mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 05:43:34 +08:00
Mark Charlebois
e24405d374
The HRT call processing normally happens via HW timer interrupt handler. Since the POSIX port has no ISR handling, the HP work queue is used. Instead of irq_save() and irq_restore() calls to disable/enable interrupts, a mutex is used to protect each queue. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
76 lines
2.3 KiB
C++
76 lines
2.3 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2015 Mark Charlebois. 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file px4_posix_impl.cpp
|
|
*
|
|
* PX4 Middleware Wrapper Linux Implementation
|
|
*/
|
|
|
|
#include <px4_defines.h>
|
|
#include <px4_middleware.h>
|
|
#include <px4_workqueue.h>
|
|
#include <stdint.h>
|
|
#include <stdio.h>
|
|
#include <signal.h>
|
|
#include <errno.h>
|
|
#include <unistd.h>
|
|
#include "systemlib/param/param.h"
|
|
|
|
__BEGIN_DECLS
|
|
|
|
long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
|
|
|
|
extern void hrt_init(void);
|
|
|
|
__END_DECLS
|
|
|
|
namespace px4
|
|
{
|
|
|
|
void init_once(void);
|
|
|
|
void init_once(void)
|
|
{
|
|
work_queues_init();
|
|
hrt_init();
|
|
}
|
|
|
|
void init(int argc, char *argv[], const char *app_name)
|
|
{
|
|
printf("App name: %s\n", app_name);
|
|
}
|
|
|
|
}
|
|
|