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POSIX: fixed hrt call and workqueue implementation

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The HRT call processing normally happens via HW timer interrupt
handler. Since the POSIX port has no ISR handling, the HP work
queue is used.

Instead of irq_save() and irq_restore() calls to disable/enable
interrupts, a mutex is used to protect each queue.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-05-05 00:27:14 -07:00
parent 12a25e4b63
commit e24405d374
9 changed files with 144 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/tests/hrt_test/hrt_test.cpp
+10 -5
View File
@@ -46,9 +46,17 @@
px4::AppState HRTTest::appState;
static struct hrt_call t1;
static int update_interval = 1;
static void timer_expired(void *arg)
{
static int i = 0;
printf("Test\n");
if (i < 5) {
i++;
hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
}
}
int HRTTest::main()
@@ -67,18 +75,15 @@ int HRTTest::main()
printf("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
printf("Start time %llu\n", (unsigned long long)t);
struct hrt_call t1;
int update_interval = 1;
memset(&t1, 0, sizeof(t1));
printf("HRT_CALL %d\n", hrt_called(&t1));
hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
sleep(2);
printf("HRT_CALL %d\n", hrt_called(&t1));
printf("HRT_CALL - %d\n", hrt_called(&t1));
hrt_cancel(&t1);
printf("HRT_CALL %d\n", hrt_called(&t1));
printf("HRT_CALL + %d\n", hrt_called(&t1));
return 0;
}
src/platforms/posix/tests/hrt_test/hrt_test_main.cpp
+3 -3
View File
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file hello_main.cpp
* @file hrt_test_main.cpp
* Example for Linux
*
* @author Mark Charlebois <charlebm@gmail.com>
@@ -44,9 +44,9 @@
int PX4_MAIN(int argc, char **argv)
{
px4::init(argc, argv, "hello");
px4::init(argc, argv, "hrt_test");
printf("hello\n");
printf("starting\n");
HRTTest test;
test.main();