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QuRT: Added HRT workqueues as per POSIX

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A high rate workqueue is required that acts like an interrupt handler
for a HW timer.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-06-11 18:13:36 -07:00
parent 83bcb95999
commit e4a8f32f1b
5 changed files with 20 additions and 5 deletions
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src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+10 -3
View File
@@ -57,7 +57,11 @@
#define MAX_CMD_LEN 100
#define PX4_MAX_TASKS 100
#define PX4_MAX_TASKS 50
#define SHELL_TASK_ID (PX4_MAX_TASKS+1)
pthread_t _shell_task_id = 0;
struct task_entry
{
pthread_t pid;
@@ -269,13 +273,16 @@ int px4_getpid()
{
pthread_t pid = pthread_self();
if (pid == _shell_task_id)
return SHELL_TASK_ID;
// Get pthread ID from the opaque ID
for (int i=0; i<PX4_MAX_TASKS; ++i) {
if (taskmap[i].pid == pid) {
if (taskmap[i].isused && taskmap[i].pid == pid) {
return i;
}
}
PX4_ERR("px4_getpid() called from non-thread context!");
PX4_ERR("px4_getpid() called from unknown thread context!");
return -EINVAL;
}