ardupilot/libraries/AP_HAL_QURT/dsp_main.cpp

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#include <AP_HAL/AP_HAL.h>
#include "UDPDriver.h"
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include "Scheduler.h"
#include "Storage.h"
#include "replace.h"
#include <qurt_dsp.h>
extern const AP_HAL::HAL& hal;
extern "C" {
int ArduPilot_main(int argc, const char *argv[]);
}
volatile int _last_dsp_line = __LINE__;
volatile const char *_last_dsp_file = __FILE__;
volatile uint32_t _last_counter;
static void *main_thread(void *cmdptr)
{
char *cmdline = (char *)cmdptr;
HAP_PRINTF("Ardupilot main_thread started");
// break cmdline into argc/argv
int argc = 0;
for (int i=0; cmdline[i]; i++) {
if (cmdline[i] == '\n') argc++;
}
const char **argv = (const char **)calloc(argc+2, sizeof(char *));
argv[0] = &cmdline[0];
argc = 0;
for (int i=0; cmdline[i]; i++) {
if (cmdline[i] == '\n') {
cmdline[i] = 0;
argv[argc+1] = &cmdline[i+1];
argc++;
}
}
argv[argc] = nullptr;
ArduPilot_main(argc, argv);
return nullptr;
}
uint32_t ardupilot_start(const char *cmdline, int len)
{
HAP_PRINTF("Starting Ardupilot");
pthread_attr_t thread_attr;
struct sched_param param;
pthread_t thread_ctx;
pthread_attr_init(&thread_attr);
pthread_attr_setstacksize(&thread_attr, 80000);
param.sched_priority = APM_MAIN_PRIORITY;
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_create(&thread_ctx, &thread_attr, main_thread, (void *)strdup((char*)cmdline));
return 0;
}
uint32_t ardupilot_heartbeat()
{
HAP_PRINTF("tick %u %s:%d", (unsigned)_last_counter, _last_dsp_file, _last_dsp_line);
return 0;
}
uint32_t ardupilot_set_storage(const uint8_t *buf, int len)
{
if (len != sizeof(QURT::Storage::buffer)) {
HAP_PRINTF("Incorrect storage size %u", len);
return 1;
}
QURT::Storage::lock.take(HAL_SEMAPHORE_BLOCK_FOREVER);
memcpy(QURT::Storage::buffer, buf, len);
QURT::Storage::lock.give();
return 0;
}
uint32_t ardupilot_get_storage(uint8_t *buf, int len)
{
if (len != sizeof(QURT::Storage::buffer)) {
HAP_PRINTF("Incorrect storage size %u", len);
return 1;
}
if (!QURT::Storage::dirty) {
return 1;
}
QURT::Storage::lock.take(HAL_SEMAPHORE_BLOCK_FOREVER);
memcpy(buf, QURT::Storage::buffer, len);
QURT::Storage::lock.give();
return 0;
}
uint32_t ardupilot_socket_check(uint8_t *buf, int len, uint32_t *nbytes)
{
return QURT::UDPDriver::from(hal.uartA)->socket_check(buf, len, nbytes);
}
uint32_t ardupilot_socket_input(const uint8_t *buf, int len, uint32_t *nbytes)
{
return QURT::UDPDriver::from(hal.uartA)->socket_input(buf, len, nbytes);
}