mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 12:43:33 +08:00
Linux to posix conversion
Changed "linux" target to "posix". Most of the changes are shared with QuRT and with OSX. The Linux specific parts are in for i2c which uses <linux/i2c.h> and <linux/i2c-dev.h>. There is also a check for __PX4_LINUX in mavlink for a tty ioctl that is not supported. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,7 @@
|
||||
#
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||||
# Simulated accel/mag driver
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||||
#
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||||
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MODULE_COMMAND = accelsim
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SRCS = accelsim.cpp
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@@ -0,0 +1,303 @@
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||||
/****************************************************************************
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||||
*
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||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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||||
*
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||||
****************************************************************************/
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||||
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/**
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* @file adcsim.cpp
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*
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* Driver for the ADCSIM.
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*
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* This is a designed for simulating sampling things like voltages
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* and so forth.
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*/
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#include <px4_config.h>
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#include <px4_adc.h>
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#include <board_config.h>
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#include <drivers/device/device.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <string.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <arch/board/board.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_adc.h>
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#include <systemlib/err.h>
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#include <systemlib/perf_counter.h>
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#include <uORB/topics/system_power.h>
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class ADCSIM : public device::VDev
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{
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public:
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ADCSIM(uint32_t channels);
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~ADCSIM();
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virtual int init();
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virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
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virtual ssize_t read(device::px4_dev_handle_t *handlep, char *buffer, size_t len);
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protected:
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virtual int open_first(device::px4_dev_handle_t *handlep);
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virtual int close_last(device::px4_dev_handle_t *handlep);
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private:
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static const hrt_abstime _tickrate = 10000; /**< 100Hz base rate */
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hrt_call _call;
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perf_counter_t _sample_perf;
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unsigned _channel_count;
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adc_msg_s *_samples; /**< sample buffer */
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orb_advert_t _to_system_power;
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/** work trampoline */
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static void _tick_trampoline(void *arg);
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/** worker function */
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void _tick();
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/**
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* Sample a single channel and return the measured value.
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*
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* @param channel The channel to sample.
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* @return The sampled value, or 0xffff if
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* sampling failed.
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*/
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uint16_t _sample(unsigned channel);
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// update system_power ORB topic, only on FMUv2
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void update_system_power(void);
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};
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ADCSIM::ADCSIM(uint32_t channels) :
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VDev("adcsim", ADCSIM0_DEVICE_PATH),
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_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
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_channel_count(0),
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_samples(nullptr),
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_to_system_power(0)
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{
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//_debug_enabled = true;
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/* always enable the temperature sensor */
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channels |= 1 << 16;
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/* allocate the sample array */
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for (unsigned i = 0; i < 32; i++) {
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if (channels & (1 << i)) {
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_channel_count++;
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}
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}
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_samples = new adc_msg_s[_channel_count];
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/* prefill the channel numbers in the sample array */
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if (_samples != nullptr) {
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unsigned index = 0;
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for (unsigned i = 0; i < 32; i++) {
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if (channels & (1 << i)) {
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_samples[index].am_channel = i;
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_samples[index].am_data = 0;
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index++;
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}
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}
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}
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}
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ADCSIM::~ADCSIM()
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{
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if (_samples != nullptr)
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delete _samples;
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}
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int
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ADCSIM::init()
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{
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debug("init done");
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/* create the device node */
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return VDev::init();
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}
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int
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ADCSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
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{
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return -ENOTTY;
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}
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ssize_t
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ADCSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t len)
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{
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const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
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if (len > maxsize)
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len = maxsize;
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/* block interrupts while copying samples to avoid racing with an update */
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memcpy(buffer, _samples, len);
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return len;
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}
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int
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ADCSIM::open_first(device::px4_dev_handle_t *handlep)
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{
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/* get fresh data */
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_tick();
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/* and schedule regular updates */
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hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this);
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return 0;
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}
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int
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ADCSIM::close_last(device::px4_dev_handle_t *handlep)
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{
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hrt_cancel(&_call);
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return 0;
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}
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void
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ADCSIM::_tick_trampoline(void *arg)
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{
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(reinterpret_cast<ADCSIM *>(arg))->_tick();
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}
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void
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ADCSIM::_tick()
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{
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/* scan the channel set and sample each */
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for (unsigned i = 0; i < _channel_count; i++)
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_samples[i].am_data = _sample(_samples[i].am_channel);
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update_system_power();
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}
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void
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ADCSIM::update_system_power(void)
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{
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}
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uint16_t
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ADCSIM::_sample(unsigned channel)
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{
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perf_begin(_sample_perf);
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uint16_t result = 1;
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perf_end(_sample_perf);
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return result;
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}
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int adcsim_main(int argc, char *argv[]);
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namespace
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{
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ADCSIM *g_adc;
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int
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test(void)
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{
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int fd = px4_open(ADCSIM0_DEVICE_PATH, O_RDONLY);
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if (fd < 0) {
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warnx("can't open ADCSIM device");
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return 1;
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}
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for (unsigned i = 0; i < 50; i++) {
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adc_msg_s data[12];
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ssize_t count = px4_read(fd, data, sizeof(data));
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if (count < 0) {
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warnx("read error");
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return 1;
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}
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unsigned channels = count / sizeof(data[0]);
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for (unsigned j = 0; j < channels; j++) {
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printf ("%d: %u ", data[j].am_channel, data[j].am_data);
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}
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printf("\n");
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usleep(500000);
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}
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px4_close(fd);
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return 0;
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}
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}
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int
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adcsim_main(int argc, char *argv[])
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{
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int ret = 0;
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if (g_adc == nullptr) {
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#ifdef CONFIG_ARCH_BOARD_LINUXTEST
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/* XXX this hardcodes the default channel set for LINUXTEST - should be configurable */
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g_adc = new ADCSIM((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
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#endif
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if (g_adc == nullptr) {
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warnx("couldn't allocate the ADCSIM driver");
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return 1;
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}
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if (g_adc->init() != OK) {
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delete g_adc;
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warnx("ADCSIM init failed");
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return 1;
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}
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}
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if (argc > 1) {
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if (!strcmp(argv[1], "test"))
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ret = test();
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}
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return ret;
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}
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@@ -0,0 +1,42 @@
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############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# STM32 ADC driver
|
||||
#
|
||||
|
||||
MODULE_COMMAND = adcsim
|
||||
|
||||
SRCS = adcsim.cpp
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,217 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file baro_sim.cpp
|
||||
*
|
||||
* Simulation interface for barometer
|
||||
*/
|
||||
|
||||
/* XXX trim includes */
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <assert.h>
|
||||
//#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <drivers/device/sim.h>
|
||||
#include <simulator/simulator.h>
|
||||
#include "barosim.h"
|
||||
#include "board_config.h"
|
||||
|
||||
device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf);
|
||||
|
||||
class BARO_SIM : public device::SIM
|
||||
{
|
||||
public:
|
||||
BARO_SIM(uint8_t bus, barosim::prom_u &prom_buf);
|
||||
virtual ~BARO_SIM();
|
||||
|
||||
virtual int init();
|
||||
virtual int dev_read(unsigned offset, void *data, unsigned count);
|
||||
virtual int dev_ioctl(unsigned operation, unsigned &arg);
|
||||
|
||||
virtual int transfer(const uint8_t *send, unsigned send_len,
|
||||
uint8_t *recv, unsigned recv_len);
|
||||
private:
|
||||
barosim::prom_u &_prom;
|
||||
|
||||
/**
|
||||
* Send a reset command to the barometer simulator.
|
||||
*
|
||||
* This is required after any bus reset.
|
||||
*/
|
||||
int _reset();
|
||||
|
||||
/**
|
||||
* Send a measure command to the barometer simulator.
|
||||
*
|
||||
* @param addr Which address to use for the measure operation.
|
||||
*/
|
||||
int _measure(unsigned addr);
|
||||
|
||||
/**
|
||||
* Read the MS5611 PROM
|
||||
*
|
||||
* @return PX4_OK if the PROM reads successfully.
|
||||
*/
|
||||
int _read_prom();
|
||||
|
||||
};
|
||||
|
||||
device::Device *
|
||||
BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum)
|
||||
{
|
||||
return new BARO_SIM(busnum, prom_buf);
|
||||
}
|
||||
|
||||
BARO_SIM::BARO_SIM(uint8_t bus, barosim::prom_u &prom) :
|
||||
SIM("BARO_SIM", "/dev/BARO_SIM", bus, 0),
|
||||
_prom(prom)
|
||||
{
|
||||
}
|
||||
|
||||
BARO_SIM::~BARO_SIM()
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::init()
|
||||
{
|
||||
return SIM::init();
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::dev_read(unsigned offset, void *data, unsigned count)
|
||||
{
|
||||
union _cvt {
|
||||
uint8_t b[4];
|
||||
uint32_t w;
|
||||
} *cvt = (_cvt *)data;
|
||||
uint8_t buf[3];
|
||||
|
||||
/* read the most recent measurement */
|
||||
uint8_t cmd = 0;
|
||||
int ret = transfer(&cmd, 1, &buf[0], 3);
|
||||
if (ret == PX4_OK) {
|
||||
/* fetch the raw value */
|
||||
cvt->b[0] = buf[2];
|
||||
cvt->b[1] = buf[1];
|
||||
cvt->b[2] = buf[0];
|
||||
cvt->b[3] = 0;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::dev_ioctl(unsigned operation, unsigned &arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
switch (operation) {
|
||||
case IOCTL_RESET:
|
||||
ret = _reset();
|
||||
break;
|
||||
|
||||
case IOCTL_MEASURE:
|
||||
ret = _measure(arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
ret = EINVAL;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::_reset()
|
||||
{
|
||||
unsigned old_retrycount = _retries;
|
||||
uint8_t cmd = ADDR_RESET_CMD;
|
||||
int result;
|
||||
|
||||
/* bump the retry count */
|
||||
_retries = 10;
|
||||
result = transfer(&cmd, 1, nullptr, 0);
|
||||
_retries = old_retrycount;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::_measure(unsigned addr)
|
||||
{
|
||||
/*
|
||||
* Disable retries on this command; we can't know whether failure
|
||||
* means the device did or did not see the command.
