{
int i=0;
int i = 0;
/*ioctl calls cmpxchg*/
while(ioctl(mem_fd, LOCK_MEM)!=0)
{
while (ioctl(mem_fd, LOCK_MEM) != 0) {
PX4_INFO("Could not get lock, spinning\n");
usleep(100000); //sleep for 100 msec
i++;
if(i>100) break;
if (i > 100) { break; }
}
if(i>100) return -1;
if (i > 100) { return -1; }
return 0; //got the lock
}
void release_shmem_lock(void)
{
*(virt_addr-LOCK_SIZE)=1;
*(virt_addr - LOCK_SIZE) = 1;
}
void init_shared_memory(void)
{
virt_addr = map_memory(MAP_ADDRESS); //16K space
shmem_info_p = (struct shmem_info*)virt_addr;
shmem_info_p = (struct shmem_info *)virt_addr;
//PX4_INFO("linux memory mapped\n");
}
@@ -135,32 +136,36 @@ void copy_params_to_shmem(struct param_info_s *param_info_base)
param_t param;
unsigned int i;
if(get_shmem_lock()!=0) {
if (get_shmem_lock() != 0) {
PX4_ERR("Could not get shmem lock\n");
return;
}
}
//PX4_INFO("%d krait params allocated\n", param_count());
for (param = 0; param<param_count(); param++) {
for (param = 0; param < param_count(); param++) {
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;
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, (double)shmem_info_p->params_val[param].f, param_name(param));}
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, (double)shmem_info_p->params_val[param].f, param_name(param));}
}
#endif
}
//PX4_INFO("written %u params to shmem offset %lu\n", param_count(), (unsigned char*)&shmem_info_p->params_count-(unsigned char*)shmem_info_p);
for(i=0;i<MAX_SHMEM_PARAMS/8+1;i++)
{
shmem_info_p->krait_changed_index[i]=0;
adsp_changed_index[i]=0;
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
shmem_info_p->krait_changed_index[i] = 0;
adsp_changed_index[i] = 0;
}
release_shmem_lock();
@@ -171,43 +176,47 @@ void update_to_shmem(param_t param, union param_value_u value)
{
unsigned int byte_changed, bit_changed;
if(get_shmem_lock()!=0) {
if (get_shmem_lock() != 0) {
fprintf(stderr, "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->krait_changed_index[byte_changed]|=bit_changed;
byte_changed = param / 8;
bit_changed = 1 << param % 8;
shmem_info_p->krait_changed_index[byte_changed] |= bit_changed;
//PX4_INFO("set %d bit on krait changed index[%d] to %d\n", bit_changed, byte_changed, shmem_info_p->krait_changed_index[byte_changed]);
#ifdef SHMEM_DEBUG
if(param_type(param)==PARAM_TYPE_INT32)
if (param_type(param) == PARAM_TYPE_INT32)
{PX4_INFO("Set value %d for param %s to shmem, set krait index %d:%d\n", value.i, param_name(param), byte_changed, bit_changed);}
else if(param_type(param)==PARAM_TYPE_FLOAT)
else if (param_type(param) == PARAM_TYPE_FLOAT)
{PX4_INFO("Set value %f for param %s to shmem, set krait index %d:%d\n", (double)value.f, param_name(param), byte_changed, bit_changed);}
#endif
release_shmem_lock();
}
}
static void update_index_from_shmem(void)
{
unsigned int i;
if(get_shmem_lock()!=0) {
if (get_shmem_lock() != 0) {
fprintf(stderr, "Could not get shmem lock\n");
return;
}
}
//PX4_INFO("Updating index from shmem\n");
for(i=0;i<MAX_SHMEM_PARAMS/8+1;i++)
adsp_changed_index[i]=shmem_info_p->adsp_changed_index[i];
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
adsp_changed_index[i] = shmem_info_p->adsp_changed_index[i];
}
release_shmem_lock();
}
@@ -217,25 +226,28 @@ static void update_value_from_shmem(param_t param, union param_value_u *value)
{
unsigned int byte_changed, bit_changed;
if(get_shmem_lock()!=0) {
if (get_shmem_lock() != 0) {
fprintf(stderr, "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->adsp_changed_index[byte_changed] &= ~bit_changed;
byte_changed = param / 8;
bit_changed = 1 << param % 8;
shmem_info_p->adsp_changed_index[byte_changed] &= ~bit_changed;
release_shmem_lock();
#ifdef SHMEM_DEBUG
if(param_type(param)==PARAM_TYPE_INT32)
if (param_type(param) == PARAM_TYPE_INT32)
{PX4_INFO("Got value %d for param %s from shmem, cleared adsp index %d:%d\n", value->i, param_name(param), byte_changed, bit_changed);}
else if(param_type(param)==PARAM_TYPE_FLOAT)
else if (param_type(param) == PARAM_TYPE_FLOAT)
{PX4_INFO("Got value %f for param %s from shmem, cleared adsp index %d:%d\n", (double)value->f, param_name(param), byte_changed, bit_changed);}
#endif
}
@@ -244,22 +256,22 @@ int update_from_shmem(param_t param, union param_value_u *value)
unsigned int byte_changed, bit_changed;
unsigned int retval = 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_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;
byte_changed = param / 8;
bit_changed = 1 << param % 8;
if(adsp_changed_index[byte_changed] & bit_changed)
{
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\n", param_name(param));}
//PX4_INFO("%s %d bit on adsp index[%d]\n", (retval)?"cleared":"unchanged", bit_changed, byte_changed);
src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
+2 -1
View File
@@ -331,7 +331,7 @@ int VCDevExample::main()
PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");
if(do_poll(fd, 0, 3, 0)) {
if (do_poll(fd, 0, 3, 0)) {
ret = 1;
goto fail2;
goto fail2;
@@ -357,6 +357,7 @@ int VCDevExample::main()
ret = 1;
goto fail2;
}
PX4_INFO("TEST: waiting for writer to stop");
fail2:
g_exit = true;