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POSIX: Fix HRT semaphores for Mac OS

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This commit is contained in:
Lorenz Meier
2015-09-16 18:13:10 +02:00
parent dd697d1343
commit c89f51b8ef
1 changed files with 26 additions and 8 deletions
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34
src/platforms/posix/px4_layer/drv_hrt.c
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@@ -43,6 +43,7 @@
#include <time.h>
#include <string.h>
#include <inttypes.h>
#include <errno.h>
#include "hrt_work.h"
static struct sq_queue_s callout_queue;
@@ -59,7 +60,7 @@ static void hrt_call_reschedule(void);
#define HRT_INTERVAL_MIN 50
#define HRT_INTERVAL_MAX 50000000
static sem_t _hrt_lock;
static sem_t *_hrt_lock;
static struct work_s _hrt_work;
static hrt_abstime px4_timestart = 0;
@@ -70,14 +71,12 @@ __EXPORT hrt_abstime hrt_reset(void);
static void hrt_lock(void)
{
//printf("hrt_lock\n");
sem_wait(&_hrt_lock);
sem_wait(_hrt_lock);
}
static void hrt_unlock(void)
{
//printf("hrt_unlock\n");
sem_post(&_hrt_lock);
sem_post(_hrt_lock);
}
#ifdef __PX4_DARWIN
@@ -87,22 +86,26 @@ static void hrt_unlock(void)
#define MAC_GIGA UINT64_C(1000000000)
#define CLOCK_MONOTONIC 1
#define clockid_t int
#define HRT_LOCK_NAME "/hrt_lock"
static double px4_timebase = 0.0;
int clock_gettime(clockid_t clk_id, struct timespec *t);
int clock_gettime(clockid_t clk_id, struct timespec *t)
{
if (clk_id != CLOCK_MONOTONIC) {
return 1;
}
// XXX multithreading locking
if (!px4_timestart) {
mach_timebase_info_data_t tb = { 0 };
hrt_lock();
mach_timebase_info_data_t tb = {};
mach_timebase_info(&tb);
px4_timebase = tb.numer;
px4_timebase /= tb.denom;
px4_timestart = mach_absolute_time();
hrt_unlock();
}
memset(t, 0, sizeof(*t));
@@ -229,7 +232,22 @@ void hrt_init(void)
{
//printf("hrt_init\n");
sq_init(&callout_queue);
sem_init(&_hrt_lock, 0, 1);
#ifdef __PX4_DARWIN
/* not using O_EXCL as the device handles are unique */
_hrt_lock = sem_open(HRT_LOCK_NAME, O_CREAT, 0777, 1);
if (_hrt_lock == SEM_FAILED) {
PX4_WARN("SEM INIT FAIL: %s", strerror(errno));
}
#else
_hrt_lock = malloc(sizeof(sem_t));
int sem_ret = sem_init(_hrt_lock, 0, 1);
if (sem_ret) {
PX4_WARN("SEM INIT FAIL: %s", strerror(errno));
}
#endif
memset(&_hrt_work, 0, sizeof(_hrt_work));
}