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345 lines
9.0 KiB
C++
345 lines
9.0 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 <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 <errno.h>
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#include <sys/stat.h>
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#include <atomic_ops.h>
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#include <parameters/param.h>
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#include <shmem.h>
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#include <drivers/drv_hrt.h>
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//#define SHMEM_DEBUG
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//#define PARAM_LOCK_DEBUG
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static atomic_word_t mem_lock;
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static unsigned char *map_base, *virt_addr;
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static uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
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static unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
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struct shmem_info *shmem_info_p;
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// Small helper to get log2 for ints
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static unsigned log2_for_int(unsigned v)
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{
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unsigned r = 0;
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while (v >>= 1) {
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++r;
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}
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return r;
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}
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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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extern struct param_wbuf_s *param_find_changed(param_t param);
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int get_shmem_lock(const char *caller_file_name, int caller_line_number)
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{
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unsigned int i = 0;
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#ifdef PARAM_LOCK_DEBUG
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PX4_INFO("lock value %d before get from %s, line: %d\n", mem_lock.value, strrchr(caller_file_name, '/'),
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caller_line_number);
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#endif
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while (!atomic_compare_and_set(&mem_lock, 1, 0)) {
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i++;
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usleep(1000);
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if (i > 100) {
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break;
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}
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}
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if (i > 100) {
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PX4_INFO("Could not get lock, file name: %s, line number: %d.\n",
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strrchr(caller_file_name, '/'), caller_line_number);
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return -1;
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} else {
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PX4_DEBUG("Lock acquired, file name: %s, line number: %d\n",
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caller_file_name, caller_line_number);
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}
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return 0; //got the lock
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}
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void release_shmem_lock(const char *caller_file_name, int caller_line_number)
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{
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atomic_set(&mem_lock, 1);
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#ifdef PARAM_LOCK_DEBUG
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PX4_INFO("release lock, file name: %s, line number: %d.\n",
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strrchr(caller_file_name, '/'), caller_line_number);
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#endif
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return;
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}
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void init_shared_memory(void)
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{
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int i;
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if (shmem_info_p) {
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return;
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}
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//virt_addr = map_memory(MAP_ADDRESS);
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map_base = (unsigned char *)calloc(MAP_SIZE, 1); //16KB
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if (map_base == NULL) {
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PX4_INFO("adsp memory malloc failed\n");
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return;
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}
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virt_addr = map_base;
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shmem_info_p = (struct shmem_info *) virt_addr;
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atomic_init(&mem_lock, 1);
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for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
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shmem_info_p->krait_changed_index[i] = 0;
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}
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PX4_INFO("adsp memory mapped\n");
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}
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void copy_params_to_shmem(const param_info_s *param_info_base)
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{
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param_t param;
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unsigned int i;
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_INFO("Could not get shmem lock\n");
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return;
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}
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//else PX4_INFO("Got lock\n");
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for (param = 0; param < param_count(); param++) {
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//{PX4_INFO("writing to offset %d\n", (unsigned char*)(shmem_info_p->adsp_params[param].name)-(unsigned char*)shmem_info_p);}
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struct param_wbuf_s *s = param_find_changed(param);
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if (s == NULL) {
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shmem_info_p->params_val[param] = param_info_base[param].val;
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}
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else {
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shmem_info_p->params_val[param] = s->val;
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}
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#ifdef SHMEM_DEBUG
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if (param_type(param) == PARAM_TYPE_INT32) {
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PX4_INFO("%d: written %d for param %s to shared mem", param, shmem_info_p->params_val[param].i, param_name(param));
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} else if (param_type(param) == PARAM_TYPE_FLOAT) {
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PX4_INFO("%d: written %f for param %s to shared mem", param, shmem_info_p->params_val[param].f, param_name(param));
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}
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#endif
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}
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for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
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shmem_info_p->adsp_changed_index[i] = 0;
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krait_changed_index[i] = 0;
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}
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release_shmem_lock(__FILE__, __LINE__);
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//PX4_INFO("Released lock\n");
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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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unsigned int byte_changed, bit_changed;
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if (!handle_in_range(param)) {
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return;
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}
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_ERR("Could not get shmem lock\n");
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return;
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}
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shmem_info_p->params_val[param] = value;
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byte_changed = param / 8;
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bit_changed = 1 << param % 8;
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shmem_info_p->adsp_changed_index[byte_changed] |= bit_changed;
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//PX4_INFO("set %d bit on adsp index[%d] to %d\n", bit_changed, byte_changed, shmem_info_p->adsp_changed_index[byte_changed]);
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#ifdef SHMEM_DEBUG
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if (param_type(param) == PARAM_TYPE_INT32) {
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PX4_INFO("Set value %d for param %s to shmem, set adsp index %d:%d\n", value.i, param_name(param), byte_changed,
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bit_changed);
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}
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else if (param_type(param) == PARAM_TYPE_FLOAT) {
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PX4_INFO("Set value %f for param %s to shmem, set adsp index %d:%d\n", value.f, param_name(param), byte_changed,
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bit_changed);
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}
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#endif
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release_shmem_lock(__FILE__, __LINE__);
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}
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void update_index_from_shmem(void)
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{
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unsigned int i;
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param_t params[MAX_SHMEM_PARAMS / 8 + 1];
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_ERR("Could not get shmem lock\n");
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return;
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}
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for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
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// Check if any param has been changed.
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if (krait_changed_index[i] != shmem_info_p->krait_changed_index[i]) {
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// If a param has changed, we need to find out which one.
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// From the byte and bit that is different, we can resolve the param number.
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unsigned bit = log2_for_int(
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krait_changed_index[i]
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^ shmem_info_p->krait_changed_index[i]);
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param_t param_to_get = i * 8 + bit;
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// Update our krait_changed_index as well.
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krait_changed_index[i] = shmem_info_p->krait_changed_index[i];
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params[i] = param_to_get;
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} else {
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params[i] = 0xFFFF;
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}
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}
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release_shmem_lock(__FILE__, __LINE__);
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// FIXME: this is a hack but it gets the param so that it gets added
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// to the local list param_values in param_shmem.c.
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for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
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if (params[i] != 0xFFFF) {
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int32_t dummy;
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param_get(params[i], &dummy);
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}
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}
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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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unsigned int byte_changed, bit_changed;
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_ERR("Could not get shmem lock\n");
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return;
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}
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*value = shmem_info_p->params_val[param];
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/*also clear the index since we are holding the lock*/
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byte_changed = param / 8;
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bit_changed = 1 << param % 8;
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shmem_info_p->krait_changed_index[byte_changed] &= ~bit_changed;
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release_shmem_lock(__FILE__, __LINE__);
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#ifdef SHMEM_DEBUG
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if (param_type(param) == PARAM_TYPE_INT32) {
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PX4_INFO("Got value %d for param %s from shmem, cleared krait index %d:%d\n", value->i, param_name(param), byte_changed,
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bit_changed);
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}
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else if (param_type(param) == PARAM_TYPE_FLOAT) {
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PX4_INFO("Got value %f for param %s from shmem, cleared krait index %d:%d\n", value->f, param_name(param), byte_changed,
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bit_changed);
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}
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#endif
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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 (!handle_in_range(param) || value == NULL) {
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return retval;
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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 (krait_changed_index[byte_changed] & bit_changed) {
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update_value_from_shmem(param, value);
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krait_changed_index[byte_changed] &= ~bit_changed;
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retval = 1;
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}
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//else {PX4_INFO("no change to param %s\n", param_name(param));}
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PX4_DEBUG("%s %d bit on krait changed index[%d]\n",
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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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