|
||||
*/
|
||||
_retries = 0;
|
||||
|
||||
uint8_t cmd = addr;
|
||||
return transfer(&cmd, 1, nullptr, 0);
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::_read_prom()
|
||||
{
|
||||
int ret = 1;
|
||||
// TODO input simlation data
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::transfer(const uint8_t *send, unsigned send_len,
|
||||
uint8_t *recv, unsigned recv_len)
|
||||
{
|
||||
// TODO add Simulation data connection so calls retrieve
|
||||
// data from the simulator
|
||||
|
||||
if (send_len != 1 || send[0] != 0 || recv_len != 3) {
|
||||
return 1;
|
||||
}
|
||||
else {
|
||||
Simulator *sim = Simulator::getInstance();
|
||||
if (sim == NULL) {
|
||||
return -ENODEV;
|
||||
}
|
||||
sim->getBaroSample(recv, recv_len);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file barosim.h
|
||||
*
|
||||
* Shared defines for the ms5611 driver.
|
||||
*/
|
||||
|
||||
#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */
|
||||
#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start pressure conversion */
|
||||
#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start temperature conversion */
|
||||
#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */
|
||||
#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
|
||||
#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
|
||||
|
||||
/* interface ioctls */
|
||||
#define IOCTL_RESET 2
|
||||
#define IOCTL_MEASURE 3
|
||||
|
||||
namespace barosim
|
||||
{
|
||||
|
||||
/**
|
||||
* Calibration PROM as reported by the device.
|
||||
*/
|
||||
#pragma pack(push,1)
|
||||
struct prom_s {
|
||||
uint16_t factory_setup;
|
||||
uint16_t c1_pressure_sens;
|
||||
uint16_t c2_pressure_offset;
|
||||
uint16_t c3_temp_coeff_pres_sens;
|
||||
uint16_t c4_temp_coeff_pres_offset;
|
||||
uint16_t c5_reference_temp;
|
||||
uint16_t c6_temp_coeff_temp;
|
||||
uint16_t serial_and_crc;
|
||||
};
|
||||
|
||||
/**
|
||||
* Grody hack for crc4()
|
||||
*/
|
||||
union prom_u {
|
||||
uint16_t c[8];
|
||||
prom_s s;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
extern bool crc4(uint16_t *n_prom);
|
||||
|
||||
} /* namespace */
|
||||
|
||||
/* interface factories */
|
||||
extern device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum) __attribute__((weak));
|
||||
typedef device::Device *(*BAROSIM_constructor)(barosim::prom_u &prom_buf, uint8_t busnum);
|
||||
@@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# MS5611 driver
|
||||
#
|
||||
|
||||
MODULE_COMMAND = barosim
|
||||
|
||||
SRCS = baro.cpp baro_sim.cpp
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,46 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the MPU6000 driver.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = gyrosim
|
||||
|
||||
SRCS = gyrosim.cpp
|
||||
|
||||
MODULE_STACKSIZE = 1200
|
||||
|
||||
EXTRACXXFLAGS = -Weffc++
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
@@ -0,0 +1,11 @@
|
||||
#define UDID_START 0x1FFF7A10
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_ESC 1
|
||||
#define PX4_SIM_BUS_TEST 2
|
||||
#define PX4_I2C_BUS_EXPANSION 3
|
||||
#define PX4_I2C_BUS_LED 3
|
||||
|
||||
#define PX4_I2C_OBDEV_LED 0x55
|
||||
@@ -0,0 +1,83 @@
|
||||
/****************************************************************************
|
||||
* include/crc.h
|
||||
*
|
||||
* Copyright (C) 2010 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __INCLUDE_CRC32_H
|
||||
#define __INCLUDE_CRC32_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc32part
|
||||
*
|
||||
* Description:
|
||||
* Continue CRC calculation on a part of the buffer.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
EXTERN uint32_t crc32part(const uint8_t *src, size_t len,
|
||||
uint32_t crc32val);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc32
|
||||
*
|
||||
* Description:
|
||||
* Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
EXTERN uint32_t crc32(const uint8_t *src, size_t len);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __INCLUDE_CRC32_H */
|
||||
@@ -0,0 +1,135 @@
|
||||
/************************************************************************
|
||||
* include/queue.h
|
||||
*
|
||||
* Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************/
|
||||
|
||||
#ifndef __INCLUDE_QUEUE_H
|
||||
#define __INCLUDE_QUEUE_H
|
||||
|
||||
/************************************************************************
|
||||
* Included Files
|
||||
************************************************************************/
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
/************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************/
|
||||
|
||||
#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
|
||||
#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
|
||||
|
||||
#define sq_next(p) ((p)->flink)
|
||||
#define dq_next(p) ((p)->flink)
|
||||
#define dq_prev(p) ((p)->blink)
|
||||
|
||||
#define sq_empty(q) ((q)->head == NULL)
|
||||
#define dq_empty(q) ((q)->head == NULL)
|
||||
|
||||
#define sq_peek(q) ((q)->head)
|
||||
#define dq_peek(q) ((q)->head)
|
||||
|
||||
// Required for Linux
|
||||
#define FAR
|
||||
#ifndef NULL
|
||||
#define NULL (void *)0
|
||||
#endif
|
||||
|
||||
/************************************************************************
|
||||
* Global Type Declarations
|
||||
************************************************************************/
|
||||
|
||||
struct sq_entry_s
|
||||
{
|
||||
FAR struct sq_entry_s *flink;
|
||||
};
|
||||
typedef struct sq_entry_s sq_entry_t;
|
||||
|
||||
struct dq_entry_s
|
||||
{
|
||||
FAR struct dq_entry_s *flink;
|
||||
FAR struct dq_entry_s *blink;
|
||||
};
|
||||
typedef struct dq_entry_s dq_entry_t;
|
||||
|
||||
struct sq_queue_s
|
||||
{
|
||||
FAR sq_entry_t *head;
|
||||
FAR sq_entry_t *tail;
|
||||
};
|
||||
typedef struct sq_queue_s sq_queue_t;
|
||||
|
||||
struct dq_queue_s
|
||||
{
|
||||
FAR dq_entry_t *head;
|
||||
FAR dq_entry_t *tail;
|
||||
};
|
||||
typedef struct dq_queue_s dq_queue_t;
|
||||
|
||||
/************************************************************************
|
||||
* Global Function Prototypes
|
||||
************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue);
|
||||
EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
|
||||
EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
|
||||
EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
|
||||
EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
|
||||
sq_queue_t *queue);
|
||||
EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
|
||||
dq_queue_t *queue);
|
||||
EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
|
||||
dq_queue_t *queue);
|
||||
|
||||
EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
|
||||
EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);
|
||||
EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue);
|
||||
EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue);
|
||||
EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue);
|
||||
EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue);
|
||||
EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __INCLUDE_QUEUE_H_ */
|
||||
|
||||
@@ -0,0 +1,104 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file main.cpp
|
||||
* Basic shell to execute builtin "apps"
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
#include <sstream>
|
||||
#include <vector>
|
||||
|
||||
using namespace std;
|
||||
|
||||
typedef int (*px4_main_t)(int argc, char *argv[]);
|
||||
|
||||
#include "apps.h"
|
||||
#include "px4_middleware.h"
|
||||
|
||||
void run_cmd(const vector<string> &appargs);
|
||||
void run_cmd(const vector<string> &appargs) {
|
||||
// command is appargs[0]
|
||||
string command = appargs[0];
|
||||
if (apps.find(command) != apps.end()) {
|
||||
const char *arg[appargs.size()+2];
|
||||
|
||||
unsigned int i = 0;
|
||||
while (i < appargs.size() && appargs[i] != "") {
|
||||
arg[i] = (char *)appargs[i].c_str();
|
||||
++i;
|
||||
}
|
||||
arg[i] = (char *)0;
|
||||
apps[command](i,(char **)arg);
|
||||
}
|
||||
else
|
||||
{
|
||||
cout << "Invalid command" << endl;
|
||||
list_builtins();
|
||||
}
|
||||
}
|
||||
|
||||
static void process_line(string &line)
|
||||
{
|
||||
vector<string> appargs(5);
|
||||
|
||||
stringstream(line) >> appargs[0] >> appargs[1] >> appargs[2] >> appargs[3] >> appargs[4];
|
||||
run_cmd(appargs);
|
||||
}
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
// Execute a command list of provided
|
||||
if (argc == 2) {
|
||||
ifstream infile(argv[1]);
|
||||
|
||||
for (string line; getline(infile, line, '\n'); ) {
|
||||
process_line(line);
|
||||
}
|
||||
}
|
||||
|
||||
string mystr;
|
||||
|
||||
px4::init(argc, argv, "mainapp");
|
||||
|
||||
while(1) {
|
||||
cout << "Enter a command and its args:" << endl;
|
||||
getline (cin,mystr);
|
||||
process_line(mystr);
|
||||
mystr = "";
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,74 @@
|
||||
/************************************************************
|
||||
* libc/queue/dq_addlast.c
|
||||
*
|
||||
* Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Compilation Switches
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Included Files
|
||||
************************************************************/
|
||||
|
||||
#include <queue.h>
|
||||
|
||||
/************************************************************
|
||||
* Public Functions
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Name: dq_addlast
|
||||
*
|
||||
* Description
|
||||
* dq_addlast adds 'node' to the end of 'queue'
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue)
|
||||
{
|
||||
node->flink = NULL;
|
||||
node->blink = queue->tail;
|
||||
|
||||
if (!queue->head)
|
||||
{
|
||||
queue->head = node;
|
||||
queue->tail = node;
|
||||
}
|
||||
else
|
||||
{
|
||||
queue->tail->flink = node;
|
||||
queue->tail = node;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,84 @@
|
||||
/************************************************************
|
||||
* libc/queue/dq_rem.c
|
||||
*
|
||||
* Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Compilation Switches
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Included Files
|
||||
************************************************************/
|
||||
|
||||
#include <queue.h>
|
||||
|
||||
/************************************************************
|
||||
* Public Functions
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Name: dq_rem
|
||||
*
|
||||
* Descripton:
|
||||
* dq_rem removes 'node' from 'queue'
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue)
|
||||
{
|
||||
FAR dq_entry_t *prev = node->blink;
|
||||
FAR dq_entry_t *next = node->flink;
|
||||
|
||||
if (!prev)
|
||||
{
|
||||
queue->head = next;
|
||||
}
|
||||
else
|
||||
{
|
||||
prev->flink = next;
|
||||
}
|
||||
|
||||
if (!next)
|
||||
{
|
||||
queue->tail = prev;
|
||||
}
|
||||
else
|
||||
{
|
||||
next->blink = prev;
|
||||
}
|
||||
|
||||
node->flink = NULL;
|
||||
node->blink = NULL;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,82 @@
|
||||
/************************************************************
|
||||
* libc/queue/dq_remfirst.c
|
||||
*
|
||||
* Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Compilation Switches
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Included Files
|
||||
************************************************************/
|
||||
|
||||
#include <queue.h>
|
||||
|
||||
/************************************************************
|
||||
* Public Functions
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Name: dq_remfirst
|
||||
*
|
||||
* Description:
|
||||
* dq_remfirst removes 'node' from the head of 'queue'
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
FAR dq_entry_t *dq_remfirst(dq_queue_t *queue)
|
||||
{
|
||||
FAR dq_entry_t *ret = queue->head;
|
||||
|
||||
if (ret)
|
||||
{
|
||||
FAR dq_entry_t *next = ret->flink;
|
||||
if (!next)
|
||||
{
|
||||
queue->head = NULL;
|
||||
queue->tail = NULL;
|
||||
}
|
||||
else
|
||||
{
|
||||
queue->head = next;
|
||||
next->blink = NULL;
|
||||
}
|
||||
|
||||
ret->flink = NULL;
|
||||
ret->blink = NULL;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,293 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file drv_hrt.c
|
||||
*
|
||||
* High-resolution timer with callouts and timekeeping.
