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Code cleanup and ifdefs required for qurt build

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Code that was previously out of tree that was #if 0, is now #ifdef __PX4_QURT.
These changes were required for flight using the qurt build.

Changes include code cleanup for shmem_posix.c.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-01-21 20:41:42 -08:00
committed by Julian Oes
parent 8634452d6d
commit fea910d45a
5 changed files with 87 additions and 44 deletions
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src/platforms/posix/px4_layer/shmem_posix.c
+45 -26
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015 Ramakrishna Kintada. All rights reserved.
* 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
@@ -32,7 +31,6 @@
*
****************************************************************************/
#include <px4_defines.h>
#include <px4_posix.h>
#include <string.h>
@@ -71,9 +69,9 @@ uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
static unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
struct param_wbuf_s {
param_t param;
union param_value_u val;
bool unsaved;
param_t param;
union param_value_u val;
bool unsaved;
};
extern struct param_wbuf_s *param_find_changed(param_t param);
@@ -88,7 +86,8 @@ static void *map_memory(off_t target)
}
/* Map one page */
map_base = (unsigned char *) mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, target & ~MAP_MASK);
map_base = (unsigned char *) mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE,
MAP_SHARED, mem_fd, target & ~MAP_MASK);
if (map_base == (void *) - 1) {
PX4_ERR("Cannot mmap /dev/atl_mem\n");
@@ -109,10 +108,14 @@ int get_shmem_lock(void)
usleep(100000); //sleep for 100 msec
i++;
if (i > 100) { break; }
if (i > 100) {
break;
}
}
if (i > 100) { return -1; }
if (i > 100) {
return -1;
}
return 0; //got the lock
}
@@ -126,14 +129,14 @@ void init_shared_memory(void)
{
virt_addr = map_memory(MAP_ADDRESS); //16K space
shmem_info_p = (struct shmem_info *)virt_addr;
shmem_info_p = (struct shmem_info *) virt_addr;
//PX4_INFO("linux memory mapped\n");
}
void copy_params_to_shmem(struct param_info_s *param_info_base)
{
param_t param;
param_t param;
unsigned int i;
if (get_shmem_lock() != 0) {
@@ -145,17 +148,26 @@ void copy_params_to_shmem(struct param_info_s *param_info_base)
for (param = 0; param < param_count(); param++) {
struct param_wbuf_s *s = param_find_changed(param);
if (s == NULL) { shmem_info_p->params_val[param] = param_info_base[param].val; }
if (s == NULL) {
shmem_info_p->params_val[param] = param_info_base[param].val;
else { shmem_info_p->params_val[param] = s->val; }
} else {
shmem_info_p->params_val[param] = s->val;
}
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32) {
{PX4_INFO("%d: written %d for param %s to shared mem", param, shmem_info_p->params_val[param].i, param_name(param));}
{
PX4_INFO("%d: written %d for param %s to shared mem",
param, shmem_info_p->params_val[param].i, param_name(param));
}
} else if (param_type(param) == PARAM_TYPE_FLOAT) {
{PX4_INFO("%d: written %f for param %s to shared mem", param, (double)shmem_info_p->params_val[param].f, param_name(param));}
{
PX4_INFO("%d: written %f for param %s to shared mem",
param, (double)shmem_info_p->params_val[param].f, param_name(param));
}
}
#endif
@@ -191,11 +203,14 @@ void update_to_shmem(param_t param, union param_value_u value)
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32)
{PX4_INFO("Set value %d for param %s to shmem, set krait index %d:%d\n", value.i, param_name(param), byte_changed, bit_changed);}
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("Set value %d for param %s to shmem, set krait index %d:%d\n",
value.i, param_name(param), byte_changed, bit_changed);
else if (param_type(param) == PARAM_TYPE_FLOAT)
{PX4_INFO("Set value %f for param %s to shmem, set krait index %d:%d\n", (double)value.f, param_name(param), byte_changed, bit_changed);}
} else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("Set value %f for param %s to shmem, set krait index %d:%d\n",
(double)value.f, param_name(param), byte_changed, bit_changed);
}
#endif
@@ -221,7 +236,6 @@ static void update_index_from_shmem(void)
release_shmem_lock();
}
static void update_value_from_shmem(param_t param, union param_value_u *value)
{
unsigned int byte_changed, bit_changed;
@@ -242,11 +256,16 @@ static void update_value_from_shmem(param_t param, union param_value_u *value)
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32)
{PX4_INFO("Got value %d for param %s from shmem, cleared adsp index %d:%d\n", value->i, param_name(param), byte_changed, bit_changed);}
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO(
"Got value %d for param %s from shmem, cleared adsp index %d:%d\n",
value->i, param_name(param), byte_changed, bit_changed);
else if (param_type(param) == PARAM_TYPE_FLOAT)
{PX4_INFO("Got value %f for param %s from shmem, cleared adsp index %d:%d\n", (double)value->f, param_name(param), byte_changed, bit_changed);}
} else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO(
"Got value %f for param %s from shmem, cleared adsp index %d:%d\n",
(double)value->f, param_name(param), byte_changed, bit_changed);
}
#endif
}
@@ -258,7 +277,8 @@ int update_from_shmem(param_t param, union param_value_u *value)
update_from_shmem_current_time = hrt_absolute_time();
if ((update_from_shmem_current_time - update_from_shmem_prev_time) > 1000000) { //update every 1 second
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();
}
@@ -279,4 +299,3 @@ int update_from_shmem(param_t param, union param_value_u *value)
return retval;
}