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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/px4_qurt_impl.cpp
+12 -4
View File
@@ -50,14 +50,18 @@
#include <semaphore.h>
#include "systemlib/param/param.h"
#include "hrt_work.h"
#include "px4_log.h"
extern pthread_t _shell_task_id;
//extern pthread_t _shell_task_id;
__BEGIN_DECLS
extern uint64_t get_ticks_per_us();
// FIXME - sysconf(_SC_CLK_TCK) not supported
long PX4_TICKS_PER_SEC = 1000;
//long PX4_TICKS_PER_SEC = get_ticks_per_us();
long PX4_TICKS_PER_SEC = 800000000;
unsigned int sleep(unsigned int sec)
{
@@ -94,12 +98,16 @@ void init_once(void)
{
// Required for QuRT
//_posix_init();
PX4_WARN( "Before calling work_queue_init" );
// _shell_task_id = pthread_self();
// PX4_INFO("Shell id is %lu", _shell_task_id);
_shell_task_id = pthread_self();
PX4_INFO("Shell id is %lu", _shell_task_id);
work_queues_init();
PX4_WARN( "Before calling hrt_init" );
hrt_work_queue_init();
hrt_init();
PX4_WARN( "after calling hrt_init" );
}
void init(int argc, char *argv[], const char *app_name)