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This commit is contained in:
jwilson
2016-06-22 08:57:06 +02:00
committed by Julian Oes
parent acc1f04b67
commit 9794bb2f2f
4 changed files with 67 additions and 60 deletions
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src/modules/muorb/adsp/px4muorb.cpp
+12 -10
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@@ -50,7 +50,7 @@ extern int dspal_main(int argc, char *argv[]);
extern struct shmem_info *shmem_info_p;
extern int get_shmem_lock(const char *caller_file_name, int caller_line_number);
extern void release_shmem_lock(const char *caller_file_name,
int caller_line_number);
int caller_line_number);
extern void init_shared_memory(void);
__END_DECLS
int px4muorb_orb_initialize()
@@ -61,7 +61,7 @@ int px4muorb_orb_initialize()
uORB::Manager::initialize();
// Register the fastrpc muorb with uORBManager.
uORB::Manager::get_instance()->set_uorb_communicator(
uORB::FastRpcChannel::GetInstance());
uORB::FastRpcChannel::GetInstance());
// Now continue with the usual dspal startup.
const char *argv[] = { "dspal", "start" };
@@ -85,7 +85,7 @@ int px4muorb_get_absolute_time(uint64_t *time_us)
/*update value and param's change bit in shared memory*/
int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value,
int data_len_in_bytes)
int data_len_in_bytes)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *) value;
@@ -115,8 +115,9 @@ int px4muorb_param_update_index_from_shmem(unsigned char *data,
{
unsigned int i;
if (!shmem_info_p)
if (!shmem_info_p) {
return -1;
}
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
@@ -138,8 +139,9 @@ int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value,
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *) value;
if (!shmem_info_p)
if (!shmem_info_p) {
return -1;
}
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
@@ -197,7 +199,7 @@ int px4muorb_remove_subscriber(const char *name)
}
int px4muorb_send_topic_data(const char *name, const uint8_t *data,
int data_len_in_bytes)
int data_len_in_bytes)
{
int rc = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
@@ -229,7 +231,7 @@ int px4muorb_is_subscriber_present(const char *topic_name, int *status)
}
int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
uint8_t *data, int data_len_in_bytes, int *bytes_returned)
uint8_t *data, int data_len_in_bytes, int *bytes_returned)
{
int rc = 0;
int32_t local_msg_type = 0;
@@ -237,14 +239,14 @@ int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_data(&local_msg_type, topic_name, topic_name_len, data,
data_len_in_bytes, &local_bytes_returned);
data_len_in_bytes, &local_bytes_returned);
*msg_type = (int) local_msg_type;
*bytes_returned = (int) local_bytes_returned;
return rc;
}
int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
{
int rc = 0;
int32_t local_bytes_returned = 0;
@@ -252,7 +254,7 @@ int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_bulk_data(bulk_transfer_buffer, max_size_in_bytes,
&local_bytes_returned, &local_topic_count);
&local_bytes_returned, &local_topic_count);
*returned_length_in_bytes = (int) local_bytes_returned;
*topic_count = (int) local_topic_count;
return rc;