PX4 Firmware: src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp File Reference

PX4 Firmware

PX4 Autopilot Software http://px4.io

#include <time.h>
#include <unistd.h>
#include <fcntl.h>
#include "px4muorb_KraitRpcWrapper.hpp"
#include <rpcmem.h>
#include <px4muorb.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/shmem.h>
#include <drivers/drv_hrt.h>
#include <string.h>

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Macros
#define	MUORB_KRAIT_FASTRPC_MEM_FLAGS 0

#define	MUORB_KRAIT_FASTRPC_HEAP_ID 22

#define	DSP_TIMER_FILE "/sys/kernel/boot_adsp/qdsp_qtimer"

Functions
int	calc_timer_diff_to_dsp_us (int32_t *time_diff_us)
	Helper function to get timer difference between time on DSP and appsproc side. More...

Variables
static char *	_TopicNameBuffer = 0

static const int32_t	_MAX_TOPIC_NAME_BUFFER = 256

static uint8_t *	_DataBuffer = 0

static const uint32_t	_MAX_DATA_BUFFER_SIZE = 2048

static bool	_Initialized = false

static const uint32_t	_MAX_TOPIC_DATA_BUFFER_SIZE = 1024

static const uint32_t	_MAX_TOPICS = 64

static const uint32_t	_MAX_BULK_TRANSFER_BUFFER_SIZE

static uint8_t *	_BulkTransferBuffer = 0

unsigned char *	adsp_changed_index = 0

Macro Definition Documentation

◆ DSP_TIMER_FILE

#define DSP_TIMER_FILE "/sys/kernel/boot_adsp/qdsp_qtimer"

Definition at line 73 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by calc_timer_diff_to_dsp_us().

◆ MUORB_KRAIT_FASTRPC_HEAP_ID

#define MUORB_KRAIT_FASTRPC_HEAP_ID 22

Definition at line 52 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::Initialize().

◆ MUORB_KRAIT_FASTRPC_MEM_FLAGS

#define MUORB_KRAIT_FASTRPC_MEM_FLAGS 0

Definition at line 48 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::Initialize().

Function Documentation

◆ calc_timer_diff_to_dsp_us()

int calc_timer_diff_to_dsp_us ( int32_t * time_diff_us )

Helper function to get timer difference between time on DSP and appsproc side.

Usually the DSP gets started around 2s before the appsproc (Linux) side and therefore the clocks are not in sync. We change the clock on the DSP side but for this we need to find the offset first and then tell code on the DSP side.

Parameters

time_diff_us pointer to time offset to set.

Returns: : 0 on success, < 0 on error.

Definition at line 86 of file px4muorb_KraitRpcWrapper.cpp.

References DSP_TIMER_FILE, fd, and read().

Referenced by px4muorb::KraitRpcWrapper::Initialize().

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Variable Documentation

◆ _BulkTransferBuffer

uint8_t* _BulkTransferBuffer = 0

static

Definition at line 68 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::Initialize(), px4muorb::KraitRpcWrapper::ReceiveBulkData(), and px4muorb::KraitRpcWrapper::Terminate().

◆ _DataBuffer

uint8_t* _DataBuffer = 0

static

Definition at line 57 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::Initialize(), px4muorb::KraitRpcWrapper::ReceiveData(), and px4muorb::KraitRpcWrapper::Terminate().

◆ _Initialized

bool _Initialized = false

static

Definition at line 60 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::AddSubscriber(), px4muorb::KraitRpcWrapper::Initialize(), px4muorb::KraitRpcWrapper::IsSubscriberPresent(), px4muorb::KraitRpcWrapper::ReceiveBulkData(), px4muorb::KraitRpcWrapper::ReceiveData(), px4muorb::KraitRpcWrapper::RemoveSubscriber(), px4muorb::KraitRpcWrapper::SendData(), px4muorb::KraitRpcWrapper::Terminate(), px4muorb::KraitRpcWrapper::TopicAdvertised(), px4muorb::KraitRpcWrapper::TopicUnadvertised(), and px4muorb::KraitRpcWrapper::UnblockReceiveData().

◆ _MAX_BULK_TRANSFER_BUFFER_SIZE

const uint32_t _MAX_BULK_TRANSFER_BUFFER_SIZE

static

Initial value:

=

_MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS

_MAX_TOPIC_DATA_BUFFER_SIZE

static const uint32_t _MAX_TOPIC_DATA_BUFFER_SIZE

Definition: px4muorb_KraitRpcWrapper.cpp:64

static const uint32_t _MAX_TOPICS

Definition: px4muorb_KraitRpcWrapper.cpp:65

Definition at line 66 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::Initialize(), and px4muorb::KraitRpcWrapper::ReceiveBulkData().

◆ _MAX_DATA_BUFFER_SIZE

const uint32_t _MAX_DATA_BUFFER_SIZE = 2048

static

Definition at line 58 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::Initialize(), and px4muorb::KraitRpcWrapper::ReceiveData().

◆ _MAX_TOPIC_DATA_BUFFER_SIZE

const uint32_t _MAX_TOPIC_DATA_BUFFER_SIZE = 1024

static

Definition at line 64 of file px4muorb_KraitRpcWrapper.cpp.

◆ _MAX_TOPIC_NAME_BUFFER

const int32_t _MAX_TOPIC_NAME_BUFFER = 256

static

Definition at line 55 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::Initialize(), and px4muorb::KraitRpcWrapper::ReceiveData().

◆ _MAX_TOPICS

const uint32_t _MAX_TOPICS = 64

static

Definition at line 65 of file px4muorb_KraitRpcWrapper.cpp.

◆ _TopicNameBuffer

char* _TopicNameBuffer = 0

static

Definition at line 54 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::Initialize(), px4muorb::KraitRpcWrapper::ReceiveData(), and px4muorb::KraitRpcWrapper::Terminate().

◆ adsp_changed_index

unsigned char* adsp_changed_index = 0

Definition at line 70 of file px4muorb_KraitRpcWrapper.cpp.

Referenced by px4muorb::KraitRpcWrapper::Initialize(), and px4muorb::KraitRpcWrapper::Terminate().