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Commit 9794bb2f authored by jwilson's avatar jwilson Committed by Julian Oes
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Running fix_code_style.sh on the requested source files.

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src/modules/muorb/adsp/px4muorb.cpp
+ 12
− 10
View file @ 9794bb2f
......@@ -50,7 +50,7 @@ extern int dspal_main(int argc, char *argv[]);
extern struct shmem_info *shmem_info_p;
extern int get_shmem_lock(const char *caller_file_name, int caller_line_number);
extern void release_shmem_lock(const char *caller_file_name,
int caller_line_number);
int caller_line_number);
extern void init_shared_memory(void);
__END_DECLS
int px4muorb_orb_initialize()
......@@ -61,7 +61,7 @@ int px4muorb_orb_initialize()
uORB::Manager::initialize();
// Register the fastrpc muorb with uORBManager.
uORB::Manager::get_instance()->set_uorb_communicator(
uORB::FastRpcChannel::GetInstance());
uORB::FastRpcChannel::GetInstance());
// Now continue with the usual dspal startup.
const char *argv[] = { "dspal", "start" };
......@@ -85,7 +85,7 @@ int px4muorb_get_absolute_time(uint64_t *time_us)
/*update value and param's change bit in shared memory*/
int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value,
int data_len_in_bytes)
int data_len_in_bytes)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *) value;
......@@ -115,8 +115,9 @@ int px4muorb_param_update_index_from_shmem(unsigned char *data,
{
unsigned int i;
if (!shmem_info_p)
if (!shmem_info_p) {
return -1;
}
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
......@@ -138,8 +139,9 @@ int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value,
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *) value;
if (!shmem_info_p)
if (!shmem_info_p) {
return -1;
}
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
......@@ -197,7 +199,7 @@ int px4muorb_remove_subscriber(const char *name)
}
int px4muorb_send_topic_data(const char *name, const uint8_t *data,
int data_len_in_bytes)
int data_len_in_bytes)
{
int rc = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
......@@ -229,7 +231,7 @@ int px4muorb_is_subscriber_present(const char *topic_name, int *status)
}
int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
uint8_t *data, int data_len_in_bytes, int *bytes_returned)
uint8_t *data, int data_len_in_bytes, int *bytes_returned)
{
int rc = 0;
int32_t local_msg_type = 0;
......@@ -237,14 +239,14 @@ int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_data(&local_msg_type, topic_name, topic_name_len, data,
data_len_in_bytes, &local_bytes_returned);
data_len_in_bytes, &local_bytes_returned);
*msg_type = (int) local_msg_type;
*bytes_returned = (int) local_bytes_returned;
return rc;
}
int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
{
int rc = 0;
int32_t local_bytes_returned = 0;
......@@ -252,7 +254,7 @@ int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_bulk_data(bulk_transfer_buffer, max_size_in_bytes,
&local_bytes_returned, &local_topic_count);
&local_bytes_returned, &local_topic_count);
*returned_length_in_bytes = (int) local_bytes_returned;
*topic_count = (int) local_topic_count;
return rc;
......
src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
+ 23
− 22
View file @ 9794bb2f
......@@ -62,7 +62,7 @@ static bool _Initialized = false;
static const uint32_t _MAX_TOPIC_DATA_BUFFER_SIZE = 1024;
static const uint32_t _MAX_TOPICS = 64;
static const uint32_t _MAX_BULK_TRANSFER_BUFFER_SIZE =
_MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS;
_MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS;
static uint8_t *_BulkTransferBuffer = 0;
unsigned char *adsp_changed_index = 0;
......@@ -104,7 +104,7 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
uint64_t time_appsproc = ((uint64_t) ts.tv_sec) * 1000000llu
+ (ts.tv_nsec / 1000);
+ (ts.tv_nsec / 1000);
close(fd);
......@@ -122,8 +122,8 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
// Before casting to in32_t, check if it fits.
uint64_t abs_diff =
(time_appsproc > time_dsp) ?
(time_appsproc - time_dsp) : (time_dsp - time_appsproc);
(time_appsproc > time_dsp) ?
(time_appsproc - time_dsp) : (time_dsp - time_appsproc);
if (abs_diff > INT32_MAX) {
PX4_ERR("Timer difference too big");
......@@ -133,9 +133,9 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
*time_diff_us = time_appsproc - time_dsp;
PX4_DEBUG("found time_dsp: %llu us, time_appsproc: %llu us",
time_dsp, time_appsproc);
time_dsp, time_appsproc);
PX4_DEBUG("found time_diff: %li us, %.6f s",
*time_diff_us, ((double)*time_diff_us) / 1e6);
*time_diff_us, ((double)*time_diff_us) / 1e6);
return 0;
}
......@@ -158,24 +158,24 @@ bool px4muorb::KraitRpcWrapper::Initialize()
PX4_DEBUG("%s Now calling rpcmem_alloc...", __FUNCTION__);
_BulkTransferBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t));
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t));
rc = (_BulkTransferBuffer != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for bulk transfer buffers",
__FUNCTION__);
__FUNCTION__);
return rc;
} else {
PX4_DEBUG(
"%s rpcmem_alloc passed for Bulk transfer buffers buffer_size: %d addr: %p",
__FUNCTION__, (_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t)), _BulkTransferBuffer);
"%s rpcmem_alloc passed for Bulk transfer buffers buffer_size: %d addr: %p",
__FUNCTION__, (_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t)), _BulkTransferBuffer);
}
_TopicNameBuffer = (char *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_TOPIC_NAME_BUFFER * sizeof(char));
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_TOPIC_NAME_BUFFER * sizeof(char));
rc = (_TopicNameBuffer != NULL) ? true : false;
......@@ -190,8 +190,8 @@ bool px4muorb::KraitRpcWrapper::Initialize()
// now allocate the data buffer.
_DataBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_DATA_BUFFER_SIZE * sizeof(uint8_t));
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_DATA_BUFFER_SIZE * sizeof(uint8_t));
rc = (_DataBuffer != NULL) ? true : false;
......@@ -208,12 +208,13 @@ bool px4muorb::KraitRpcWrapper::Initialize()
}
adsp_changed_index = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS, PARAM_BUFFER_SIZE * sizeof(uint8_t));
MUORB_KRAIT_FASTRPC_MEM_FLAGS, PARAM_BUFFER_SIZE * sizeof(uint8_t));
rc = (adsp_changed_index != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for adsp_changed_index", __FUNCTION__);
} else {
memset(adsp_changed_index, 0, PARAM_BUFFER_SIZE * sizeof(uint8_t));
}
......@@ -228,7 +229,7 @@ bool px4muorb::KraitRpcWrapper::Initialize()
// call muorb initialize routine.
if (px4muorb_orb_initialize() != 0) {
PX4_ERR("%s Error calling the uorb fastrpc initalize method..",
__FUNCTION__);
__FUNCTION__);
rc = false;
return rc;
}
......@@ -244,7 +245,7 @@ bool px4muorb::KraitRpcWrapper::Initialize()
int diff = (time_dsp - time_appsproc);
PX4_DEBUG("time_dsp: %llu us, time appsproc: %llu us, diff: %d us",
time_dsp, time_appsproc, diff);
time_dsp, time_appsproc, diff);
_Initialized = true;
return rc;
......@@ -296,7 +297,7 @@ int32_t px4muorb::KraitRpcWrapper::SendData(const char *topic,
int32_t length_in_bytes, const uint8_t *data)
{
return (_Initialized ?
px4muorb_send_topic_data(topic, data, length_in_bytes) : -1);
px4muorb_send_topic_data(topic, data, length_in_bytes) : -1);
}
int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic,
......@@ -306,8 +307,8 @@ int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic,
if (_Initialized) {
rc = px4muorb_receive_msg(msg_type, _TopicNameBuffer,
_MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE,
length_in_bytes);
_MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE,
length_in_bytes);
if (rc == 0) {
*topic = _TopicNameBuffer;
......@@ -332,7 +333,7 @@ int32_t px4muorb::KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data,
if (_Initialized) {
//rc = px4muorb_receive_msg( msg_type, _TopicNameBuffer, _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE, length_in_bytes );
rc = px4muorb_receive_bulk_data(_BulkTransferBuffer,
_MAX_BULK_TRANSFER_BUFFER_SIZE, length_in_bytes, topic_count);
_MAX_BULK_TRANSFER_BUFFER_SIZE, length_in_bytes, topic_count);
if (rc == 0) {
*bulk_data = _BulkTransferBuffer;
......
src/platforms/posix/px4_layer/shmem_posix.c
+ 10
− 9
View file @ 9794bb2f
......@@ -60,8 +60,7 @@ void update_index_from_shmem(void);
uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
extern unsigned char *adsp_changed_index;
struct param_wbuf_s
{
struct param_wbuf_s {
param_t param;
union param_value_u val;
bool unsaved;
......@@ -70,9 +69,10 @@ struct param_wbuf_s
/*update value and param's change bit in shared memory*/
void update_to_shmem(param_t param, union param_value_u value)
{
if (px4muorb_param_update_to_shmem(param, (unsigned char*) &value,
sizeof(value)))
if (px4muorb_param_update_to_shmem(param, (unsigned char *) &value,
sizeof(value))) {
PX4_ERR("krait update param %u failed", param);
}
}
void update_index_from_shmem(void)
......@@ -83,14 +83,15 @@ void update_index_from_shmem(void)
}
px4muorb_param_update_index_from_shmem(adsp_changed_index,
PARAM_BUFFER_SIZE);
PARAM_BUFFER_SIZE);
}
static void update_value_from_shmem(param_t param, union param_value_u *value)
{
if (px4muorb_param_update_value_from_shmem(param, (unsigned char*) value,
sizeof(union param_value_u)))
if (px4muorb_param_update_value_from_shmem(param, (unsigned char *) value,
sizeof(union param_value_u))) {
PX4_ERR("%s get param failed", __FUNCTION__);
}
}
int update_from_shmem(param_t param, union param_value_u *value)
......@@ -106,7 +107,7 @@ 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
> 1000000) { //update every 1 second
update_from_shmem_prev_time = update_from_shmem_current_time;
update_index_from_shmem();
}
......@@ -123,7 +124,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
//else {PX4_INFO("no change to param %s", param_name(param));}
PX4_DEBUG("%s %d bit on adsp index[%d]",
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
return retval;
}
......
