Qurt: Added more support for the QuRT target

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2026-10-27 17:23:33 +08:00 · 2015-04-20 11:37:51 -07:00
parent 47beddc88f
commit 5d60437164
26 changed files with 2056 additions and 128 deletions
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   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_middleware.h>
+#include <px4_workqueue.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <signal.h>
+#include <errno.h>
+#include <unistd.h>
+#include "systemlib/param/param.h"
+
+__BEGIN_DECLS
+
+// FIXME - sysconf(_SC_CLK_TCK) not supported
+long PX4_TICKS_PER_SEC = 1000;
+
+__END_DECLS
+
+extern struct wqueue_s gwork[NWORKERS];
+
+namespace px4
+{
+
+void init(int argc, char *argv[], const char *app_name)
+{
+	printf("App name: %s\n", app_name);
+
+	// Create high priority worker thread
+	g_work[HPWORK].pid = px4_task_spawn_cmd("wkr_high",
+			       SCHED_DEFAULT,
+			       SCHED_PRIORITY_MAX,
+			       2000,
+			       work_hpthread,
+			       (char* const*)NULL);
+
+	// Create low priority worker thread
+	g_work[LPWORK].pid = px4_task_spawn_cmd("wkr_low",
+			       SCHED_DEFAULT,
+			       SCHED_PRIORITY_MIN,
+			       2000,
+			       work_lpthread,
+			       (char* const*)NULL);
+
+}
+
+}
+