|
||||
*/
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <time.h>
|
||||
#include <string.h>
|
||||
|
||||
static struct sq_queue_s callout_queue;
|
||||
|
||||
/* latency histogram */
|
||||
#define LATENCY_BUCKET_COUNT 8
|
||||
__EXPORT const uint16_t latency_bucket_count = LATENCY_BUCKET_COUNT;
|
||||
__EXPORT const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
|
||||
__EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
|
||||
|
||||
static void hrt_call_reschedule(void);
|
||||
|
||||
#define HRT_INTERVAL_MIN 50
|
||||
#define HRT_INTERVAL_MAX 50000
|
||||
|
||||
/*
|
||||
* Get absolute time.
|
||||
*/
|
||||
hrt_abstime hrt_absolute_time(void)
|
||||
{
|
||||
struct timespec ts;
|
||||
|
||||
clock_gettime(CLOCK_MONOTONIC, &ts);
|
||||
return ts_to_abstime(&ts);
|
||||
}
|
||||
|
||||
/*
|
||||
* Convert a timespec to absolute time.
|
||||
*/
|
||||
hrt_abstime ts_to_abstime(struct timespec *ts)
|
||||
{
|
||||
hrt_abstime result;
|
||||
|
||||
result = (hrt_abstime)(ts->tv_sec) * 1000000;
|
||||
result += ts->tv_nsec / 1000;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/*
|
||||
* Compute the delta between a timestamp taken in the past
|
||||
* and now.
|
||||
*
|
||||
* This function is safe to use even if the timestamp is updated
|
||||
* by an interrupt during execution.
|
||||
*/
|
||||
hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then)
|
||||
{
|
||||
hrt_abstime delta = hrt_absolute_time() - *then;
|
||||
return delta;
|
||||
}
|
||||
|
||||
/*
|
||||
* Store the absolute time in an interrupt-safe fashion.
|
||||
*
|
||||
* This function ensures that the timestamp cannot be seen half-written by an interrupt handler.
|
||||
*/
|
||||
hrt_abstime hrt_store_absolute_time(volatile hrt_abstime *now)
|
||||
{
|
||||
hrt_abstime ts = hrt_absolute_time();
|
||||
return ts;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* If this returns true, the entry has been invoked and removed from the callout list,
|
||||
* or it has never been entered.
|
||||
*
|
||||
* Always returns false for repeating callouts.
|
||||
*/
|
||||
bool hrt_called(struct hrt_call *entry)
|
||||
{
|
||||
return (entry->deadline == 0);
|
||||
}
|
||||
|
||||
/*
|
||||
* Remove the entry from the callout list.
|
||||
*/
|
||||
void hrt_cancel(struct hrt_call *entry)
|
||||
{
|
||||
// FIXME - need a lock
|
||||
sq_rem(&entry->link, &callout_queue);
|
||||
entry->deadline = 0;
|
||||
|
||||
/* if this is a periodic call being removed by the callout, prevent it from
|
||||
* being re-entered when the callout returns.
|
||||
*/
|
||||
entry->period = 0;
|
||||
// endif
|
||||
}
|
||||
|
||||
/*
|
||||
* initialise a hrt_call structure
|
||||
*/
|
||||
void hrt_call_init(struct hrt_call *entry)
|
||||
{
|
||||
memset(entry, 0, sizeof(*entry));
|
||||
}
|
||||
|
||||
/*
|
||||
* delay a hrt_call_every() periodic call by the given number of
|
||||
* microseconds. This should be called from within the callout to
|
||||
* cause the callout to be re-scheduled for a later time. The periodic
|
||||
* callouts will then continue from that new base time at the
|
||||
* previously specified period.
|
||||
*/
|
||||
void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
|
||||
{
|
||||
entry->deadline = hrt_absolute_time() + delay;
|
||||
}
|
||||
|
||||
/*
|
||||
* Initialise the HRT.
|
||||
*/
|
||||
void hrt_init(void)
|
||||
{
|
||||
sq_init(&callout_queue);
|
||||
}
|
||||
|
||||
static void
|
||||
hrt_call_enter(struct hrt_call *entry)
|
||||
{
|
||||
struct hrt_call *call, *next;
|
||||
|
||||
call = (struct hrt_call *)sq_peek(&callout_queue);
|
||||
|
||||
if ((call == NULL) || (entry->deadline < call->deadline)) {
|
||||
sq_addfirst(&entry->link, &callout_queue);
|
||||
//lldbg("call enter at head, reschedule\n");
|
||||
/* we changed the next deadline, reschedule the timer event */
|
||||
hrt_call_reschedule();
|
||||
|
||||
} else {
|
||||
do {
|
||||
next = (struct hrt_call *)sq_next(&call->link);
|
||||
|
||||
if ((next == NULL) || (entry->deadline < next->deadline)) {
|
||||
//lldbg("call enter after head\n");
|
||||
sq_addafter(&call->link, &entry->link, &callout_queue);
|
||||
break;
|
||||
}
|
||||
} while ((call = next) != NULL);
|
||||
}
|
||||
|
||||
//lldbg("scheduled\n");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reschedule the next timer interrupt.
|
||||
*
|
||||
* This routine must be called with interrupts disabled.
|
||||
*/
|
||||
static void
|
||||
hrt_call_reschedule()
|
||||
{
|
||||
hrt_abstime now = hrt_absolute_time();
|
||||
struct hrt_call *next = (struct hrt_call *)sq_peek(&callout_queue);
|
||||
hrt_abstime deadline = now + HRT_INTERVAL_MAX;
|
||||
|
||||
/*
|
||||
* Determine what the next deadline will be.
|
||||
*
|
||||
* Note that we ensure that this will be within the counter
|
||||
* period, so that when we truncate all but the low 16 bits
|
||||
* the next time the compare matches it will be the deadline
|
||||
* we want.
|
||||
*
|
||||
* It is important for accurate timekeeping that the compare
|
||||
* interrupt fires sufficiently often that the base_time update in
|
||||
* hrt_absolute_time runs at least once per timer period.
|
||||
*/
|
||||
if (next != NULL) {
|
||||
//lldbg("entry in queue\n");
|
||||
if (next->deadline <= (now + HRT_INTERVAL_MIN)) {
|
||||
//lldbg("pre-expired\n");
|
||||
/* set a minimal deadline so that we call ASAP */
|
||||
deadline = now + HRT_INTERVAL_MIN;
|
||||
|
||||
} else if (next->deadline < deadline) {
|
||||
//lldbg("due soon\n");
|
||||
deadline = next->deadline;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
|
||||
{
|
||||
/* if the entry is currently queued, remove it */
|
||||
/* note that we are using a potentially uninitialised
|
||||
entry->link here, but it is safe as sq_rem() doesn't
|
||||
dereference the passed node unless it is found in the
|
||||
list. So we potentially waste a bit of time searching the
|
||||
queue for the uninitialised entry->link but we don't do
|
||||
anything actually unsafe.
|
||||
*/
|
||||
if (entry->deadline != 0)
|
||||
sq_rem(&entry->link, &callout_queue);
|
||||
|
||||
entry->deadline = deadline;
|
||||
entry->period = interval;
|
||||
entry->callout = callout;
|
||||
entry->arg = arg;
|
||||
|
||||
hrt_call_enter(entry);
|
||||
}
|
||||
|
||||
/*
|
||||
* Call callout(arg) after delay has elapsed.
|
||||
*
|
||||
* If callout is NULL, this can be used to implement a timeout by testing the call
|
||||
* with hrt_called().
|
||||
*/
|
||||
void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg)
|
||||
{
|
||||
hrt_call_internal(entry,
|
||||
hrt_absolute_time() + delay,
|
||||
0,
|
||||
callout,
|
||||
arg);
|
||||
}
|
||||
|
||||
/*
|
||||
* Call callout(arg) after delay, and then after every interval.
