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QuRT: pthread API now working

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The use of std::map and static initialization was an issue.

The code was refactored to not use static initialization.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-05-13 16:21:52 -07:00
parent 7115ec3ab6
commit 884f62878d
10 changed files with 208 additions and 118 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/qurt/px4_layer/px4_qurt_impl.cpp
+29 -20
View File
@@ -38,6 +38,7 @@
*/
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_middleware.h>
#include <px4_workqueue.h>
#include <dataman/dataman.h>
@@ -47,19 +48,28 @@
#include <errno.h>
#include <unistd.h>
#include <semaphore.h>
#include <qurt.h>
#include "systemlib/param/param.h"
#include <hexagon_standalone.h>
__BEGIN_DECLS
// FIXME - sysconf(_SC_CLK_TCK) not supported
long PX4_TICKS_PER_SEC = 1000;
void usleep(useconds_t usec) {}
unsigned int sleep(unsigned int sec) { return 0; }
void usleep(useconds_t usec) {
qurt_timer_sleep(usec);
}
unsigned int sleep(unsigned int sec)
{
for (unsigned int i=0; i< sec; i++)
qurt_timer_sleep(1000000);
return 0;
}
extern void hrt_init(void);
#if 0
void qurt_log(const char *fmt, ...)
{
va_list args;
@@ -67,11 +77,15 @@ void qurt_log(const char *fmt, ...)
printf(fmt, args);
printf("n");
}
#endif
extern int _posix_init(void);
__END_DECLS
extern struct wqueue_s gwork[NWORKERS];
namespace px4
{
@@ -79,25 +93,11 @@ void init_once(void);
void init_once(void)
{
// Required for QuRT
_posix_init();
work_queues_init();
hrt_init();
// 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);
}
void init(int argc, char *argv[], const char *app_name)
@@ -141,3 +141,12 @@ size_t strnlen(const char *s, size_t maxlen)
return i;
}
int ioctl(int a, int b, unsigned long c)
{
return -1;
}
int write(int a, char const* b, int c)
{
return -1;
}