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platforms: split posix hrt for qurt

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- this keeps the per platform libraries contained to their respective directories and minimizes the ifdef mess
This commit is contained in:
Daniel Agar
2020-01-12 22:09:34 -05:00
committed by GitHub
parent 98c5c31aa1
commit 756b0148d6
5 changed files with 476 additions and 73 deletions
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61
platforms/posix/src/px4/common/drv_hrt.cpp
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@@ -73,11 +73,7 @@ static uint64_t latency_actual;
static px4_sem_t _hrt_lock;
static struct work_s _hrt_work;
#ifndef __PX4_QURT
static hrt_abstime px4_timestart_monotonic = 0;
#else
static int32_t dsp_offset = 0;
#endif
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
static LockstepScheduler *lockstep_scheduler = new LockstepScheduler();
@@ -90,11 +86,7 @@ static void hrt_call_invoke();
hrt_abstime hrt_absolute_time_offset()
{
#ifndef __PX4_QURT
return px4_timestart_monotonic;
#else
return 0;
#endif
}
static void hrt_lock()
@@ -130,34 +122,6 @@ int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
/* do nothing right now */
return 0;
}
#elif defined(__PX4_QURT)
#include "dspal_time.h"
int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
{
/* do nothing right now */
return 0;
}
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
return clock_gettime(clk_id, tp);
}
#endif
#ifndef __PX4_QURT
/*
* Get system time in us
*/
uint64_t hrt_system_time()
{
struct timespec ts;
px4_clock_gettime(CLOCK_MONOTONIC, &ts);
return ts_to_abstime(&ts);
}
#endif
/*
@@ -172,30 +136,10 @@ hrt_abstime hrt_absolute_time()
#else // defined(ENABLE_LOCKSTEP_SCHEDULER)
struct timespec ts;
px4_clock_gettime(CLOCK_MONOTONIC, &ts);
#ifdef __PX4_QURT
return ts_to_abstime(&ts) + dsp_offset;
#else
return ts_to_abstime(&ts);
#endif
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
}
#ifdef __PX4_QURT
int hrt_set_absolute_time_offset(int32_t time_diff_us)
{
dsp_offset = time_diff_us;
return 0;
}
#endif
hrt_abstime hrt_reset()
{
#ifndef __PX4_QURT
px4_timestart_monotonic = 0;
#endif
return hrt_absolute_time();
}
/*
* Convert a timespec to absolute time.
*/
@@ -321,7 +265,6 @@ hrt_call_enter(struct hrt_call *entry)
{
struct hrt_call *call, *next;
//PX4_INFO("hrt_call_enter");
call = (struct hrt_call *)sq_peek(&callout_queue);
if ((call == nullptr) || (entry->deadline < call->deadline)) {
@@ -341,8 +284,6 @@ hrt_call_enter(struct hrt_call *entry)
}
} while ((call = next) != nullptr);
}
//PX4_INFO("scheduled");
}
/**
@@ -562,7 +503,6 @@ void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
ts->tv_nsec = abstime * 1000;
}
#if !defined(__PX4_QURT)
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
if (clk_id == CLOCK_MONOTONIC) {
@@ -584,7 +524,6 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
return system_clock_gettime(clk_id, tp);
}
}
#endif // !defined(__PX4_QURT)
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
int px4_clock_settime(clockid_t clk_id, const struct timespec *ts)