platforms/posix/src: move to platforms/posix/src/px4/common

2026-10-26 05:53:34 +08:00 · 2019-08-30 07:59:44 +02:00
parent 8cbb3852ba
commit fa8165a1c3
33 changed files with 43 additions and 112 deletions
@@ -0,0 +1,125 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 Vijay Venkatraman. 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.
+ *
+ ****************************************************************************/
+
+#include <px4_defines.h>
+#include <px4_posix.h>
+#include <string.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <systemlib/err.h>
+#include <errno.h>
+#include <semaphore.h>
+
+#include <sys/stat.h>
+
+#include <drivers/drv_hrt.h>
+#include <sys/mman.h>
+#include <sys/ioctl.h>
+
+#include <parameters/param.h>
+
+#include <shmem.h>
+#include "px4muorb.h"
+
+//#define SHMEM_DEBUG
+
+static uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
+extern unsigned char *adsp_changed_index;
+
+struct param_wbuf_s {
+	union param_value_u val;
+	param_t param;
+	bool unsaved;
+};
+
+/*update value and param's change bit in shared memory*/
+void update_to_shmem(param_t param, union param_value_u value)
+{
+	if (px4muorb_param_update_to_shmem(param, (unsigned char *) &value, sizeof(value))) {
+		PX4_ERR("krait update param %u failed", param);
+	}
+}
+
+void update_index_from_shmem(void)
+{
+	if (!adsp_changed_index) {
+		PX4_ERR("%s no param buffer", __FUNCTION__);
+		return;
+	}
+
+	px4muorb_param_update_index_from_shmem(adsp_changed_index, PARAM_BUFFER_SIZE);
+}
+
+static void update_value_from_shmem(param_t param, union param_value_u *value)
+{
+	if (px4muorb_param_update_value_from_shmem(param, (unsigned char *) value, sizeof(union param_value_u))) {
+		PX4_ERR("%s get param failed", __FUNCTION__);
+	}
+}
+
+int update_from_shmem(param_t param, union param_value_u *value)
+{
+	unsigned int byte_changed, bit_changed;
+	unsigned int retval = 0;
+
+	if (!adsp_changed_index) {
+		PX4_ERR("%s no param buffer", __FUNCTION__);
+		return 0;
+	}
+
+	update_from_shmem_current_time = hrt_absolute_time();
+
+	if ((update_from_shmem_current_time - update_from_shmem_prev_time)
+	    > 1000000) { //update every 1 second
+		update_from_shmem_prev_time = update_from_shmem_current_time;
+		update_index_from_shmem();
+	}
+
+	byte_changed = param / 8;
+	bit_changed = 1 << param % 8;
+
+	if (adsp_changed_index[byte_changed] & bit_changed) {
+		update_value_from_shmem(param, value);
+		adsp_changed_index[byte_changed] &= ~bit_changed; //clear the bit
+		retval = 1;
+	}
+
+	//else {PX4_INFO("no change to param %s", param_name(param));}
+
+	PX4_DEBUG("%s %d bit on adsp index[%d]",
+		  (retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
+
+	return retval;
+}