|
||||
*
|
||||
* Note thet the interval is timed between scheduled, not actual, call times, so the call rate may
|
||||
* jitter but should not drift.
|
||||
*/
|
||||
void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg)
|
||||
{
|
||||
hrt_call_internal(entry,
|
||||
hrt_absolute_time() + delay,
|
||||
interval,
|
||||
callout,
|
||||
arg);
|
||||
}
|
||||
|
||||
/*
|
||||
* Call callout(arg) at absolute time calltime.
|
||||
*/
|
||||
void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg)
|
||||
{
|
||||
hrt_call_internal(entry, calltime, 0, callout, arg);
|
||||
}
|
||||
|
||||
#if 0
|
||||
/*
|
||||
* Convert absolute time to a timespec.
|
||||
*/
|
||||
void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
|
||||
#endif
|
||||
|
||||
@@ -0,0 +1,126 @@
|
||||
/************************************************************************************************
|
||||
* libc/misc/lib_crc32.c
|
||||
*
|
||||
* This file is a part of NuttX:
|
||||
*
|
||||
* Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
|
||||
*
|
||||
* The logic in this file was developed by Gary S. Brown:
|
||||
*
|
||||
* COPYRIGHT (C) 1986 Gary S. Brown. You may use this program, or code or tables
|
||||
* extracted from it, as desired without restriction.
|
||||
*
|
||||
* First, the polynomial itself and its table of feedback terms. The polynomial is:
|
||||
*
|
||||
* X^32+X^26+X^23+X^22+X^16+X^12+X^11+X^10+X^8+X^7+X^5+X^4+X^2+X^1+X^0
|
||||
*
|
||||
* Note that we take it "backwards" and put the highest-order term in the lowest-order bit.
|
||||
* The X^32 term is "implied"; the LSB is the X^31 term, etc. The X^0 term (usually shown
|
||||
* as "+1") results in the MSB being 1
|
||||
*
|
||||
* Note that the usual hardware shift register implementation, which is what we're using
|
||||
* (we're merely optimizing it by doing eight-bit chunks at a time) shifts bits into the
|
||||
* lowest-order term. In our implementation, that means shifting towards the right. Why
|
||||
* do we do it this way? Because the calculated CRC must be transmitted in order from
|
||||
* highest-order term to lowest-order term. UARTs transmit characters in order from LSB
|
||||
* to MSB. By storing the CRC this way we hand it to the UART in the order low-byte to
|
||||
* high-byte; the UART sends each low-bit to hight-bit; and the result is transmission bit
|
||||
* by bit from highest- to lowest-order term without requiring any bit shuffling on our
|
||||
* part. Reception works similarly
|
||||
*
|
||||
* The feedback terms table consists of 256, 32-bit entries. Notes
|
||||
*
|
||||
* - The table can be generated at runtime if desired; code to do so is shown later. It
|
||||
* might not be obvious, but the feedback terms simply represent the results of eight
|
||||
* shift/xor operations for all combinations of data and CRC register values
|
||||
*
|
||||
* - The values must be right-shifted by eight bits by the updcrc logic; the shift must
|
||||
* be u_(bring in zeroes). On some hardware you could probably optimize the shift in
|
||||
* assembler by using byte-swap instructions polynomial $edb88320
|
||||
************************************************************************************************/
|
||||
|
||||
/************************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************************/
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <crc32.h>
|
||||
|
||||
// Needed for Linux
|
||||
#define FAR
|
||||
|
||||
/************************************************************************************************
|
||||
* Private Data
|
||||
************************************************************************************************/
|
||||
|
||||
static const uint32_t crc32_tab[] =
|
||||
{
|
||||
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
|
||||
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
|
||||
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
|
||||
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
|
||||
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
|
||||
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
|
||||
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
|
||||
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
|
||||
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
|
||||
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
|
||||
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
|
||||
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
|
||||
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
|
||||
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
|
||||
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
|
||||
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
|
||||
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
|
||||
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
|
||||
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
|
||||
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
|
||||
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
|
||||
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
|
||||
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
|
||||
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
|
||||
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
|
||||
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
|
||||
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
|
||||
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
|
||||
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
|
||||
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
|
||||
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
|
||||
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
|
||||
};
|
||||
|
||||
/************************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************************/
|
||||
/************************************************************************************************
|
||||
* Name: crc32part
|
||||
*
|
||||
* Description:
|
||||
* Continue CRC calculation on a part of the buffer.
|
||||
*
|
||||
************************************************************************************************/
|
||||
|
||||
uint32_t crc32part(FAR const uint8_t *src, size_t len, uint32_t crc32val)
|
||||
{
|
||||
size_t i;
|
||||
|
||||
for (i = 0; i < len; i++)
|
||||
{
|
||||
crc32val = crc32_tab[(crc32val ^ src[i]) & 0xff] ^ (crc32val >> 8);
|
||||
}
|
||||
return crc32val;
|
||||
}
|
||||
|
||||
/************************************************************************************************
|
||||
* Name: crc32
|
||||
*
|
||||
* Description:
|
||||
* Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
|
||||
*
|
||||
************************************************************************************************/
|
||||
|
||||
uint32_t crc32(FAR const uint8_t *src, size_t len)
|
||||
{
|
||||
return crc32part(src, len, 0);
|
||||
}
|
||||
@@ -0,0 +1,54 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# NuttX / uORB adapter library
|
||||
#
|
||||
|
||||
SRCS = \
|
||||
px4_posix_impl.cpp \
|
||||
px4_posix_tasks.cpp \
|
||||
work_thread.c \
|
||||
work_queue.c \
|
||||
work_cancel.c \
|
||||
lib_crc32.c \
|
||||
drv_hrt.c \
|
||||
queue.c \
|
||||
dq_addlast.c \
|
||||
dq_remfirst.c \
|
||||
sq_addlast.c \
|
||||
sq_remfirst.c \
|
||||
sq_addafter.c \
|
||||
dq_rem.c
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
@@ -0,0 +1,84 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4_posix_impl.cpp
|
||||
*
|
||||
* PX4 Middleware Wrapper Linux Implementation
|
||||
*/
|
||||
|
||||
#include <px4_defines.h>
|
||||
#include <px4_middleware.h>
|
||||
#include <px4_workqueue.h>
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <signal.h>
|
||||
#include <errno.h>
|
||||
#include <unistd.h>
|
||||
#include "systemlib/param/param.h"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
extern struct wqueue_s gwork[NWORKERS];
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
void init(int argc, char *argv[], const char *app_name)
|
||||
{
|
||||
printf("App name: %s\n", app_name);
|
||||
|
||||
// Create high priority worker thread
|
||||
g_work[HPWORK].pid = px4_task_spawn_cmd("wkr_high",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX,
|
||||
2000,
|
||||
work_hpthread,
|
||||
(char* const*)NULL);
|
||||
|
||||
// Create low priority worker thread
|
||||
g_work[LPWORK].pid = px4_task_spawn_cmd("wkr_low",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MIN,
|
||||
2000,
|
||||
work_lpthread,
|
||||
(char* const*)NULL);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,281 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
* Author: @author Mark Charlebois <charlebm#gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4_posix_tasks.c
|
||||
* Implementation of existing task API for Linux
|
||||
*/
|
||||
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <errno.h>
|
||||
#include <stdbool.h>
|
||||
#include <signal.h>
|
||||
#include <fcntl.h>
|
||||
#include <sched.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
#include <string>
|
||||
|
||||
#include <px4_tasks.h>
|
||||
|
||||
#define MAX_CMD_LEN 100
|
||||
|
||||
#define PX4_MAX_TASKS 100
|
||||
struct task_entry
|
||||
{
|
||||
pthread_t pid;
|
||||
std::string name;
|
||||
bool isused;
|
||||
task_entry() : isused(false) {}
|
||||
};
|
||||
|
||||
static task_entry taskmap[PX4_MAX_TASKS];
|
||||
|
||||
typedef struct
|
||||
{
|
||||
px4_main_t entry;
|
||||
int argc;
|
||||
char *argv[];
|
||||
// strings are allocated after the
|
||||
} pthdata_t;
|
||||
|
||||
static void *entry_adapter ( void *ptr )
|
||||
{
|
||||
pthdata_t *data;
|
||||
data = (pthdata_t *) ptr;
|
||||
|
||||
data->entry(data->argc, data->argv);
|
||||
free(ptr);
|
||||
printf("Before px4_task_exit\n");
|
||||
px4_task_exit(0);
|
||||
printf("After px4_task_exit\n");
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
void
|
||||
px4_systemreset(bool to_bootloader)
|
||||
{
|
||||
printf("Called px4_system_reset\n");
|
||||
}
|
||||
|
||||
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
|
||||
{
|
||||
int rv;
|
||||
int argc = 0;
|
||||
int i;
|
||||
unsigned int len = 0;
|
||||
unsigned long offset;
|
||||
