Move common shmem parameter declarations to shmem.h.

boards/atlflight/eagle/qurt-default.cmake

@@ -10,7 +10,6 @@ if (DEFINED ENV{QC_SOC_TARGET})
 else()
 	set(QC_SOC_TARGET "APQ8074")
 endif()
-add_definitions(-D__PX4_QURT_EAGLE_${QC_SOC_TARGET})
 
 include(px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")

platforms/posix/src/px4_layer/shmem_posix.cpp

@@ -54,10 +54,8 @@
 #include "px4muorb.h"
 
 //#define SHMEM_DEBUG
-void update_to_shmem(param_t param, union param_value_u value);
-int update_from_shmem(param_t param, union param_value_u *value);
-void update_index_from_shmem(void);
-uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
+
+static uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
 extern unsigned char *adsp_changed_index;
 
 struct param_wbuf_s {

platforms/qurt/src/px4_layer/qurt_stubs.c

@@ -119,8 +119,6 @@ void __cxa_pure_virtual()
 	block_indefinite();
 }
 
-#ifdef __PX4_QURT_EAGLE_APQ8074
-
 float _Stof(const char *p0, char **p1, long p2)
 {
 	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
@@ -155,5 +153,3 @@ void *bsearch(const void *key, const void *ptr, size_t count, size_t size, int (
 
 	return NULL;
 }
-
-#endif

platforms/qurt/src/px4_layer/shmem_qurt.cpp

@@ -51,19 +51,12 @@
 
 static atomic_word_t mem_lock;
 
-int mem_fd;
-unsigned char *map_base, *virt_addr;
-struct shmem_info *shmem_info_p;
-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);
-void init_shared_memory();
-void copy_params_to_shmem(param_info_s *);
-void update_to_shmem(param_t param, union param_value_u value);
-int update_from_shmem(param_t param, union param_value_u *value);
-void update_index_from_shmem();
-uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
+static unsigned char *map_base, *virt_addr;
+static uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
 static unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
 
+struct shmem_info *shmem_info_p;
+
 // Small helper to get log2 for ints
 static unsigned log2_for_int(unsigned v)
 {

src/lib/parameters/parameters_shmem.cpp

@@ -120,24 +120,10 @@ int size_param_changed_storage_bytes = 0;
 const int bits_per_allocation_unit  = (sizeof(*param_changed_storage) * 8);
 
 //#define ENABLE_SHMEM_DEBUG
-
-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);
-
 static void init_params();
-extern void init_shared_memory();
-
-extern void copy_params_to_shmem(const param_info_s *param_info_base);
-
-extern struct shmem_info *shmem_info_p;
-uint64_t sync_other_prev_time = 0, sync_other_current_time = 0;
-
-extern void update_to_shmem(param_t param, union param_value_u value);
-extern int update_from_shmem(param_t param, union param_value_u *value);
-extern void update_index_from_shmem();
 
 static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes);
-unsigned char set_called_from_get = 0;
+static unsigned char set_called_from_get = 0;
 
 static int param_import_done =
 	0; /*at startup, params are loaded from file, if present. we dont want to send notifications that time since muorb is not ready*/

src/modules/muorb/adsp/px4muorb.cpp

@@ -47,12 +47,7 @@
 
 __BEGIN_DECLS
 extern int dspal_main(int argc, char *argv[]);
-extern struct shmem_info *shmem_info_p;
 __END_DECLS
-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);
-extern void init_shared_memory(void);
 
 int px4muorb_orb_initialize()
 {

src/platforms/shmem.h

@@ -33,6 +33,8 @@
 
 #pragma once
 
+#include <parameters/param.h>
+
 #define MAX_SHMEM_PARAMS 2000 //MAP_SIZE - (LOCK_SIZE - sizeof(struct shmem_info))
 
 #define PARAM_BUFFER_SIZE (MAX_SHMEM_PARAMS / 8 + 1)
@@ -64,3 +66,17 @@ struct shmem_info {
 #define TYPE_MASK 	0x1
 
 extern bool handle_in_range(param_t);
+
+#ifdef __PX4_QURT
+extern struct shmem_info *shmem_info_p;
+
+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);
+void init_shared_memory(void);
+
+void copy_params_to_shmem(const param_info_s *param_info_base);
+#endif
+
+void update_to_shmem(param_t param, union param_value_u value);
+int update_from_shmem(param_t param, union param_value_u *value);
+void update_index_from_shmem(void);