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QuRT: Hello world app for QuRT

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DSPAL for QuRT is still missing the pthreads exports and there is no
exported sleep function. These functions are stubbed out for the time being.

This is based on the 6.4.05 version of the Hexagon tools.

The Hexagon tools and DSPAL are needed to build the qurt target.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-22 08:48:48 -07:00
parent c77448747e
commit 6a439f7ddc
9 changed files with 139 additions and 123 deletions
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src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+20 -107
View File
@@ -53,16 +53,18 @@
#include <string>
#include <px4_tasks.h>
#include <hexagon_standalone.h>
#define MAX_CMD_LEN 100
#define PX4_MAX_TASKS 100
struct task_entry
{
pthread_t pid;
int pid;
std::string name;
bool isused;
task_entry() : isused(false) {}
void *sp;
};
static task_entry taskmap[PX4_MAX_TASKS];
@@ -75,7 +77,7 @@ typedef struct
// strings are allocated after the
} pthdata_t;
static void *entry_adapter ( void *ptr )
static void entry_adapter ( void *ptr )
{
pthdata_t *data;
data = (pthdata_t *) ptr;
@@ -85,8 +87,6 @@ static void *entry_adapter ( void *ptr )
printf("Before px4_task_exit\n");
px4_task_exit(0);
printf("After px4_task_exit\n");
return NULL;
}
void
@@ -103,15 +103,12 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
unsigned int len = 0;
unsigned long offset;
unsigned long structsize;
char * p = (char *)argv;
pthread_t task;
pthread_attr_t attr;
struct sched_param param;
char * p;
// Calculate argc
while (p != (char *)0) {
for(;;) {
p = argv[argc];
printf("arg %d %s\n", argc, argv[argc]);
if (p == (char *)0)
break;
++argc;
@@ -136,105 +133,29 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
// Must add NULL at end of argv
taskdata->argv[argc] = (char *)0;
#if 0
rv = pthread_attr_init(&attr);
if (rv != 0) {
printf("px4_task_spawn_cmd: failed to init thread attrs\n");
return (rv < 0) ? rv : -rv;
}
rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (rv != 0) {
printf("px4_task_spawn_cmd: failed to set inherit sched\n");
return (rv < 0) ? rv : -rv;
}
rv = pthread_attr_setschedpolicy(&attr, scheduler);
if (rv != 0) {
printf("px4_task_spawn_cmd: failed to set sched policy\n");
return (rv < 0) ? rv : -rv;
}
param.sched_priority = priority;
rv = pthread_attr_setschedparam(&attr, &param);
if (rv != 0) {
printf("px4_task_spawn_cmd: failed to set sched param\n");
return (rv < 0) ? rv : -rv;
}
#endif
//rv = pthread_create (&task, &attr, &entry_adapter, (void *) taskdata);
rv = pthread_create (&task, NULL, &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 (&task, NULL, &entry_adapter, (void *) taskdata);
if (rv != 0) {
printf("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
return (rv < 0) ? rv : -rv;
}
}
else {
return (rv < 0) ? rv : -rv;
}
}
for (i=0; i<PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused == false) {
taskmap[i].pid = task;
taskmap[i].pid = i+1;
taskmap[i].name = name;
taskmap[i].isused = true;
taskmap[i].sp = malloc(stack_size);;
break;
}
}
if (i>=PX4_MAX_TASKS) {
return -ENOSPC;
}
return i;
thread_create(entry_adapter, taskmap[i].sp, i+1, (void *) taskdata);
return i+1;
}
int px4_task_delete(px4_task_t id)
{
int rv = 0;
pthread_t pid;
printf("Called px4_task_delete\n");
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;
return -EINVAL;
}
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)
printf("px4_task_exit: self task not found!\n");
else
printf("px4_task_exit: %s\n", taskmap[i].name.c_str());
pthread_exit((void *)(unsigned long)ret);
thread_stop();
}
void px4_killall(void)
@@ -250,19 +171,8 @@ void px4_killall(void)
int px4_task_kill(px4_task_t id, int sig)
{
int rv = 0;
pthread_t pid;
//printf("Called px4_task_delete\n");
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;
printf("Called px4_task_kill\n");
return -EINVAL;
}
void px4_show_tasks()
@@ -274,7 +184,7 @@ void px4_show_tasks()
for (idx=0; idx < PX4_MAX_TASKS; idx++)
{
if (taskmap[idx].isused) {
printf(" %-10s %p\n", taskmap[idx].name.c_str(), taskmap[idx].pid);
printf(" %-10s %d\n", taskmap[idx].name.c_str(), taskmap[idx].pid);
count++;
}
}
@@ -282,3 +192,6 @@ void px4_show_tasks()
printf(" No running tasks\n");
}
// STUBS