fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 13:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Linux: added HRT test, moved tests to linux/tests

Browse Source 
Also fixed naming of mavlink files for NuttX build.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-20 11:07:00 -07:00
parent 99399115f2
commit ac0df5c61d
26 changed files with 1924 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/linux/px4_layer/px4_linux_tasks.c
+31 -7
View File
@@ -96,7 +96,9 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
unsigned long structsize;
char * p = (char *)argv;
px4_task_t task;
pthread_t task;
pthread_attr_t attr;
struct sched_param param;
// Calculate argc
while (p != (char *)0) {
@@ -125,14 +127,36 @@ 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;
//printf("Called px4_task_spawn_cmd\n");
// FIXME - add handling for scheduler and priority
rv = pthread_create (&task, NULL, (void *)&entry_adapter, (void *) taskdata);
if (rv != 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;
}
rv = pthread_create (&task, &attr, (void *)&entry_adapter, (void *) taskdata);
if (rv != 0) {
printf("px4_task_spawn_cmd: failed to create thread\n");
return (rv < 0) ? rv : -rv;
}
//printf("pthread_create task=%d rv=%d\n",(int)task, rv);
for (i=0; i<PX4_MAX_TASKS; ++i) {