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fix pipe

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This commit is contained in:
kirkscheper
2018-07-02 10:25:44 +02:00
parent 69327cb0a5
commit 6a31d8d9d3
4 changed files with 37 additions and 31 deletions
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conf/modules/pipe.xml
+1 -1
View File
@@ -7,7 +7,7 @@
Each pipe is comprised of two half-duplex fifos, one for reading from the client and one for
writing to them.
To activate a specific pipe peripheral, define flag USE_PIPEX_WRITER with the file path to the
location where paparazzi whoudl wrtie to and USE_PIPEX_READER for the file location where
location where paparazzi would wrtie to and USE_PIPEX_READER for the file location where
it should read from, where X is your pipe peripheral number.
You can also configure the size of the incoming and outgoing buffer using PIPE_RX_BUFFER_SIZE
and PIPE_TX_BUFFER_SIZE
sw/airborne/arch/linux/mcu_periph/pipe_arch.c
+24 -18
View File
@@ -49,13 +49,13 @@ void pipe_arch_init(void)
{
pthread_mutex_init(&pipe_mutex, NULL);
#if USE_PIPE0_WRITER || USE_PIPE0_READER
#if defined(USE_PIPE0_WRITER) || defined(USE_PIPE0_READER)
PIPE0Init();
#endif
#if USE_PIPE1_WRITER || USE_PIPE1_READER
#if defined(USE_PIPE1_WRITER) || defined(USE_PIPE1_READER)
PIPE1Init();
#endif
#if USE_PIPE2_WRITER || USE_PIPE2_READER
#if defined(USE_PIPE2_WRITER) || defined(USE_PIPE2_READER)
PIPE2Init();
#endif
@@ -203,22 +203,28 @@ static void *pipe_thread(void *data __attribute__((unused)))
FD_ZERO(&fds_master);
/* add used file descriptors */
int fd __attribute__((unused));
#if USE_PIPE0_READER
FD_SET(pipe0.fd_read, &fds_master);
if (pipe0.fd_read > fdmax) {
fdmax = pipe0.fd_read;
#ifdef USE_PIPE0_READER
if (pipe0.fd_read >= 0){
FD_SET(pipe0.fd_read, &fds_master);
if (pipe0.fd_read > fdmax) {
fdmax = pipe0.fd_read;
}
}
#endif
#if USE_PIPE1_READER
FD_SET(pipe1.fd_read, &socks_master);
if (pipe1.fd_read > fdmax) {
fdmax = pipe1.fd_read;
#ifdef USE_PIPE1_READER
if(pipe1.fd_read >= 0){
FD_SET(pipe1.fd_read, &socks_master);
if (pipe1.fd_read > fdmax) {
fdmax = pipe1.fd_read;
}
}
#endif
#if USE_PIPE2_READER
FD_SET(pipe2.fd_read, &socks_master);
if (pipe2.fd_read > fdmax) {
fdmax = pipe2.fd_read;
#ifdef USE_PIPE2_READER
if(pipe2.fd_read >= 0){
FD_SET(pipe2.fd_read, &socks_master);
if (pipe2.fd_read > fdmax) {
fdmax = pipe2.fd_read;
}
}
#endif
@@ -232,17 +238,17 @@ static void *pipe_thread(void *data __attribute__((unused)))
if (select(fdmax + 1, &fds, NULL, NULL, NULL) < 0) {
fprintf(stderr, "pipe_thread: select failed!");
} else {
#if USE_PIPE0_READER
#ifdef USE_PIPE0_READER
if (FD_ISSET(pipe0.fd_read, &fds)) {
pipe_receive(&pipe0);
}
#endif
#if USE_PIPE1_READER
#ifdef USE_PIPE1_READER
if (FD_ISSET(pipe1.fd_read, &fds)) {
pipe_receive(&pipe1);
}
#endif
#if USE_PIPE2_READER
#ifdef USE_PIPE2_READER
if (FD_ISSET(pipe2.fd_read, &fds)) {
pipe_receive(&pipe2);
}
sw/airborne/mcu_periph/pipe.c
+9 -9
View File
@@ -30,39 +30,39 @@
#include <string.h>
/* Print the configurations */
#if USE_PIPE0_WRITER || USE_PIPE0_READER
#if defined(USE_PIPE0_WRITER) || defined(USE_PIPE0_READER)
struct pipe_periph pipe0;
#endif
#if USE_PIPE0_WRITER
#ifdef USE_PIPE0_WRITER
PRINT_CONFIG_VAR(USE_PIPE0_WRITER)
#endif
#if USE_PIPE0_READER
#ifdef USE_PIPE0_READER
PRINT_CONFIG_VAR(USE_PIPE0_READER)
#endif
#if USE_PIPE1_WRITER || USE_PIPE1_READER
#if defined(USE_PIPE1_WRITER) || defined(USE_PIPE1_READER)
struct pipe_periph pipe1;
#endif
#if USE_PIPE1_WRITER
#ifdef USE_PIPE1_WRITER
PRINT_CONFIG_VAR(USE_PIPE1_WRITER)
#endif
#if USE_PIPE1_READER
#ifdef USE_PIPE1_READER
PRINT_CONFIG_VAR(USE_PIPE1_READER)
#endif
#if USE_PIPE2_WRITER || USE_PIPE2_READER
#if defined(USE_PIPE2_WRITER) || defined(USE_PIPE2_READER)
struct pipe_periph pipe2;
#endif
#if USE_PIPE2_WRITER
#ifdef USE_PIPE2_WRITER
PRINT_CONFIG_VAR(USE_PIPE2_WRITER)
#endif
#if USE_PIPE2_READER
#ifdef USE_PIPE2_READER
PRINT_CONFIG_VAR(USE_PIPE2_READER)
#endif
sw/airborne/mcu_periph/pipe.h
+3 -3
View File
@@ -59,7 +59,7 @@ extern bool pipe_check_free_space(struct pipe_periph *p, long *fd, uint16_t
extern void pipe_put_byte(struct pipe_periph *p, long fd, uint8_t data);
extern void pipe_put_buffer(struct pipe_periph *p, long fd, const uint8_t *data,uint16_t len);
#if USE_PIPE0_WRITER || USE_PIPE0_READER
#if defined(USE_PIPE0_WRITER) || defined(USE_PIPE0_READER)
extern struct pipe_periph pipe0;
#ifndef USE_PIPE0_WRITER
@@ -73,7 +73,7 @@ extern struct pipe_periph pipe0;
#define PIPE0Init() pipe_periph_init(&pipe0, STRINGIFY(USE_PIPE0_READER), STRINGIFY(USE_PIPE0_WRITER))
#endif // USE_PIPE0
#if USE_PIPE1_WRITER || USE_PIPE1_READER
#if defined(USE_PIPE1_WRITER) || defined(USE_PIPE1_READER)
extern struct pipe_periph pipe1;
#ifndef USE_PIPE1_WRITER
@@ -87,7 +87,7 @@ extern struct pipe_periph pipe1;
#define PIPE1Init() pipe_periph_init(&pipe1, STRINGIFY(USE_PIPE1_READER), STRINGIFY(USE_PIPE1_WRITER))
#endif // USE_PIPE1
#if USE_PIPE2_WRITER || USE_PIPE2_READER
#if defined(USE_PIPE2_WRITER) || defined(USE_PIPE2_READER)
extern struct pipe_periph pipe2;
#ifndef USE_PIPE2_WRITER