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Fixes shared memory locking bug and eliminates the need for an AppsProm driver to reserve a shared memory region.

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jwilson
2016-06-22 08:57:06 +02:00
committed by Julian Oes
parent 6739ae9dfc
commit a73ac821ab
9 changed files with 197 additions and 239 deletions
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src/modules/muorb/adsp/px4muorb.cpp
+78
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@@ -42,9 +42,15 @@
#include "px4_log.h"
#include "uORB/topics/sensor_combined.h"
#include "uORB.h"
#include "systemlib/param/param.h"
#include <shmem.h>
__BEGIN_DECLS
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);
extern void init_shared_memory(void);
__END_DECLS
int px4muorb_orb_initialize()
@@ -76,6 +82,78 @@ int px4muorb_get_absolute_time(uint64_t *time_us)
return 0;
}
/*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)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *)value;
if(!shmem_info_p) {
init_shared_memory();
}
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
return -1;
}
shmem_info_p->params_val[param] = *param_value;
byte_changed = param / 8;
bit_changed = 1 << param % 8;
shmem_info_p->krait_changed_index[byte_changed] |= bit_changed;
release_shmem_lock(__FILE__, __LINE__);
return 0;
}
int px4muorb_param_update_index_from_shmem(unsigned char *data, int data_len_in_bytes)
{
unsigned int i;
if(!shmem_info_p)
return -1;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
return -1;
}
for (i = 0; i < data_len_in_bytes; i++) {
data[i] = shmem_info_p->adsp_changed_index[i];
}
release_shmem_lock(__FILE__, __LINE__);
return 0;
}
int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value, int data_len_in_bytes)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *)value;
if(!shmem_info_p)
return -1;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
return -1;
}
*param_value = shmem_info_p->params_val[param];
/*also clear the index since we are holding the lock*/
byte_changed = param / 8;
bit_changed = 1 << param % 8;
shmem_info_p->adsp_changed_index[byte_changed] &= ~bit_changed;
release_shmem_lock(__FILE__, __LINE__);
return 0;
}
int px4muorb_add_subscriber(const char *name)
{
int rc = 0;