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305 lines
8.2 KiB
C
305 lines
8.2 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2015 Vijay Venkatraman. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_defines.h>
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#include <px4_posix.h>
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#include <string.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <systemlib/err.h>
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#include <errno.h>
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#include <semaphore.h>
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#include <sys/stat.h>
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#include <drivers/drv_hrt.h>
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#include <sys/mman.h>
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#include <sys/ioctl.h>
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#include "systemlib/param/param.h"
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#include <shmem.h>
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#define SHMEM_DEBUG
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int mem_fd;
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unsigned char *map_base, *virt_addr;
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struct shmem_info *shmem_info_p;
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static void *map_memory(off_t target);
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int get_shmem_lock(const char *caller_file_name, int caller_line_number);
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void release_shmem_lock(void);
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void init_shared_memory(void);
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void copy_params_to_shmem(struct param_info_s *);
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void update_to_shmem(param_t param, union param_value_u value);
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int update_from_shmem(param_t param, union param_value_u *value);
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uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
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static unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
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struct param_wbuf_s {
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param_t param;
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union param_value_u val;
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bool unsaved;
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};
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extern struct param_wbuf_s *param_find_changed(param_t param);
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#define MEMDEVICE "/dev/mem"
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static void *map_memory(off_t target)
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{
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if ((mem_fd = open(MEMDEVICE, O_RDWR | O_SYNC)) == -1) {
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PX4_ERR("Cannot open %s", MEMDEVICE);
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exit(1);
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}
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/* Map one page */
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map_base = (unsigned char *) mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE,
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MAP_SHARED, mem_fd, target & ~MAP_MASK);
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if (map_base == (void *) - 1) {
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PX4_ERR("Cannot mmap /dev/atl_mem");
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exit(1);
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}
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PX4_DEBUG("Initializing map memory: mem_fd: %d, 0x%X", mem_fd, map_base + (target & MAP_MASK) + LOCK_SIZE);
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return (map_base + (target & MAP_MASK) + LOCK_SIZE);
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}
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int get_shmem_lock(const char *caller_file_name, int caller_line_number)
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{
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int i = 0;
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/*ioctl calls cmpxchg*/
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while (ioctl(mem_fd, LOCK_MEM) != 0) {
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usleep(10000); //sleep for 10 msec
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i++;
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if (i > 10) {
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PX4_ERR("Could not get lock, file name: %s, line number: %d, errno: %d",
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caller_file_name, caller_line_number, errno);
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return -1;
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}
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}
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PX4_INFO("got a lock!");
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return 0; //got the lock
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}
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void release_shmem_lock(void)
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{
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ioctl(mem_fd, UNLOCK_MEM);
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}
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void init_shared_memory(void)
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{
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virt_addr = map_memory(MAP_ADDRESS); //16K space
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shmem_info_p = (struct shmem_info *) virt_addr;
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PX4_DEBUG("linux memory mapped");
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}
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void copy_params_to_shmem(struct param_info_s *param_info_base)
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{
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param_t param;
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unsigned int i;
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_ERR("Could not get shmem lock");
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return;
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}
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PX4_DEBUG("%d krait params allocated", param_count());
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for (param = 0; param < param_count(); param++) {
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struct param_wbuf_s *s = param_find_changed(param);
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if (s == NULL) {
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shmem_info_p->params_val[param] = param_info_base[param].val;
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} else {
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shmem_info_p->params_val[param] = s->val;
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}
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#ifdef SHMEM_DEBUG
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if (param_type(param) == PARAM_TYPE_INT32) {
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{
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PX4_INFO("%d: written %d for param %s to shared mem",
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param, shmem_info_p->params_val[param].i, param_name(param));
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}
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} else if (param_type(param) == PARAM_TYPE_FLOAT) {
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{
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PX4_INFO("%d: written %f for param %s to shared mem",
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param, (double)shmem_info_p->params_val[param].f, param_name(param));
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}
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}
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#endif
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}
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//PX4_DEBUG("written %u params to shmem offset %lu", param_count(), (unsigned char*)&shmem_info_p->params_count-(unsigned char*)shmem_info_p);
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for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
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shmem_info_p->krait_changed_index[i] = 0;
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adsp_changed_index[i] = 0;
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}
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release_shmem_lock();
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}
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/*update value and param's change bit in shared memory*/
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void update_to_shmem(param_t param, union param_value_u value)
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{
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unsigned int byte_changed, bit_changed;
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_ERR("Could not get shmem lock");
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return;
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}
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shmem_info_p->params_val[param] = value;
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byte_changed = param / 8;
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bit_changed = 1 << param % 8;
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shmem_info_p->krait_changed_index[byte_changed] |= bit_changed;
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PX4_DEBUG("set %d bit on krait changed index[%d] to %d", bit_changed, byte_changed,
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shmem_info_p->krait_changed_index[byte_changed]);
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#ifdef SHMEM_DEBUG
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if (param_type(param) == PARAM_TYPE_INT32) {
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PX4_INFO("Set value %d for param %s to shmem, set krait index %d:%d",
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value.i, param_name(param), byte_changed, bit_changed);
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} else if (param_type(param) == PARAM_TYPE_FLOAT) {
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PX4_INFO("Set value %f for param %s to shmem, set krait index %d:%d",
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(double)value.f, param_name(param), byte_changed, bit_changed);
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}
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#endif
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release_shmem_lock();
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}
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static void update_index_from_shmem(void)
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{
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unsigned int i;
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_ERR("Could not get shmem lock");
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return;
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}
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PX4_DEBUG("Updating index from shmem");
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for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
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adsp_changed_index[i] = shmem_info_p->adsp_changed_index[i];
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}
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release_shmem_lock();
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}
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static void update_value_from_shmem(param_t param, union param_value_u *value)
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{
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unsigned int byte_changed, bit_changed;
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_ERR("Could not get shmem lock");
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return;
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}
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*value = shmem_info_p->params_val[param];
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/*also clear the index since we are holding the lock*/
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byte_changed = param / 8;
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bit_changed = 1 << param % 8;
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shmem_info_p->adsp_changed_index[byte_changed] &= ~bit_changed;
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release_shmem_lock();
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#ifdef SHMEM_DEBUG
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if (param_type(param) == PARAM_TYPE_INT32) {
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PX4_INFO(
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"Got value %d for param %s from shmem, cleared adsp index %d:%d",
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value->i, param_name(param), byte_changed, bit_changed);
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} else if (param_type(param) == PARAM_TYPE_FLOAT) {
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PX4_INFO(
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"Got value %f for param %s from shmem, cleared adsp index %d:%d",
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(double)value->f, param_name(param), byte_changed, bit_changed);
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}
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#endif
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}
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int update_from_shmem(param_t param, union param_value_u *value)
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{
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unsigned int byte_changed, bit_changed;
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unsigned int retval = 0;
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update_from_shmem_current_time = hrt_absolute_time();
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if ((update_from_shmem_current_time - update_from_shmem_prev_time)
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> 1000000) { //update every 1 second
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update_from_shmem_prev_time = update_from_shmem_current_time;
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update_index_from_shmem();
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}
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byte_changed = param / 8;
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bit_changed = 1 << param % 8;
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if (adsp_changed_index[byte_changed] & bit_changed) {
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update_value_from_shmem(param, value);
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adsp_changed_index[byte_changed] &= ~bit_changed; //clear the bit
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retval = 1;
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}
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//else {PX4_INFO("no change to param %s", param_name(param));}
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PX4_DEBUG("%s %d bit on adsp index[%d]", (retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
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return retval;
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}
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