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Support for building more modules with Linux

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Added more queue support to linux/px4_layer.

Use virt char devices for ms5611, and mavlink.

Added more HRT functionality. uORB latency test
now fails. Likely due to bad HRT impl for Linux.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-20 11:07:00 -07:00
parent 2abfb7a5be
commit d013ac0927
53 changed files with 8455 additions and 354 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4 -5
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@@ -59,7 +59,6 @@
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
@@ -992,7 +991,7 @@ MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg)
clock_gettime(CLOCK_REALTIME, &tv);
// date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009
bool onb_unix_valid = tv.tv_sec > PX4_EPOCH_SECS;
bool onb_unix_valid = (unsigned long long)tv.tv_sec > PX4_EPOCH_SECS;
bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000ULL;
if (!onb_unix_valid && ofb_unix_valid) {
@@ -1496,17 +1495,17 @@ MavlinkReceiver::receive_thread(void *arg)
sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id());
prctl(PR_SET_NAME, thread_name, getpid());
struct pollfd fds[1];
px4_pollfd_struct_t fds[1];
fds[0].fd = uart_fd;
fds[0].events = POLLIN;
ssize_t nread = 0;
while (!_mavlink->_task_should_exit) {
if (poll(fds, 1, timeout) > 0) {
if (px4_poll(fds, 1, timeout) > 0) {
/* non-blocking read. read may return negative values */
if ((nread = read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) {
if ((nread = ::read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) {
/* to avoid reading very small chunks wait for data before reading */
usleep(1000);
}