unsigned long structsize;
|
||||
char * p = (char *)argv;
|
||||
|
||||
pthread_t task;
|
||||
pthread_attr_t attr;
|
||||
struct sched_param param;
|
||||
|
||||
// Calculate argc
|
||||
while (p != (char *)0) {
|
||||
p = argv[argc];
|
||||
if (p == (char *)0)
|
||||
break;
|
||||
++argc;
|
||||
len += strlen(p)+1;
|
||||
}
|
||||
structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
|
||||
pthdata_t *taskdata;
|
||||
|
||||
// not safe to pass stack data to the thread creation
|
||||
taskdata = (pthdata_t *)malloc(structsize+len);
|
||||
offset = ((unsigned long)taskdata)+structsize;
|
||||
|
||||
taskdata->entry = entry;
|
||||
taskdata->argc = argc;
|
||||
|
||||
for (i=0; i<argc; i++) {
|
||||
printf("arg %d %s\n", i, argv[i]);
|
||||
taskdata->argv[i] = (char *)offset;
|
||||
strcpy((char *)offset, argv[i]);
|
||||
offset+=strlen(argv[i])+1;
|
||||
}
|
||||
// Must add NULL at end of argv
|
||||
taskdata->argv[argc] = (char *)0;
|
||||
|
||||
rv = pthread_attr_init(&attr);
|
||||
if (rv != 0) {
|
||||
printf("px4_task_spawn_cmd: failed to init thread attrs\n");
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
|
||||
if (rv != 0) {
|
||||
printf("px4_task_spawn_cmd: failed to set inherit sched\n");
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
rv = pthread_attr_setschedpolicy(&attr, scheduler);
|
||||
if (rv != 0) {
|
||||
printf("px4_task_spawn_cmd: failed to set sched policy\n");
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
|
||||
param.sched_priority = priority;
|
||||
|
||||
rv = pthread_attr_setschedparam(&attr, ¶m);
|
||||
if (rv != 0) {
|
||||
printf("px4_task_spawn_cmd: failed to set sched param\n");
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
|
||||
rv = pthread_create (&task, &attr, &entry_adapter, (void *) taskdata);
|
||||
if (rv != 0) {
|
||||
|
||||
if (rv == EPERM) {
|
||||
//printf("WARNING: NOT RUNING AS ROOT, UNABLE TO RUN REALTIME THREADS\n");
|
||||
rv = pthread_create (&task, NULL, &entry_adapter, (void *) taskdata);
|
||||
if (rv != 0) {
|
||||
printf("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
}
|
||||
else {
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
}
|
||||
|
||||
for (i=0; i<PX4_MAX_TASKS; ++i) {
|
||||
if (taskmap[i].isused == false) {
|
||||
taskmap[i].pid = task;
|
||||
taskmap[i].name = name;
|
||||
taskmap[i].isused = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (i>=PX4_MAX_TASKS) {
|
||||
return -ENOSPC;
|
||||
}
|
||||
return i;
|
||||
}
|
||||
|
||||
int px4_task_delete(px4_task_t id)
|
||||
{
|
||||
int rv = 0;
|
||||
pthread_t pid;
|
||||
printf("Called px4_task_delete\n");
|
||||
|
||||
if (id < PX4_MAX_TASKS && taskmap[id].isused)
|
||||
pid = taskmap[id].pid;
|
||||
else
|
||||
return -EINVAL;
|
||||
|
||||
// If current thread then exit, otherwise cancel
|
||||
if (pthread_self() == pid) {
|
||||
taskmap[id].isused = false;
|
||||
pthread_exit(0);
|
||||
} else {
|
||||
rv = pthread_cancel(pid);
|
||||
}
|
||||
|
||||
taskmap[id].isused = false;
|
||||
|
||||
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) {
|
||||
if (taskmap[i].pid == pid) {
|
||||
taskmap[i].isused = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (i>=PX4_MAX_TASKS)
|
||||
printf("px4_task_exit: self task not found!\n");
|
||||
else
|
||||
printf("px4_task_exit: %s\n", taskmap[i].name.c_str());
|
||||
|
||||
pthread_exit((void *)(unsigned long)ret);
|
||||
}
|
||||
|
||||
void px4_killall(void)
|
||||
{
|
||||
//printf("Called px4_killall\n");
|
||||
for (int i=0; i<PX4_MAX_TASKS; ++i) {
|
||||
// FIXME - precludes pthread task to have an ID of 0
|
||||
if (taskmap[i].isused == true) {
|
||||
px4_task_delete(i);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int px4_task_kill(px4_task_t id, int sig)
|
||||
{
|
||||
int rv = 0;
|
||||
pthread_t pid;
|
||||
//printf("Called px4_task_delete\n");
|
||||
|
||||
if (id < PX4_MAX_TASKS && taskmap[id].pid != 0)
|
||||
pid = taskmap[id].pid;
|
||||
else
|
||||
return -EINVAL;
|
||||
|
||||
// If current thread then exit, otherwise cancel
|
||||
rv = pthread_kill(pid, sig);
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
void px4_show_tasks()
|
||||
{
|
||||
int idx;
|
||||
int count = 0;
|
||||
|
||||
printf("Active Tasks:\n");
|
||||
for (idx=0; idx < PX4_MAX_TASKS; idx++)
|
||||
{
|
||||
if (taskmap[idx].isused) {
|
||||
printf(" %-10s %lu\n", taskmap[idx].name.c_str(), taskmap[idx].pid);
|
||||
count++;
|
||||
}
|
||||
}
|
||||
if (count == 0)
|
||||
printf(" No running tasks\n");
|
||||
|
||||
}
|
||||
@@ -0,0 +1,102 @@
|
||||
/************************************************************************
|
||||
*
|
||||
* Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
* Modified for use in Linux by Mark Charlebois
|
||||
*
|
||||
************************************************************************/
|
||||
|
||||
// FIXME - need px4_queue
|
||||
#include <platforms/posix/include/queue.h>
|
||||
#include <stddef.h>
|
||||
|
||||
__EXPORT void sq_rem(sq_entry_t *node, sq_queue_t *queue);
|
||||
sq_entry_t *sq_remafter(sq_entry_t *node, sq_queue_t *queue);
|
||||
void sq_rem(sq_entry_t *node, sq_queue_t *queue)
|
||||
{
|
||||
if (queue->head && node)
|
||||
{
|
||||
if (node == queue->head)
|
||||
{
|
||||
queue->head = node->flink;
|
||||
if (node == queue->tail)
|
||||
{
|
||||
queue->tail = NULL;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
sq_entry_t *prev;
|
||||
for(prev = (sq_entry_t*)queue->head;
|
||||
prev && prev->flink != node;
|
||||
prev = prev->flink);
|
||||
|
||||
if (prev)
|
||||
{
|
||||
sq_remafter(prev, queue);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
sq_entry_t *sq_remafter(sq_entry_t *node, sq_queue_t *queue)
|
||||
{
|
||||
sq_entry_t *ret = node->flink;
|
||||
if (queue->head && ret)
|
||||
{
|
||||
if (queue->tail == ret)
|
||||
{
|
||||
queue->tail = node;
|
||||
node->flink = NULL;
|
||||
}
|
||||
else
|
||||
{
|
||||
node->flink = ret->flink;
|
||||
}
|
||||
|
||||
ret->flink = NULL;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
__EXPORT void sq_addfirst(sq_entry_t *node, sq_queue_t *queue);
|
||||
void sq_addfirst(sq_entry_t *node, sq_queue_t *queue)
|
||||
{
|
||||
node->flink = queue->head;
|
||||
if (!queue->head)
|
||||
{
|
||||
queue->tail = node;
|
||||
}
|
||||
queue->head = node;
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,71 @@
|
||||
/************************************************************
|
||||
* libc/queue/sq_addafter.c
|
||||
*
|
||||
* Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Compilation Switches
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Included Files
|
||||
************************************************************/
|
||||
|
||||
#include <queue.h>
|
||||
|
||||
/************************************************************
|
||||
* Public Functions
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Name: sq_addafter.c
|
||||
*
|
||||
* Description:
|
||||
* The sq_addafter function adds 'node' after 'prev' in the
|
||||
* 'queue.'
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
|
||||
sq_queue_t *queue)
|
||||
{
|
||||
if (!queue->head || prev == queue->tail)
|
||||
{
|
||||
sq_addlast(node, queue);
|
||||
}
|
||||
else
|
||||
{
|
||||
node->flink = prev->flink;
|
||||
prev->flink = node;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,72 @@
|
||||
/************************************************************
|
||||
* libc/queue/sq_addlast.c
|
||||
*
|
||||
* Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Compilation Switches
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Included Files
|
||||
************************************************************/
|
||||
|
||||
#include <queue.h>
|
||||
|
||||
/************************************************************
|
||||
* Public Functions
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Name: sq_addlast
|
||||
*
|
||||
* Description:
|
||||
* The sq_addlast function places the 'node' at the tail of
|
||||
* the 'queue'
|
||||
************************************************************/
|
||||
|
||||
void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue)
|
||||
{
|
||||
node->flink = NULL;
|
||||
if (!queue->head)
|
||||
{
|
||||
queue->head = node;
|
||||
queue->tail = node;
|
||||
}
|
||||
else
|
||||
{
|
||||
queue->tail->flink = node;
|
||||
queue->tail = node;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,76 @@
|
||||
/************************************************************
|
||||
* libc/queue/sq_remfirst.c
|
||||
*
|
||||
* Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Compilation Switches
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Included Files
|
||||
************************************************************/
|
||||
|
||||
#include <queue.h>
|
||||
|
||||
/************************************************************
|
||||
* Public Functions
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Name: sq_remfirst
|
||||
*
|
||||
* Description:
|
||||
* sq_remfirst function removes the first entry from
|
||||
* 'queue'
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
FAR sq_entry_t *sq_remfirst(sq_queue_t *queue)
|
||||
{
|
||||
FAR sq_entry_t *ret = queue->head;
|
||||
|
||||
if (ret)
|
||||
{
|
||||
queue->head = ret->flink;
|
||||
if (!queue->head)
|
||||
{
|
||||
queue->tail = NULL;
|
||||
}
|
||||
|
||||
ret->flink = NULL;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,120 @@
|
||||
/****************************************************************************
|
||||
* libc/wqueue/work_cancel.c
|
||||
*
|
||||
* Copyright (C) 2009-2010, 2012-2013 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
#include <queue.h>
|
||||
#include <px4_workqueue.h>
|
||||
|
||||
#ifdef CONFIG_SCHED_WORKQUEUE
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Type Declarations
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Variables
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Variables
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: work_cancel
|
||||
*
|
||||
* Description:
|
||||
* Cancel previously queued work. This removes work from the work queue.
|
||||
* After work has been canceled, it may be re-queue by calling work_queue()
|
||||
* again.
