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126 lines
3.9 KiB
C++
126 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015 Vijay Venkatraman. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_defines.h>
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#include <px4_posix.h>
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#include <string.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <systemlib/err.h>
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#include <errno.h>
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#include <semaphore.h>
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#include <sys/stat.h>
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#include <drivers/drv_hrt.h>
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#include <sys/mman.h>
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#include <sys/ioctl.h>
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#include <parameters/param.h>
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#include <shmem.h>
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#include "px4muorb.h"
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//#define SHMEM_DEBUG
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static uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
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extern unsigned char *adsp_changed_index;
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struct param_wbuf_s {
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union param_value_u val;
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param_t param;
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bool unsaved;
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};
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/*update value and param's change bit in shared memory*/
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void update_to_shmem(param_t param, union param_value_u value)
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{
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if (px4muorb_param_update_to_shmem(param, (unsigned char *) &value, sizeof(value))) {
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PX4_ERR("krait update param %u failed", param);
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}
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}
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void update_index_from_shmem(void)
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{
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if (!adsp_changed_index) {
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PX4_ERR("%s no param buffer", __FUNCTION__);
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return;
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}
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px4muorb_param_update_index_from_shmem(adsp_changed_index, PARAM_BUFFER_SIZE);
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}
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static void update_value_from_shmem(param_t param, union param_value_u *value)
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{
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if (px4muorb_param_update_value_from_shmem(param, (unsigned char *) value, sizeof(union param_value_u))) {
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PX4_ERR("%s get param failed", __FUNCTION__);
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}
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}
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int update_from_shmem(param_t param, union param_value_u *value)
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{
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unsigned int byte_changed, bit_changed;
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unsigned int retval = 0;
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if (!adsp_changed_index) {
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PX4_ERR("%s no param buffer", __FUNCTION__);
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return 0;
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}
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update_from_shmem_current_time = hrt_absolute_time();
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if ((update_from_shmem_current_time - update_from_shmem_prev_time)
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> 1000000) { //update every 1 second
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update_from_shmem_prev_time = update_from_shmem_current_time;
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update_index_from_shmem();
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}
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byte_changed = param / 8;
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bit_changed = 1 << param % 8;
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if (adsp_changed_index[byte_changed] & bit_changed) {
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update_value_from_shmem(param, value);
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adsp_changed_index[byte_changed] &= ~bit_changed; //clear the bit
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retval = 1;
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}
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//else {PX4_INFO("no change to param %s", param_name(param));}
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PX4_DEBUG("%s %d bit on adsp index[%d]",
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(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
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return retval;
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}
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