mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
6cb2c176d5
Events have a global, system-wide sequence number, which must be handled atomically, (fetching and incrementing the sequence AND sending the event to uORB must be atomic). Currently in FLAT mode, only one instance of this sequence number exists, so it is OK to have it in px4_platform. However, in PROTECTED mode px4_platform is instantiated both in kernel- and user spaces, which makes two instances of this sequence number, which causes problems in the mavlink event handling logic. When mavlink receives and handles events, it expects that: - The sequence numbers arrive in order (seq n is followed by n+1 etc) - It increments by 1 - There is only one instance of the sequence number In PROTECTED mode this is violated, as the kernel and user sequence numbers run freely on their own. This patch fixes the issue by moving the event backend to the kernel and by providing user access to it via ioctl.
72 lines
2.6 KiB
CMake
72 lines
2.6 KiB
CMake
############################################################################
|
|
#
|
|
# Copyright (c) 2015 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.
|
|
#
|
|
############################################################################
|
|
|
|
set(SRCS)
|
|
|
|
if(NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
|
|
list(APPEND SRCS
|
|
px4_log.cpp
|
|
px4_log_history.cpp
|
|
)
|
|
endif()
|
|
|
|
add_library(px4_platform STATIC
|
|
board_common.c
|
|
board_identity.c
|
|
external_reset_lockout.cpp
|
|
i2c.cpp
|
|
i2c_spi_buses.cpp
|
|
module.cpp
|
|
px4_getopt.c
|
|
px4_cli.cpp
|
|
shutdown.cpp
|
|
spi.cpp
|
|
${SRCS}
|
|
)
|
|
target_link_libraries(px4_platform prebuild_targets px4_work_queue)
|
|
|
|
if(NOT "${PX4_BOARD}" MATCHES "io-v2")
|
|
add_subdirectory(uORB)
|
|
endif()
|
|
|
|
add_subdirectory(px4_work_queue)
|
|
add_subdirectory(work_queue)
|
|
|
|
if("${PX4_PLATFORM}" MATCHES "nuttx")
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/c_cpp_properties.json.nuttx.in ${PX4_SOURCE_DIR}/.vscode/c_cpp_properties.json @ONLY)
|
|
else()
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/c_cpp_properties.json.in ${PX4_SOURCE_DIR}/.vscode/c_cpp_properties.json @ONLY)
|
|
endif()
|
|
|
|
px4_add_unit_gtest(SRC board_identity_test.cpp LINKLIBS px4_platform)
|