|
||||
*
|
||||
* Input parameters:
|
||||
* qid - The work queue ID
|
||||
* work - The previously queue work structure to cancel
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success, a negated errno on failure
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int work_cancel(int qid, struct work_s *work)
|
||||
{
|
||||
struct wqueue_s *wqueue = &g_work[qid];
|
||||
//irqstate_t flags;
|
||||
|
||||
//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
|
||||
|
||||
/* Cancelling the work is simply a matter of removing the work structure
|
||||
* from the work queue. This must be done with interrupts disabled because
|
||||
* new work is typically added to the work queue from interrupt handlers.
|
||||
*/
|
||||
|
||||
//flags = irqsave();
|
||||
if (work->worker != NULL)
|
||||
{
|
||||
/* A little test of the integrity of the work queue */
|
||||
|
||||
//DEBUGASSERT(work->dq.flink ||(FAR dq_entry_t *)work == wqueue->q.tail);
|
||||
//DEBUGASSERT(work->dq.blink ||(FAR dq_entry_t *)work == wqueue->q.head);
|
||||
|
||||
/* Remove the entry from the work queue and make sure that it is
|
||||
* mark as availalbe (i.e., the worker field is nullified).
|
||||
*/
|
||||
|
||||
dq_rem((FAR dq_entry_t *)work, &wqueue->q);
|
||||
work->worker = NULL;
|
||||
}
|
||||
|
||||
//irqrestore(flags);
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_SCHED_WORKQUEUE */
|
||||
@@ -0,0 +1,130 @@
|
||||
/****************************************************************************
|
||||
* libc/wqueue/work_queue.c
|
||||
*
|
||||
* Copyright (C) 2009-2011, 2013 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
|
||||
#include <signal.h>
|
||||
#include <stdint.h>
|
||||
#include <queue.h>
|
||||
#include <px4_workqueue.h>
|
||||
|
||||
#ifdef CONFIG_SCHED_WORKQUEUE
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Type Declarations
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Variables
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Variables
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: work_queue
|
||||
*
|
||||
* Description:
|
||||
* Queue work to be performed at a later time. All queued work will be
|
||||
* performed on the worker thread of of execution (not the caller's).
|
||||
*
|
||||
* The work structure is allocated by caller, but completely managed by
|
||||
* the work queue logic. The caller should never modify the contents of
|
||||
* the work queue structure; the caller should not call work_queue()
|
||||
* again until either (1) the previous work has been performed and removed
|
||||
* from the queue, or (2) work_cancel() has been called to cancel the work
|
||||
* and remove it from the work queue.
|
||||
*
|
||||
* Input parameters:
|
||||
* qid - The work queue ID (index)
|
||||
* work - The work structure to queue
|
||||
* worker - The worker callback to be invoked. The callback will invoked
|
||||
* on the worker thread of execution.
|
||||
* arg - The argument that will be passed to the workder callback when
|
||||
* int is invoked.
|
||||
* delay - Delay (in clock ticks) from the time queue until the worker
|
||||
* is invoked. Zero means to perform the work immediately.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success, a negated errno on failure
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int work_queue(int qid, struct work_s *work, worker_t worker, void *arg, uint32_t delay)
|
||||
{
|
||||
struct wqueue_s *wqueue = &g_work[qid];
|
||||
|
||||
//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
|
||||
|
||||
/* First, initialize the work structure */
|
||||
|
||||
work->worker = worker; /* Work callback */
|
||||
work->arg = arg; /* Callback argument */
|
||||
work->delay = delay; /* Delay until work performed */
|
||||
|
||||
/* Now, time-tag that entry and put it in the work queue. This must be
|
||||
* done with interrupts disabled. This permits this function to be called
|
||||
* from with task logic or interrupt handlers.
|
||||
*/
|
||||
|
||||
//flags = irqsave();
|
||||
work->qtime = clock_systimer(); /* Time work queued */
|
||||
|
||||
dq_addlast((dq_entry_t *)work, &wqueue->q);
|
||||
px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */
|
||||
|
||||
//irqrestore(flags);
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_SCHED_WORKQUEUE */
|
||||
@@ -0,0 +1,297 @@
|
||||
/****************************************************************************
|
||||
* libc/wqueue/work_thread.c
|
||||
*
|
||||
* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <queue.h>
|
||||
#include <px4_workqueue.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#ifdef CONFIG_SCHED_WORKQUEUE
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Type Declarations
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Variables
|
||||
****************************************************************************/
|
||||
|
||||
/* The state of each work queue. */
|
||||
struct wqueue_s g_work[NWORKERS];
|
||||
|
||||
/****************************************************************************
|
||||
* Private Variables
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: work_process
|
||||
*
|
||||
* Description:
|
||||
* This is the logic that performs actions placed on any work list.
|
||||
*
|
||||
* Input parameters:
|
||||
* wqueue - Describes the work queue to be processed
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static void work_process(FAR struct wqueue_s *wqueue)
|
||||
{
|
||||
volatile FAR struct work_s *work;
|
||||
worker_t worker;
|
||||
//irqstate_t flags;
|
||||
FAR void *arg;
|
||||
uint32_t elapsed;
|
||||
uint32_t remaining;
|
||||
uint32_t next;
|
||||
|
||||
/* Then process queued work. We need to keep interrupts disabled while
|
||||
* we process items in the work list.
|
||||
*/
|
||||
|
||||
next = CONFIG_SCHED_WORKPERIOD;
|
||||
//flags = irqsave();
|
||||
work = (FAR struct work_s *)wqueue->q.head;
|
||||
while (work)
|
||||
{
|
||||
/* Is this work ready? It is ready if there is no delay or if
|
||||
* the delay has elapsed. qtime is the time that the work was added
|
||||
* to the work queue. It will always be greater than or equal to
|
||||
* zero. Therefore a delay of zero will always execute immediately.
|
||||
*/
|
||||
|
||||
elapsed = clock_systimer() - work->qtime;
|
||||
//printf("work_process: elapsed=%d delay=%d\n", elapsed, work->delay);
|
||||
if (elapsed >= work->delay)
|
||||
{
|
||||
/* Remove the ready-to-execute work from the list */
|
||||
|
||||
(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
|
||||
|
||||
/* Extract the work description from the entry (in case the work
|
||||
* instance by the re-used after it has been de-queued).
|
||||
*/
|
||||
|
||||
worker = work->worker;
|
||||
arg = work->arg;
|
||||
|
||||
/* Mark the work as no longer being queued */
|
||||
|
||||
work->worker = NULL;
|
||||
|
||||
/* Do the work. Re-enable interrupts while the work is being
|
||||
* performed... we don't have any idea how long that will take!
|
||||
*/
|
||||
|
||||
//irqrestore(flags);
|
||||
if (!worker) {
|
||||
printf("MESSED UP: worker = 0\n");
|
||||
}
|
||||
else
|
||||
worker(arg);
|
||||
|
||||
/* Now, unfortunately, since we re-enabled interrupts we don't
|
||||
* know the state of the work list and we will have to start
|
||||
* back at the head of the list.
|
||||
*/
|
||||
|
||||
//flags = irqsave();
|
||||
work = (FAR struct work_s *)wqueue->q.head;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* This one is not ready.. will it be ready before the next
|
||||
* scheduled wakeup interval?
|
||||
*/
|
||||
|
||||
/* Here: elapsed < work->delay */
|
||||
remaining = work->delay - elapsed;
|
||||
if (remaining < next)
|
||||
{
|
||||
/* Yes.. Then schedule to wake up when the work is ready */
|
||||
|
||||
next = remaining;
|
||||
}
|
||||
|
||||
/* Then try the next in the list. */
|
||||
|
||||
work = (FAR struct work_s *)work->dq.flink;
|
||||
}
|
||||
}
|
||||
|
||||
/* Wait awhile to check the work list. We will wait here until either
|
||||
* the time elapses or until we are awakened by a signal.
|
||||
*/
|
||||
|
||||
usleep(next);
|
||||
//irqrestore(flags);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Name: work_hpthread, work_lpthread, and work_usrthread
|
||||
*
|
||||
* Description:
|
||||
* These are the worker threads that performs actions placed on the work
|
||||
* lists.
|
||||
*
|
||||
* work_hpthread and work_lpthread: These are the kernel mode work queues
|
||||
* (also build in the flat build). One of these threads also performs
|
||||
* periodic garbage collection (that is otherwise performed by the idle
|
||||
* thread if CONFIG_SCHED_WORKQUEUE is not defined).
|
||||
*
|
||||
* These worker threads are started by the OS during normal bringup.
|
||||
*
|
||||
* work_usrthread: This is a user mode work queue. It must be built into
|
||||
* the applicatino blob during the user phase of a kernel build. The
|
||||
* user work thread will then automatically be started when the system
|
||||
* boots by calling through the pointer found in the header on the user
|
||||
* space blob.
|
||||
*
|
||||
* All of these entrypoints are referenced by OS internally and should not
|
||||
* not be accessed by application logic.
|
||||
*
|
||||
* Input parameters:
|
||||
* argc, argv (not used)
|
||||
*
|
||||
* Returned Value:
|
||||
* Does not return
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_SCHED_HPWORK
|
||||
|
||||
int work_hpthread(int argc, char *argv[])
|
||||
{
|
||||
/* Loop forever */
|
||||
|
||||
for (;;)
|
||||
{
|
||||
/* First, perform garbage collection. This cleans-up memory de-allocations
|
||||
* that were queued because they could not be freed in that execution
|
||||
* context (for example, if the memory was freed from an interrupt handler).
|
||||
* NOTE: If the work thread is disabled, this clean-up is performed by
|
||||
* the IDLE thread (at a very, very low priority).
|
||||
*/
|
||||
|
||||
#ifndef CONFIG_SCHED_LPWORK
|
||||
sched_garbagecollection();
|
||||
#endif
|
||||
|
||||
/* Then process queued work. We need to keep interrupts disabled while
|
||||
* we process items in the work list.
