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Manually integrated Jim's changes from integrate2_jim branch

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Signed-off-by: Jim Wilson <jywilson99@hotmail.com>
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-02-19 16:59:46 +01:00
committed by Julian Oes
parent a1a615b907
commit caa94d58a6
14 changed files with 117 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/px4_layer/drv_hrt.c
+8 -6
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@@ -87,7 +87,7 @@ static void hrt_unlock(void)
px4_sem_post(&_hrt_lock);
}
#if (defined(__APPLE__) && defined(__MACH__)) || defined(__PX4_QURT)
#if (defined(__APPLE__) && defined(__MACH__))
#include <time.h>
#include <sys/time.h>
#define CLOCK_REALTIME 0
@@ -111,12 +111,14 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
return 0;
}
int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
{
/* do nothing right now */
return 0;
}
#elif defined(__QURT)
#include "dspal_time.h"
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
return clock_gettime(clk_id, tp);
}
#endif
/*
src/platforms/px4_posix.h
+5 -1
View File
@@ -41,12 +41,16 @@
#include <px4_defines.h>
#include <stdint.h>
#include <sys/types.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <semaphore.h>
#if defined(__PX4_QURT)
#include <dspal_types.h>
#else
#include <sys/types.h>
#endif
/* Semaphore handling */
src/platforms/px4_tasks.h
+2 -2
View File
@@ -76,9 +76,9 @@ typedef int px4_task_t;
#define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
#define SCHED_PRIORITY_DEFAULT (((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2) + sched_get_priority_min(SCHED_FIFO))
#elif defined(__PX4_QURT)
#define SCHED_PRIORITY_MAX 0
#define SCHED_PRIORITY_MAX 255
#define SCHED_PRIORITY_MIN 0
#define SCHED_PRIORITY_DEFAULT 0
#define SCHED_PRIORITY_DEFAULT 20
#else
#error "No target OS defined"
#endif
src/platforms/qurt/dspal/dspal_stub.c
+2 -13
View File
@@ -34,24 +34,13 @@
#include <stdio.h>
#include <dlfcn.h>
static void do_dlopen()
{
}
int dlinit(int a, char **b)
{
return 0;
}
int main(int argc, char *argv[])
{
int ret = 0;
char *builtin[] = {"libgcc.so", "libc.so"};
printf("In DSPAL main\n");
dlinit(2, builtin);
// This code is never run. It is used solely to test linking in the
// TravisCI build test
do_dlopen();
return ret;
}
src/platforms/qurt/px4_layer/main.cpp
+1
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@@ -174,6 +174,7 @@ __END_DECLS
const char *get_commands()
{
PX4_INFO("attempting to open the ADSP command file: %s", COMMANDS_ADSP_FILE);
int fd = open(COMMANDS_ADSP_FILE, O_RDONLY);
if (fd > 0) {
src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+14 -11
View File
@@ -112,6 +112,9 @@ px4_systemreset(bool to_bootloader)
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
char *const argv[])
{
struct sched_param param;
pthread_attr_t attr;
pthread_t task;
int rv;
int argc = 0;
int i;
@@ -121,9 +124,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
char *p = (char *)argv;
PX4_DEBUG("Creating %s\n", name);
pthread_t task;
pthread_attr_t attr;
struct sched_param param;
PX4_DEBUG("attr address: 0x%X, param address: 0x%X", &attr, &param);
// Calculate argc
while (p != (char *)0) {
@@ -138,7 +139,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
}
structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
pthdata_t *taskdata;
pthdata_t *taskdata = nullptr;
// not safe to pass stack data to the thread creation
taskdata = (pthdata_t *)malloc(structsize + len);
@@ -164,7 +165,10 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
return (rv < 0) ? rv : -rv;
}
rv = pthread_attr_getschedparam(&attr, &param);
PX4_DEBUG("stack address after pthread_attr_init: 0x%X", attr.stackaddr);
PX4_DEBUG("attr address: 0x%X, param address: 0x%X", &attr, &param);
rv = pthread_attr_getschedparam(&attr, &param);
PX4_DEBUG("stack address after pthread_attr_getschedparam: 0x%X", attr.stackaddr);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to get thread sched param");
@@ -189,28 +193,27 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
#endif
size_t fixed_stacksize = -1;
pthread_attr_getstacksize(&attr, &fixed_stacksize);
PX4_WARN("stack size: %d passed stacksize(%d)", fixed_stacksize, stack_size);
PX4_INFO("stack size: %d passed stacksize(%d)", fixed_stacksize, stack_size);
fixed_stacksize = 8 * 1024;
fixed_stacksize = (fixed_stacksize < (size_t)stack_size) ? (size_t)stack_size : fixed_stacksize;
PX4_WARN("setting the thread[%s] stack size to[%d]", name, fixed_stacksize);
PX4_INFO("setting the thread[%s] stack size to[%d]", name, fixed_stacksize);
pthread_attr_setstacksize(&attr, fixed_stacksize);
//pthread_attr_setstacksize(&attr, stack_size);
PX4_DEBUG("stack address after pthread_attr_setstacksize: 0x%X", attr.stackaddr);
param.sched_priority = priority;
rv = pthread_attr_setschedparam(&attr, &param);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set sched param");
PX4_ERR("px4_task_spawn_cmd: failed to set sched param");
return (rv < 0) ? rv : -rv;
}
rv = pthread_create(&task, &attr, &entry_adapter, (void *) taskdata);
if (rv != 0) {
PX4_ERR("px4_task_spawn_cmd: pthread_create failed, error: %d", rv);
return (rv < 0) ? rv : -rv;
}
src/platforms/qurt/px4_layer/shmem_qurt.c
+12 -10
View File
@@ -47,8 +47,6 @@
#include <shmem.h>
#include <drivers/drv_hrt.h>
#define SHMEM_DEBUG
int mem_fd;
unsigned char *map_base, *virt_addr;
struct shmem_info *shmem_info_p;
@@ -180,11 +178,13 @@ void update_to_shmem(param_t param, union param_value_u value)
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32)
{PX4_INFO("Set value %d for param %s to shmem, set adsp index %d:%d\n", value.i, param_name(param), byte_changed, bit_changed);}
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("Set value %d for param %s to shmem, set adsp index %d:%d\n", value.i, param_name(param), byte_changed, bit_changed);
}
else if (param_type(param) == PARAM_TYPE_FLOAT)
{PX4_INFO("Set value %f for param %s to shmem, set adsp index %d:%d\n", value.f, param_name(param), byte_changed, bit_changed);}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("Set value %f for param %s to shmem, set adsp index %d:%d\n", value.f, param_name(param), byte_changed, bit_changed);
}
#endif
@@ -231,11 +231,13 @@ static void update_value_from_shmem(param_t param, union param_value_u *value)
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32)
{PX4_INFO("Got value %d for param %s from shmem, cleared krait index %d:%d\n", value->i, param_name(param), byte_changed, bit_changed);}
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("Got value %d for param %s from shmem, cleared krait index %d:%d\n", value->i, param_name(param), byte_changed, bit_changed);
}
else if (param_type(param) == PARAM_TYPE_FLOAT)
{PX4_INFO("Got value %f for param %s from shmem, cleared krait index %d:%d\n", value->f, param_name(param), byte_changed, bit_changed);}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("Got value %f for param %s from shmem, cleared krait index %d:%d\n", value->f, param_name(param), byte_changed, bit_changed);
}
#endif
}