src/platforms/qurt/px4_layer/shmem_qurt.c
+ 22
− 19
View file @ 9794bb2f
......@@ -75,8 +75,7 @@ static unsigned log2_for_int(unsigned v)
return r;
}
struct param_wbuf_s
{
struct param_wbuf_s {
param_t param;
union param_value_u val;
bool unsaved;
......@@ -86,17 +85,18 @@ extern struct param_wbuf_s *param_find_changed(param_t param);
static void *map_memory(off_t target)
{
return (void *) (target + LOCK_SIZE);
return (void *)(target + LOCK_SIZE);
}
int get_shmem_lock(const char *caller_file_name, int caller_line_number)
{
unsigned char *lock = (unsigned char *) (MAP_ADDRESS + LOCK_OFFSET);
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
unsigned int i = 0;
#ifdef PARAM_LOCK_DEBUG
PX4_INFO("lock value %d before get from %s, line: %d\n", *(unsigned int*)0xfbfc000, strrchr(caller_file_name, '/'), caller_line_number);
PX4_INFO("lock value %d before get from %s, line: %d\n", *(unsigned int *)0xfbfc000, strrchr(caller_file_name, '/'),
caller_line_number);
#endif
while (!atomic_compare_and_set(lock, 1, 0)) {
......@@ -110,12 +110,12 @@ int get_shmem_lock(const char *caller_file_name, int caller_line_number)
if (i > 100) {
PX4_INFO("Could not get lock, file name: %s, line number: %d.\n",
strrchr(caller_file_name, '/'), caller_line_number);
strrchr(caller_file_name, '/'), caller_line_number);
return -1;
} else {
PX4_DEBUG("Lock acquired, file name: %s, line number: %d\n",
caller_file_name, caller_line_number);
caller_file_name, caller_line_number);
}
return 0; //got the lock
......@@ -124,13 +124,13 @@ int get_shmem_lock(const char *caller_file_name, int caller_line_number)
void release_shmem_lock(const char *caller_file_name, int caller_line_number)
{
unsigned char *lock = (unsigned char *) (MAP_ADDRESS + LOCK_OFFSET);
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
*lock = 1;
#ifdef PARAM_LOCK_DEBUG
PX4_INFO("release lock, file name: %s, line number: %d.\n",
strrchr(caller_file_name, '/'), caller_line_number);
strrchr(caller_file_name, '/'), caller_line_number);
#endif
return;
......@@ -141,14 +141,15 @@ void init_shared_memory(void)
//PX4_INFO("Value at lock address is %d\n", *(unsigned int*)0xfbfc000);
int i;
if (shmem_info_p)
if (shmem_info_p) {
return;
}
virt_addr = map_memory(MAP_ADDRESS);
shmem_info_p = (struct shmem_info *) virt_addr;
//init lock as 1
unsigned char *lock = (unsigned char *) (MAP_ADDRESS + LOCK_OFFSET);
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
*lock = 1;
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
......@@ -230,12 +231,12 @@ void update_to_shmem(param_t param, union param_value_u value)
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("Set value %d for param %s to shmem, set adsp index %d:%d\n", value.i, param_name(param), byte_changed,
bit_changed);
bit_changed);
}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("Set value %f for param %s to shmem, set adsp index %d:%d\n", value.f, param_name(param), byte_changed,
bit_changed);
bit_changed);
}
#endif
......@@ -261,17 +262,19 @@ void update_index_from_shmem(void)
// If a param has changed, we need to find out which one.
// From the byte and bit that is different, we can resolve the param number.
unsigned bit = log2_for_int(
krait_changed_index[i]
^ shmem_info_p->krait_changed_index[i]);
krait_changed_index[i]
^ shmem_info_p->krait_changed_index[i]);
param_t param_to_get = i * 8 + bit;
// Update our krait_changed_index as well.
krait_changed_index[i] = shmem_info_p->krait_changed_index[i];
params[i] = param_to_get;
} else {
params[i] = 0xFFFF;
}
}
release_shmem_lock(__FILE__, __LINE__);
// FIXME: this is a hack but it gets the param so that it gets added
......@@ -306,12 +309,12 @@ static void update_value_from_shmem(param_t param, union param_value_u *value)
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("Got value %d for param %s from shmem, cleared krait index %d:%d\n", value->i, param_name(param), byte_changed,
bit_changed);
bit_changed);
}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("Got value %f for param %s from shmem, cleared krait index %d:%d\n", value->f, param_name(param), byte_changed,
bit_changed);
bit_changed);
}
#endif
......@@ -329,7 +332,7 @@ 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
> 1000000) { //update every 1 second
update_from_shmem_prev_time = update_from_shmem_current_time;
update_index_from_shmem();
}
......@@ -346,7 +349,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
//else {PX4_INFO("no change to param %s\n", param_name(param));}
PX4_DEBUG("%s %d bit on krait changed index[%d]\n",
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
return retval;
}
......
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