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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/platforms/linux/px4_layer/px4_linux_tasks.c
+23 -11
View File
@@ -151,21 +151,14 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
int px4_task_delete(px4_task_t id)
{
int rv = 0;
int i;
pthread_t pid;
//printf("Called px4_task_delete\n");
// Get pthread ID from the opaque ID
for (i=0; i<PX4_MAX_TASKS; ++i) {
// FIXME - precludes pthread task to have an ID of 0
if (taskmap[i] == id) {
pid = taskmap[i];
break;
}
}
if (i>=PX4_MAX_TASKS) {
if (id < PX4_MAX_TASKS && taskmap[id] != 0)
pid = taskmap[id];
else
return -EINVAL;
}
// If current thread then exit, otherwise cancel
if (pthread_self() == pid) {
pthread_exit(0);
@@ -178,6 +171,25 @@ int px4_task_delete(px4_task_t id)
return rv;
}
void px4_task_exit(int ret)
{
int i;
pthread_t pid = pthread_self();
// Get pthread ID from the opaque ID
for (i=0; i<PX4_MAX_TASKS; ++i) {
// FIXME - precludes pthread task to have an ID of 0
if (taskmap[i] == pid) {
taskmap[i] = 0;
break;
}
}
if (i>=PX4_MAX_TASKS)
printf("px4_task_exit: self task not found!\n");
pthread_exit((void *)(unsigned long)ret);
}
void px4_killall(void)
{
//printf("Called px4_killall\n");