|
||||
*/
|
||||
|
||||
work_process(&g_work[HPWORK]);
|
||||
}
|
||||
|
||||
return PX4_OK; /* To keep some compilers happy */
|
||||
}
|
||||
|
||||
#ifdef CONFIG_SCHED_LPWORK
|
||||
|
||||
int work_lpthread(int argc, char *argv[])
|
||||
{
|
||||
/* Loop forever */
|
||||
|
||||
for (;;)
|
||||
{
|
||||
/* First, perform garbage collection. This cleans-up memory de-allocations
|
||||
* that were queued because they could not be freed in that execution
|
||||
* context (for example, if the memory was freed from an interrupt handler).
|
||||
* NOTE: If the work thread is disabled, this clean-up is performed by
|
||||
* the IDLE thread (at a very, very low priority).
|
||||
*/
|
||||
|
||||
//sched_garbagecollection();
|
||||
|
||||
/* Then process queued work. We need to keep interrupts disabled while
|
||||
* we process items in the work list.
|
||||
*/
|
||||
|
||||
work_process(&g_work[LPWORK]);
|
||||
}
|
||||
|
||||
return PX4_OK; /* To keep some compilers happy */
|
||||
}
|
||||
|
||||
#endif /* CONFIG_SCHED_LPWORK */
|
||||
#endif /* CONFIG_SCHED_HPWORK */
|
||||
|
||||
#ifdef CONFIG_SCHED_USRWORK
|
||||
|
||||
int work_usrthread(int argc, char *argv[])
|
||||
{
|
||||
/* Loop forever */
|
||||
|
||||
for (;;)
|
||||
{
|
||||
/* Then process queued work. We need to keep interrupts disabled while
|
||||
* we process items in the work list.
|
||||
*/
|
||||
|
||||
work_process(&g_work[USRWORK]);
|
||||
}
|
||||
|
||||
return PX4_OK; /* To keep some compilers happy */
|
||||
}
|
||||
|
||||
#endif /* CONFIG_SCHED_USRWORK */
|
||||
|
||||
uint32_t clock_systimer()
|
||||
{
|
||||
return (0x00000000ffffffff & hrt_absolute_time());
|
||||
}
|
||||
#endif /* CONFIG_SCHED_WORKQUEUE */
|
||||
@@ -0,0 +1,61 @@
|
||||
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hello_example.cpp
|
||||
* Example for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
|
||||
#include "hello_example.h"
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
|
||||
px4::AppState HelloExample::appState;
|
||||
|
||||
int HelloExample::main()
|
||||
{
|
||||
appState.setRunning(true);
|
||||
|
||||
int i=0;
|
||||
while (!appState.exitRequested() && i<5) {
|
||||
sleep(2);
|
||||
|
||||
printf(" Doing work...\n");
|
||||
++i;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,53 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hello_example.h
|
||||
* Example app for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <px4_app.h>
|
||||
|
||||
class HelloExample {
|
||||
public:
|
||||
HelloExample() {};
|
||||
|
||||
~HelloExample() {};
|
||||
|
||||
int main();
|
||||
|
||||
static px4::AppState appState; /* track requests to terminate app */
|
||||
};
|
||||
@@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hello_main.cpp
|
||||
* Example for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#include <px4_middleware.h>
|
||||
#include <px4_app.h>
|
||||
#include "hello_example.h"
|
||||
#include <stdio.h>
|
||||
|
||||
int PX4_MAIN(int argc, char **argv)
|
||||
{
|
||||
px4::init(argc, argv, "hello");
|
||||
|
||||
printf("hello\n");
|
||||
HelloExample hello;
|
||||
hello.main();
|
||||
|
||||
printf("goodbye\n");
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,100 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hello_start_posix.cpp
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* @author Mark Charlebois <mcharleb@gmail.com>
|
||||
*/
|
||||
#include "hello_example.h"
|
||||
#include <px4_app.h>
|
||||
#include <px4_tasks.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <sched.h>
|
||||
|
||||
#define SCHED_DEFAULT SCHED_FIFO
|
||||
#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
|
||||
#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
|
||||
|
||||
static int daemon_task; /* Handle of deamon task / thread */
|
||||
|
||||
//using namespace px4;
|
||||
|
||||
extern "C" __EXPORT int hello_main(int argc, char *argv[]);
|
||||
int hello_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
if (argc < 2) {
|
||||
printf("usage: hello {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (HelloExample::appState.isRunning()) {
|
||||
printf("already running\n");
|
||||
/* this is not an error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
daemon_task = px4_task_spawn_cmd("hello",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2000,
|
||||
PX4_MAIN,
|
||||
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
HelloExample::appState.requestExit();
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (HelloExample::appState.isRunning()) {
|
||||
printf("is running\n");
|
||||
|
||||
} else {
|
||||
printf("not started\n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
printf("usage: hello_main {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Publisher Example Application
|
||||
#
|
||||
|
||||
MODULE_COMMAND = hello
|
||||
|
||||
SRCS = hello_main.cpp \
|
||||
hello_start_posix.cpp \
|
||||
hello_example.cpp
|
||||
|
||||
@@ -0,0 +1,66 @@
|
||||
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hrt_test.cpp
|
||||
* Test High Resolution Timers in Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include "hrt_test.h"
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
|
||||
px4::AppState HRTTest::appState;
|
||||
|
||||
int HRTTest::main()
|
||||
{
|
||||
appState.setRunning(true);
|
||||
|
||||
hrt_abstime t = hrt_absolute_time();
|
||||
usleep(1000000);
|
||||
hrt_abstime elt = hrt_elapsed_time(&t);
|
||||
printf("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
|
||||
printf("Start time %llu\n", (unsigned long long)t);
|
||||
|
||||
t = hrt_absolute_time();
|
||||
sleep(1);
|
||||
elt = hrt_elapsed_time(&t);
|
||||
printf("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
|
||||
printf("Start time %llu\n", (unsigned long long)t);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,53 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hrt_test.h
|
||||
* Example app for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <px4_app.h>
|
||||
|
||||
class HRTTest {
|
||||
public:
|
||||
HRTTest() {};
|
||||
|
||||
~HRTTest() {};
|
||||
|
||||
int main();
|
||||
|
||||
static px4::AppState appState; /* track requests to terminate app */
|
||||
};
|
||||
@@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hello_main.cpp
|
||||
* Example for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#include <px4_middleware.h>
|
||||
#include <px4_app.h>
|
||||
#include "hrt_test.h"
|
||||
#include <stdio.h>
|
||||
|
||||
int PX4_MAIN(int argc, char **argv)
|
||||
{
|
||||
px4::init(argc, argv, "hello");
|
||||
|
||||
printf("hello\n");
|
||||
HRTTest test;
|
||||
test.main();
|
||||
|
||||
printf("goodbye\n");
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,92 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hrt_test_start_posix.cpp
|
||||
*
|
||||
* @author Mark Charlebois <mcharleb@gmail.com>
|
||||
*/
|
||||
#include "hrt_test.h"
|
||||
#include <px4_app.h>
|
||||
#include <px4_tasks.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <sched.h>
|
||||
|
||||
static int daemon_task; /* Handle of deamon task / thread */
|
||||
|
||||
extern "C" __EXPORT int hrttest_main(int argc, char *argv[]);
|
||||
int hrttest_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
printf("usage: hrttest_main {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (HRTTest::appState.isRunning()) {
|
||||
printf("already running\n");
|
||||
/* this is not an error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
daemon_task = px4_task_spawn_cmd("hrttest",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2000,
|
||||
PX4_MAIN,
|
||||
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
HRTTest::appState.requestExit();
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (HRTTest::appState.isRunning()) {
|
||||
printf("is running\n");
|
||||
|
||||
} else {
|
||||
printf("not started\n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
printf("usage: hrttest_main {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Publisher Example Application
|
||||
#
|
||||
|
||||
MODULE_COMMAND = hrttest
|
||||
|
||||
SRCS = hrt_test_main.cpp \
|
||||
hrt_test_start_posix.cpp \
|
||||
hrt_test.cpp
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Publisher Example Application
|
||||
#
|
||||
|
||||
MODULE_COMMAND = vcdevtest
|
||||
|
||||
SRCS = vcdevtest_main.cpp \
|
||||
vcdevtest_start_posix.cpp \
|
||||
vcdevtest_example.cpp
|
||||
|
||||
@@ -0,0 +1,196 @@
|
||||
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file vcdevtest_example.cpp
|
||||
* Example for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
|
||||
#include <px4_tasks.h>
|
||||
#include "vcdevtest_example.h"
|
||||
#include "drivers/device/device.h"
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
|
||||
px4::AppState VCDevExample::appState;
|
||||
|
||||
using namespace device;
|
||||
|
||||
#define TESTDEV "/dev/vdevex"
|
||||
|
||||
static int writer_main(int argc, char *argv[])
|
||||
{
|
||||
char buf[1] = { '1' };
|
||||
|
||||
int fd = px4_open(TESTDEV, PX4_F_RDONLY);
|
||||
if (fd < 0) {
|
||||
printf("--- Open failed %d %d", fd, px4_errno);
|
||||
return -px4_errno;
|
||||
}
|
||||
|
||||
// Wait for 3 seconds
|
||||
printf("--- Sleeping for 3 sec\n");
|
||||
int ret = sleep(3);
|
||||
if (ret < 0) {
|
||||
printf("--- usleep failed %d %d\n", ret, errno);
|
||||
return ret;
|
||||
}
|
||||
|
||||
printf("--- writing to fd\n");
|
||||
return px4_write(fd, buf, 1);
|
||||
}
|
||||
|
||||
class VCDevNode : public CDev {
|
||||
public:
|
||||
VCDevNode() : CDev("vcdevtest", TESTDEV) {};
|
||||
|
||||
~VCDevNode() {}
|
||||
|
||||
virtual ssize_t write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
|
||||
};
|
||||
|
||||
ssize_t VCDevNode::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
|
||||
{
|
||||
