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create PX4 platform layer initialization helper (#11269)

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- starts requirements for PX4 modules (hrt, param, etc)
This commit is contained in:
Daniel Agar
2019-01-22 14:13:20 -05:00
committed by GitHub
parent 65fe3ce5d3
commit 320d2e9383
62 changed files with 327 additions and 560 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/nuttx/CMakeLists.txt
+1
View File
@@ -96,6 +96,7 @@ target_link_libraries(px4 PRIVATE
-Wl,--gc-sections
-Wl,--start-group
drivers_boards_common_arch
${nuttx_libs}
-Wl,--end-group
platforms/nuttx/src/px4_layer/CMakeLists.txt
+7 -1
View File
@@ -37,8 +37,14 @@ if (NOT ${PX4_BOARD} MATCHES "px4_io")
add_library(px4_layer
px4_nuttx_tasks.c
px4_nuttx_impl.cpp
px4_init.cpp
)
target_link_libraries(px4_layer PRIVATE nuttx_sched drivers_boards_common_arch)
target_link_libraries(px4_layer
PRIVATE
nuttx_apps # up_cxxinitialize
nuttx_sched
drivers_boards_common_arch
)
else()
add_library(px4_layer ${PX4_SOURCE_DIR}/src/platforms/empty.c)
endif()
platforms/nuttx/src/px4_layer/px4_init.cpp
+69
View File
@@ -0,0 +1,69 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#include "px4_init.h"
#include <px4_config.h>
#include <px4_defines.h>
#include <drivers/drv_hrt.h>
#include <lib/parameters/param.h>
#include <systemlib/cpuload.h>
#include "platform/cxxinitialize.h"
int px4_platform_init(void)
{
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
hrt_init();
param_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
return PX4_OK;
}
platforms/posix/CMakeLists.txt
+4
View File
@@ -62,6 +62,10 @@ else()
${df_driver_libs}
df_driver_framework
pthread m
# horrible circular dependencies that need to be teased apart
px4_layer
px4_platform
)
if (NOT APPLE)
platforms/posix/src/px4_layer/CMakeLists.txt
+1
View File
@@ -48,6 +48,7 @@ add_library(px4_layer
px4_posix_impl.cpp
px4_posix_tasks.cpp
px4_sem.cpp
px4_init.cpp
lib_crc32.c
drv_hrt.cpp
${SHMEM_SRCS}
platforms/posix/src/px4_layer/px4_init.cpp
+48
View File
@@ -0,0 +1,48 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#include "px4_init.h"
#include <px4_config.h>
#include <px4_defines.h>
#include <drivers/drv_hrt.h>
#include <lib/parameters/param.h>
int px4_platform_init(void)
{
hrt_init();
param_init();
return PX4_OK;
}
platforms/posix/src/px4_layer/px4_posix_impl.cpp
+4 -2
View File
@@ -51,6 +51,7 @@
#include <drivers/drv_hrt.h>
#include "px4_time.h"
#include <pthread.h>
#include <px4_init.h>
extern pthread_t _shell_task_id;
@@ -69,10 +70,11 @@ void init_once()
{
_shell_task_id = pthread_self();
//printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);
work_queues_init();
hrt_work_queue_init();
hrt_init();
param_init();
px4_platform_init();
}
void init(int argc, char *argv[], const char *app_name)
platforms/qurt/src/px4_layer/CMakeLists.txt
+1
View File
@@ -44,6 +44,7 @@ set(QURT_LAYER_SRCS
qurt_stubs.c
main.cpp
shmem_qurt.cpp
px4_init.cpp
)
if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
platforms/qurt/src/px4_layer/px4_init.cpp
+48
View File
@@ -0,0 +1,48 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#include "px4_init.h"
#include <px4_config.h>
#include <px4_defines.h>
#include <drivers/drv_hrt.h>
#include <lib/parameters/param.h>
int px4_platform_init(void)
{
hrt_init();
param_init();
return PX4_OK;
}
platforms/qurt/src/px4_layer/px4_qurt_impl.cpp
+3 -3
View File
@@ -51,7 +51,7 @@
#include <parameters/param.h>
#include "hrt_work.h"
#include "px4_log.h"
#include <px4_init.h>
//extern pthread_t _shell_task_id;
@@ -105,8 +105,8 @@ void init_once(void)
work_queues_init();
hrt_work_queue_init();
hrt_init();
param_init();
px4_platform_init();
}
void init(int argc, char *argv[], const char *app_name)