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enable px4 flight for excelsior(legacy)

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This commit is contained in:
wangxdflight
2017-01-12 12:29:41 -08:00
committed by Lorenz Meier
parent 12767c8538
commit b693e29d64
24 changed files with 399 additions and 222 deletions
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src/platforms/posix/main.cpp
+1 -1
View File
@@ -273,7 +273,7 @@ bool px4_exit_requested(void)
static void set_cpu_scaling()
{
#ifdef __PX4_POSIX_EAGLE
#if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
// On Snapdragon we miss updates in sdlog2 unless all 4 CPUs are run
// at the maximum frequency all the time.
// Interestingely, cpu0 and cpu3 set the scaling for all 4 CPUs on Snapdragon.
src/platforms/px4_defines.h
+1 -1
View File
@@ -192,7 +192,7 @@ __BEGIN_DECLS
extern long PX4_TICKS_PER_SEC;
__END_DECLS
# if defined(__PX4_POSIX_EAGLE)
# if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
# define PX4_ROOTFSDIR "/home/linaro"
# elif defined(__PX4_POSIX_BEBOP)
# define PX4_ROOTFSDIR "/data/ftp/internal_000"
src/platforms/qurt/px4_layer/shmem_qurt.c
+17 -20
View File
@@ -49,10 +49,11 @@
//#define SHMEM_DEBUG
//#define PARAM_LOCK_DEBUG
static atomic_word_t mem_lock;
int mem_fd;
unsigned char *map_base, *virt_addr;
struct shmem_info *shmem_info_p;
static void *map_memory(off_t target);
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);
void init_shared_memory(void);
@@ -82,24 +83,16 @@ struct param_wbuf_s {
};
extern struct param_wbuf_s *param_find_changed(param_t param);
static void *map_memory(off_t target)
{
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 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, '/'),
PX4_INFO("lock value %d before get from %s, line: %d\n", mem_lock.value, strrchr(caller_file_name, '/'),
caller_line_number);
#endif
while (!atomic_compare_and_set(lock, 1, 0)) {
while (!atomic_compare_and_set(&mem_lock, 1, 0)) {
i++;
usleep(1000);
@@ -124,9 +117,7 @@ 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);
*lock = 1;
atomic_set(&mem_lock, 1);
#ifdef PARAM_LOCK_DEBUG
PX4_INFO("release lock, file name: %s, line number: %d.\n",
@@ -138,25 +129,31 @@ void release_shmem_lock(const char *caller_file_name, int caller_line_number)
void init_shared_memory(void)
{
//PX4_INFO("Value at lock address is %d\n", *(unsigned int*)0xfbfc000);
int i;
if (shmem_info_p) {
return;
}
virt_addr = map_memory(MAP_ADDRESS);
//virt_addr = map_memory(MAP_ADDRESS);
map_base = malloc(0x4000); //16KB
if (map_base == NULL) {
PX4_INFO("adsp memory malloc failed\n");
return;
}
virt_addr = map_base;
shmem_info_p = (struct shmem_info *) virt_addr;
//init lock as 1
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
*lock = 1;
atomic_init(&mem_lock, 1);
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
shmem_info_p->krait_changed_index[i] = 0;
}
//PX4_INFO("adsp memory mapped\n");
PX4_INFO("adsp memory mapped\n");
}
void copy_params_to_shmem(struct param_info_s *param_info_base)