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QuRT: src/platform/qurt changes

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Changes to support QuRT intrgration with DSPAL and
move from simulator to real HW.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-07-01 12:54:27 -07:00
parent 8237b8bbaf
commit b5e6111d7c
10 changed files with 320 additions and 28 deletions
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src/platforms/qurt/px4_layer/main.cpp
+69 -10
View File
@@ -41,6 +41,7 @@
#include <px4_tasks.h>
#include <px4_time.h>
#include <px4_posix.h>
#include <px4_defines.h>
#include <vector>
#include <string>
#include <map>
@@ -50,6 +51,7 @@ using namespace std;
extern void init_app_map(map<string,px4_main_t> &apps);
extern void list_builtins(map<string,px4_main_t> &apps);
static px4_task_t g_dspal_task = -1;
__BEGIN_DECLS
// The commands to run are specified in a target file: commands_<target>.c
@@ -65,14 +67,16 @@ static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs)
unsigned int i = 0;
while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
arg[i] = (char *)appargs[i].c_str();
//printf(" arg = '%s'\n", arg[i]);
PX4_WARN(" arg = '%s'\n", arg[i]);
++i;
}
arg[i] = (char *)0;
//PX4_DEBUG_PRINTF(i);
apps[command](i,(char **)arg);
}
else
{
PX4_WARN("NOT FOUND.");
list_builtins(apps);
}
}
@@ -91,10 +95,16 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
int i=0;
const char *b = cmds;
bool found_first_char = false;
char arg[20];
char arg[256];
// This is added because it is a parameter used by commander, yet created by mavlink. Since mavlink is not
// running on QURT, we need to manually define it so it is available to commander. "2" is for quadrotor.
PARAM_DEFINE_INT32(MAV_TYPE,2);
// Eat leading whitespace
eat_whitespace(b, i);
for(;;) {
// End of command line
@@ -105,7 +115,10 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
// If we have a command to run
if (appargs.size() > 0) {
run_cmd(apps, appargs);
PX4_WARN("Processing command: %s",appargs[0].c_str());
for(int ai=1;ai<(int)appargs.size();ai++)
PX4_WARN(" > arg: %s",appargs[ai].c_str());
run_cmd(apps, appargs);
}
appargs.clear();
if (b[i] == '\n') {
@@ -133,17 +146,63 @@ extern void init_once(void);
};
__BEGIN_DECLS
void dspal_entry()
{
const char *argv[2] = { "dspal_client", NULL };
int argc = 1;
extern int dspal_main(int argc, char *argv[]);
__END_DECLS
printf("In main\n");
int dspal_entry( int argc, char* argv[] )
{
//const char *argv[2] = { "dspal_client", NULL };
//int argc = 1;
PX4_INFO("In main\n");
map<string,px4_main_t> apps;
init_app_map(apps);
px4::init_once();
px4::init(argc, (char **)argv, "mainapp");
process_commands(apps, get_commands());
for (;;) { sleep(100000); }
for( ;; )
{
volatile int x = 0;
++x;
}
return 0;
}
static void usage()
{
PX4_WARN("Usage: dspal {start |stop}");
}
extern "C" {
int dspal_main(int argc, char *argv[])
{
int ret = 0;
if (argc == 2 && strcmp(argv[1], "start") == 0) {
g_dspal_task = px4_task_spawn_cmd("dspal",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1500,
dspal_entry,
argv);
}
else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
if (g_dspal_task < 0) {
PX4_WARN("start up thread not running");
}
else {
px4_task_delete(g_dspal_task);
g_dspal_task = -1;
}
}
else {
usage();
ret = -1;
}
return ret;
}
}
__END_DECLS