// ignore what was written, but let pollers know something was written
|
||||
poll_notify(POLLIN);
|
||||
|
||||
return buflen;
|
||||
}
|
||||
|
||||
VCDevExample::~VCDevExample() {
|
||||
if (_node) {
|
||||
delete _node;
|
||||
_node = 0;
|
||||
}
|
||||
}
|
||||
|
||||
static int test_pub_block(int fd, unsigned long blocked)
|
||||
{
|
||||
int ret = px4_ioctl(fd, PX4_DEVIOCSPUBBLOCK, blocked);
|
||||
if (ret < 0) {
|
||||
printf("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno);
|
||||
return -px4_errno;
|
||||
}
|
||||
|
||||
ret = px4_ioctl(fd, PX4_DEVIOCGPUBBLOCK, 0);
|
||||
if (ret < 0) {
|
||||
printf("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
|
||||
return -px4_errno;
|
||||
}
|
||||
printf("pub_blocked = %d %s\n", ret, (unsigned long)ret == blocked ? "PASS" : "FAIL");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int VCDevExample::main()
|
||||
{
|
||||
appState.setRunning(true);
|
||||
|
||||
_node = new VCDevNode();
|
||||
|
||||
if (_node == 0) {
|
||||
printf("Failed to allocate VCDevNode\n");
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
if (_node->init() != PX4_OK) {
|
||||
printf("Failed to init VCDevNode\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
int fd = px4_open(TESTDEV, PX4_F_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("Open failed %d %d", fd, px4_errno);
|
||||
return -px4_errno;
|
||||
}
|
||||
|
||||
void *p = 0;
|
||||
int ret = px4_ioctl(fd, PX4_DIOC_GETPRIV, (unsigned long)&p);
|
||||
if (ret < 0) {
|
||||
printf("ioctl PX4_DIOC_GETPRIV failed %d %d", ret, px4_errno);
|
||||
return -px4_errno;
|
||||
}
|
||||
printf("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL");
|
||||
|
||||
ret = test_pub_block(fd, 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
ret = test_pub_block(fd, 0);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
int i=0;
|
||||
px4_pollfd_struct_t fds[1];
|
||||
|
||||
// Start a task that will write something in 3 seconds
|
||||
(void)px4_task_spawn_cmd("writer",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 6,
|
||||
2000,
|
||||
writer_main,
|
||||
(char* const*)NULL);
|
||||
|
||||
while (!appState.exitRequested() && i<3) {
|
||||
sleep(2);
|
||||
|
||||
printf(" polling...\n");
|
||||
fds[0].fd = fd;
|
||||
fds[0].events = POLLIN;
|
||||
fds[0].revents = 0;
|
||||
|
||||
printf(" Calling Poll\n");
|
||||
ret = px4_poll(fds, 1, 1000);
|
||||
printf(" Done poll\n");
|
||||
if (ret < 0) {
|
||||
printf("poll failed %d %d\n", ret, px4_errno);
|
||||
px4_close(fd);
|
||||
}
|
||||
else if (i > 0 && ret == 0)
|
||||
printf(" Nothing to read - PASS\n");
|
||||
else if (i == 0) {
|
||||
if (ret == 1)
|
||||
printf(" %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
|
||||
else
|
||||
printf(" %d to read - FAIL\n", ret);
|
||||
|
||||
}
|
||||
++i;
|
||||
}
|
||||
px4_close(fd);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,58 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file vcdevtest_example.h
|
||||
* Example app for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <px4_app.h>
|
||||
|
||||
class VCDevNode;
|
||||
|
||||
class VCDevExample {
|
||||
public:
|
||||
VCDevExample() : _node(0) {};
|
||||
|
||||
~VCDevExample();
|
||||
|
||||
int main();
|
||||
|
||||
static px4::AppState appState; /* track requests to terminate app */
|
||||
|
||||
private:
|
||||
VCDevNode *_node;
|
||||
};
|
||||
@@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file vcdevtest_main.cpp
|
||||
* Example for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#include <px4_middleware.h>
|
||||
#include <px4_app.h>
|
||||
#include "vcdevtest_example.h"
|
||||
#include <stdio.h>
|
||||
|
||||
int PX4_MAIN(int argc, char **argv)
|
||||
{
|
||||
px4::init(argc, argv, "vcdevtest");
|
||||
|
||||
printf("vcdevtest\n");
|
||||
VCDevExample vcdevtest;
|
||||
vcdevtest.main();
|
||||
|
||||
printf("goodbye\n");
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,95 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file vcdevtest_start_posix.cpp
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* @author Mark Charlebois <mcharleb@gmail.com>
|
||||
*/
|
||||
#include "vcdevtest_example.h"
|
||||
#include <px4_app.h>
|
||||
#include <px4_tasks.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
static int daemon_task; /* Handle of deamon task / thread */
|
||||
|
||||
//using namespace px4;
|
||||
|
||||
extern "C" __EXPORT int vcdevtest_main(int argc, char *argv[]);
|
||||
int vcdevtest_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
if (argc < 2) {
|
||||
printf("usage: vcdevtest {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (VCDevExample::appState.isRunning()) {
|
||||
printf("already running\n");
|
||||
/* this is not an error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
daemon_task = px4_task_spawn_cmd("vcdevtest",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2000,
|
||||
PX4_MAIN,
|
||||
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
VCDevExample::appState.requestExit();
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (VCDevExample::appState.isRunning()) {
|
||||
printf("is running\n");
|
||||
|
||||
} else {
|
||||
printf("not started\n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
printf("usage: vcdevtest_main {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Publisher Example Application
|
||||
#
|
||||
|
||||
MODULE_COMMAND = wqueue_test
|
||||
|
||||
SRCS = wqueue_main.cpp \
|
||||
wqueue_start_posix.cpp \
|
||||
wqueue_test.cpp
|
||||
|
||||
@@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file wqueue_main.cpp
|
||||
* Example for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#include <px4_middleware.h>
|
||||
#include <px4_app.h>
|
||||
#include "wqueue_test.h"
|
||||
#include <stdio.h>
|
||||
|
||||
int PX4_MAIN(int argc, char **argv)
|
||||
{
|
||||
px4::init(argc, argv, "wqueue_test");
|
||||
|
||||
printf("wqueue hello\n");
|
||||
WQueueTest wq;
|
||||
wq.main();
|
||||
|
||||
printf("goodbye\n");
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,96 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file wqueue_start_posix.cpp
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* @author Mark Charlebois <mcharleb@gmail.com>
|
||||
*/
|
||||
#include "wqueue_test.h"
|
||||
#include <px4_app.h>
|
||||
#include <px4_tasks.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <sched.h>
|
||||
|
||||
static int daemon_task; /* Handle of deamon task / thread */
|
||||
|
||||
//using namespace px4;
|
||||
|
||||
extern "C" __EXPORT int wqueue_test_main(int argc, char *argv[]);
|
||||
int wqueue_test_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
if (argc < 2) {
|
||||
printf("usage: wqueue_test {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (WQueueTest::appState.isRunning()) {
|
||||
printf("already running\n");
|
||||
/* this is not an error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
daemon_task = px4_task_spawn_cmd("wqueue",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2000,
|
||||
PX4_MAIN,
|
||||
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
WQueueTest::appState.requestExit();
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (WQueueTest::appState.isRunning()) {
|
||||
printf("is running\n");
|
||||
|
||||
} else {
|
||||
printf("not started\n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
printf("usage: wqueue_test {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
@@ -0,0 +1,96 @@
|
||||
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file wqueue_example.cpp
|
||||
* Example for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
|
||||
#include <px4_workqueue.h>
|
||||
#include "wqueue_test.h"
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
|
||||
px4::AppState WQueueTest::appState;
|
||||
|
||||
void WQueueTest::hp_worker_cb(void *p)
|
||||
{
|
||||
WQueueTest *wqep = (WQueueTest *)p;
|
||||
|
||||
wqep->do_hp_work();
|
||||
}
|
||||
|
||||
void WQueueTest::lp_worker_cb(void *p)
|
||||
{
|
||||
WQueueTest *wqep = (WQueueTest *)p;
|
||||
|
||||
wqep->do_lp_work();
|
||||
}
|
||||
|
||||
void WQueueTest::do_lp_work()
|
||||
{
|
||||
printf("done lp work\n");
|
||||
_lpwork_done = true;
|
||||
}
|
||||
|
||||
void WQueueTest::do_hp_work()
|
||||
{
|
||||
printf("done hp work\n");
|
||||
_hpwork_done = true;
|
||||
}
|
||||
|
||||
int WQueueTest::main()
|
||||
{
|
||||
appState.setRunning(true);
|
||||
|
||||
//Put work on HP work queue
|
||||
work_queue(HPWORK, &_hpwork, (worker_t)&hp_worker_cb, this, 1);
|
||||
|
||||
|
||||
//Put work on LP work queue
|
||||
work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1);
|
||||
|
||||
|
||||
// Wait for work to finsh
|
||||
while (!appState.exitRequested() && !(_hpwork_done && _lpwork_done)) {
|
||||
printf(" Sleeping...\n");
|
||||
sleep(2);
|
||||
|
||||
printf(" Waiting on work...\n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,72 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file wqueue_test.h
|
||||
* Example app for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <px4_app.h>
|
||||
#include <px4_workqueue.h>
|
||||
#include <string.h>
|
||||
|
||||
class WQueueTest {
|
||||
public:
|
||||
WQueueTest() :
|
||||
_lpwork_done(false),
|
||||
_hpwork_done(false)
|
||||
{
|
||||
memset(&_lpwork, 0, sizeof(_lpwork));
|
||||
memset(&_hpwork, 0, sizeof(_hpwork));
|
||||
};
|
||||
|
||||
~WQueueTest() {};
|
||||
|
||||
int main();
|
||||
|
||||
static px4::AppState appState; /* track requests to terminate app */
|
||||
private:
|
||||
static void hp_worker_cb(void *p);
|
||||
static void lp_worker_cb(void *p);
|
||||
|
||||
void do_lp_work(void);
|
||||
void do_hp_work(void);
|
||||
|
||||
bool _lpwork_done;
|
||||
bool _hpwork_done;
|
||||
work_s _lpwork;
|
||||
work_s _hpwork;
|
||||
};
|
||||
Reference in New Issue
Block a user