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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/platforms/posix/px4_layer/shmem_posix.c
+10 -9
View File
@@ -60,8 +60,7 @@ void update_index_from_shmem(void);
uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
extern unsigned char *adsp_changed_index;
struct param_wbuf_s
{
struct param_wbuf_s {
param_t param;
union param_value_u val;
bool unsaved;
@@ -70,9 +69,10 @@ struct param_wbuf_s
/*update value and param's change bit in shared memory*/
void update_to_shmem(param_t param, union param_value_u value)
{
if (px4muorb_param_update_to_shmem(param, (unsigned char*) &value,
sizeof(value)))
if (px4muorb_param_update_to_shmem(param, (unsigned char *) &value,
sizeof(value))) {
PX4_ERR("krait update param %u failed", param);
}
}
void update_index_from_shmem(void)
@@ -83,14 +83,15 @@ void update_index_from_shmem(void)
}
px4muorb_param_update_index_from_shmem(adsp_changed_index,
PARAM_BUFFER_SIZE);
PARAM_BUFFER_SIZE);
}
static void update_value_from_shmem(param_t param, union param_value_u *value)
{
if (px4muorb_param_update_value_from_shmem(param, (unsigned char*) value,
sizeof(union param_value_u)))
if (px4muorb_param_update_value_from_shmem(param, (unsigned char *) value,
sizeof(union param_value_u))) {
PX4_ERR("%s get param failed", __FUNCTION__);
}
}
int update_from_shmem(param_t param, union param_value_u *value)
@@ -106,7 +107,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
update_from_shmem_current_time = hrt_absolute_time();
if ((update_from_shmem_current_time - update_from_shmem_prev_time)
> 1000000) { //update every 1 second
> 1000000) { //update every 1 second
update_from_shmem_prev_time = update_from_shmem_current_time;
update_index_from_shmem();
}
@@ -123,7 +124,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
//else {PX4_INFO("no change to param %s", param_name(param));}
PX4_DEBUG("%s %d bit on adsp index[%d]",
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
return retval;
}
src/platforms/qurt/px4_layer/shmem_qurt.c
+22 -19
View File
@@ -75,8 +75,7 @@ static unsigned log2_for_int(unsigned v)
return r;
}
struct param_wbuf_s
{
struct param_wbuf_s {
param_t param;
union param_value_u val;
bool unsaved;
@@ -86,17 +85,18 @@ extern struct param_wbuf_s *param_find_changed(param_t param);
static void *map_memory(off_t target)
{
return (void *) (target + LOCK_SIZE);
return (void *)(target + LOCK_SIZE);
}
int get_shmem_lock(const char *caller_file_name, int caller_line_number)
{
unsigned char *lock = (unsigned char *) (MAP_ADDRESS + LOCK_OFFSET);
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
unsigned int i = 0;
#ifdef PARAM_LOCK_DEBUG
PX4_INFO("lock value %d before get from %s, line: %d\n", *(unsigned int*)0xfbfc000, strrchr(caller_file_name, '/'), caller_line_number);
PX4_INFO("lock value %d before get from %s, line: %d\n", *(unsigned int *)0xfbfc000, strrchr(caller_file_name, '/'),
caller_line_number);
#endif
while (!atomic_compare_and_set(lock, 1, 0)) {
@@ -110,12 +110,12 @@ int get_shmem_lock(const char *caller_file_name, int caller_line_number)
if (i > 100) {
PX4_INFO("Could not get lock, file name: %s, line number: %d.\n",
strrchr(caller_file_name, '/'), caller_line_number);
strrchr(caller_file_name, '/'), caller_line_number);
return -1;
} else {
PX4_DEBUG("Lock acquired, file name: %s, line number: %d\n",
caller_file_name, caller_line_number);
caller_file_name, caller_line_number);
}
return 0; //got the lock
@@ -124,13 +124,13 @@ int get_shmem_lock(const char *caller_file_name, int caller_line_number)
void release_shmem_lock(const char *caller_file_name, int caller_line_number)
{
unsigned char *lock = (unsigned char *) (MAP_ADDRESS + LOCK_OFFSET);
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
*lock = 1;
#ifdef PARAM_LOCK_DEBUG
PX4_INFO("release lock, file name: %s, line number: %d.\n",
strrchr(caller_file_name, '/'), caller_line_number);
strrchr(caller_file_name, '/'), caller_line_number);
#endif
return;
@@ -141,14 +141,15 @@ void init_shared_memory(void)
//PX4_INFO("Value at lock address is %d\n", *(unsigned int*)0xfbfc000);
int i;
if (shmem_info_p)
if (shmem_info_p) {
return;
}
virt_addr = map_memory(MAP_ADDRESS);
shmem_info_p = (struct shmem_info *) virt_addr;
//init lock as 1
unsigned char *lock = (unsigned char *) (MAP_ADDRESS + LOCK_OFFSET);
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
*lock = 1;
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
@@ -230,12 +231,12 @@ void update_to_shmem(param_t param, union param_value_u value)
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("Set value %d for param %s to shmem, set adsp index %d:%d\n", value.i, param_name(param), byte_changed,
bit_changed);
bit_changed);
}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("Set value %f for param %s to shmem, set adsp index %d:%d\n", value.f, param_name(param), byte_changed,
bit_changed);
bit_changed);
}
#endif
@@ -261,17 +262,19 @@ void update_index_from_shmem(void)
// If a param has changed, we need to find out which one.
// From the byte and bit that is different, we can resolve the param number.
unsigned bit = log2_for_int(
krait_changed_index[i]
^ shmem_info_p->krait_changed_index[i]);
krait_changed_index[i]
^ shmem_info_p->krait_changed_index[i]);
param_t param_to_get = i * 8 + bit;
// Update our krait_changed_index as well.
krait_changed_index[i] = shmem_info_p->krait_changed_index[i];
params[i] = param_to_get;
} else {
params[i] = 0xFFFF;
}
}
release_shmem_lock(__FILE__, __LINE__);
// FIXME: this is a hack but it gets the param so that it gets added
@@ -306,12 +309,12 @@ static void update_value_from_shmem(param_t param, union param_value_u *value)
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("Got value %d for param %s from shmem, cleared krait index %d:%d\n", value->i, param_name(param), byte_changed,
bit_changed);
bit_changed);
}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("Got value %f for param %s from shmem, cleared krait index %d:%d\n", value->f, param_name(param), byte_changed,
bit_changed);
bit_changed);
}
#endif
@@ -329,7 +332,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
update_from_shmem_current_time = hrt_absolute_time();
if ((update_from_shmem_current_time - update_from_shmem_prev_time)
> 1000000) { //update every 1 second
> 1000000) { //update every 1 second
update_from_shmem_prev_time = update_from_shmem_current_time;
update_index_from_shmem();
}
@@ -346,7 +349,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
//else {PX4_INFO("no change to param %s\n", param_name(param));}
PX4_DEBUG("%s %d bit on krait changed index[%d]\n",
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
return retval;
}