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Adding px4cannode-v1 board and bootloader
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
cd8b759fed
commit
bba8371b0f
@@ -0,0 +1,189 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 PX4 Development Team. All rights reserved.
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* Author: David Sidrane<david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_config.h>
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#include <nuttx/progmem.h>
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#include <nuttx/compiler.h>
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#include <stdlib.h>
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#include <syslog.h>
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#include <nuttx/arch.h>
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#include <systemlib/cpuload.h>
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#include "resources.hpp"
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#if !defined(CONFIG_NSH_LIBRARY)
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static const char *
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tstate_name(const tstate_t s)
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{
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switch (s) {
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case TSTATE_TASK_INVALID: return "init";
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case TSTATE_TASK_PENDING: return "PEND";
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case TSTATE_TASK_READYTORUN: return "READY";
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case TSTATE_TASK_RUNNING: return "RUN";
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case TSTATE_TASK_INACTIVE: return "inact";
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case TSTATE_WAIT_SEM: return "w:sem";
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#ifndef CONFIG_DISABLE_SIGNALS
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case TSTATE_WAIT_SIG: return "w:sig";
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#endif
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#ifndef CONFIG_DISABLE_MQUEUE
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case TSTATE_WAIT_MQNOTEMPTY: return "w:mqe";
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case TSTATE_WAIT_MQNOTFULL: return "w:mqf";
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#endif
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#ifdef CONFIG_PAGING
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case TSTATE_WAIT_PAGEFILL: return "w:pgf";
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#endif
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default:
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return "ERROR";
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}
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}
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void stack_check(void)
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{
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for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
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if (system_load.tasks[i].tcb) {
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size_t stack_size = system_load.tasks[i].tcb->adj_stack_size;
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ssize_t stack_free = 0;
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#if CONFIG_ARCH_INTERRUPTSTACK > 3
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if (system_load.tasks[i].tcb->pid == 0) {
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stack_size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
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stack_free = up_check_intstack_remain();
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} else {
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#endif
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stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
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#if CONFIG_ARCH_INTERRUPTSTACK > 3
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}
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#endif
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::syslog(LOG_INFO, "%4d %*-s %8lld %5u/%5u %3u (%3u) ",
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system_load.tasks[i].tcb->pid,
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CONFIG_TASK_NAME_SIZE, system_load.tasks[i].tcb->name,
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(system_load.tasks[i].total_runtime / 1000),
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stack_size - stack_free,
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stack_size,
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system_load.tasks[i].tcb->sched_priority,
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system_load.tasks[i].tcb->base_priority);
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#if CONFIG_RR_INTERVAL > 0
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/* print scheduling info with RR time slice */
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::syslog(LOG_INFO, " %6d\n", system_load.tasks[i].tcb->timeslice);
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#else
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/* print task state instead */
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::syslog(LOG_INFO, " %-6s\n", tstate_name((tstate_t)system_load.tasks[i].tcb->task_state));
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#endif
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}
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}
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}
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static void free_getprogmeminfo(struct mallinfo *mem)
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{
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size_t page = 0, stpage = 0xFFFF;
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size_t pagesize = 0;
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ssize_t status;
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mem->arena = 0;
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mem->fordblks = 0;
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mem->uordblks = 0;
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mem->mxordblk = 0;
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for (status = 0, page = 0; status >= 0; page++) {
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status = up_progmem_ispageerased(page);
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pagesize = up_progmem_pagesize(page);
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mem->arena += pagesize;
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/* Is this beginning of new free space section */
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if (status == 0) {
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if (stpage == 0xFFFF) { stpage = page; }
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mem->fordblks += pagesize;
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} else if (status != 0) {
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mem->uordblks += pagesize;
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if (stpage != 0xFFFF && up_progmem_isuniform()) {
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stpage = page - stpage;
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if (stpage > (size_t) mem->mxordblk) {
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mem->mxordblk = stpage;
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}
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stpage = 0xFFFF;
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}
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}
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}
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mem->mxordblk *= pagesize;
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}
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void free_check(void)
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{
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struct mallinfo data;
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struct mallinfo prog;
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#ifdef CONFIG_CAN_PASS_STRUCTS
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data = mallinfo();
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#else
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(void)mallinfo(&data);
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#endif
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free_getprogmeminfo(&prog);
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::syslog(LOG_INFO, " total used free largest\n");
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::syslog(LOG_INFO, "Data: %11d%11d%11d%11d\n",
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data.arena, data.uordblks, data.fordblks, data.mxordblk);
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::syslog(LOG_INFO, "Prog: %11d%11d%11d%11d\n",
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prog.arena, prog.uordblks, prog.fordblks, prog.mxordblk);
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}
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#endif /* CONFIG_NSH_LIBRARY */
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