diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
commit | 13fc6703862862f4263d8d5d085b7a16b87190e1 (patch) | |
tree | 47f3a17cb6f38b1aafe22e1cdef085cd73cd3a1d /src/modules/px4iofirmware | |
parent | f57439b90e23de260259dec051d3e2ead2d61c8c (diff) | |
download | px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.gz px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.bz2 px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.zip |
Moved last libs, drivers and headers, cleaned up IO build
Diffstat (limited to 'src/modules/px4iofirmware')
-rw-r--r-- | src/modules/px4iofirmware/hx_stream.c | 250 | ||||
-rw-r--r-- | src/modules/px4iofirmware/hx_stream.h | 122 | ||||
-rw-r--r-- | src/modules/px4iofirmware/module.mk | 18 | ||||
-rw-r--r-- | src/modules/px4iofirmware/perf_counter.c | 317 | ||||
-rw-r--r-- | src/modules/px4iofirmware/perf_counter.h | 128 | ||||
-rw-r--r-- | src/modules/px4iofirmware/up_cxxinitialize.c | 150 |
6 files changed, 16 insertions, 969 deletions
diff --git a/src/modules/px4iofirmware/hx_stream.c b/src/modules/px4iofirmware/hx_stream.c deleted file mode 100644 index 8d77f14a8..000000000 --- a/src/modules/px4iofirmware/hx_stream.c +++ /dev/null @@ -1,250 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file hx_stream.c - * - * A simple serial line framing protocol based on HDLC - * with 32-bit CRC protection. - */ - -#include <stdint.h> -#include <stdlib.h> -#include <stdbool.h> -#include <crc32.h> -#include <unistd.h> -#include <errno.h> -#include <string.h> -#include <stdio.h> - -#include "perf_counter.h" - -#include "hx_stream.h" - - -struct hx_stream { - uint8_t buf[HX_STREAM_MAX_FRAME + 4]; - unsigned frame_bytes; - bool escaped; - bool txerror; - - int fd; - hx_stream_rx_callback callback; - void *callback_arg; - - perf_counter_t pc_tx_frames; - perf_counter_t pc_rx_frames; - perf_counter_t pc_rx_errors; -}; - -/* - * Protocol magic numbers, straight out of HDLC. - */ -#define FBO 0x7e /**< Frame Boundary Octet */ -#define CEO 0x7c /**< Control Escape Octet */ - -static void hx_tx_raw(hx_stream_t stream, uint8_t c); -static void hx_tx_raw(hx_stream_t stream, uint8_t c); -static int hx_rx_frame(hx_stream_t stream); - -static void -hx_tx_raw(hx_stream_t stream, uint8_t c) -{ - if (write(stream->fd, &c, 1) != 1) - stream->txerror = true; -} - -static void -hx_tx_byte(hx_stream_t stream, uint8_t c) -{ - switch (c) { - case FBO: - case CEO: - hx_tx_raw(stream, CEO); - c ^= 0x20; - break; - } - - hx_tx_raw(stream, c); -} - -static int -hx_rx_frame(hx_stream_t stream) -{ - union { - uint8_t b[4]; - uint32_t w; - } u; - unsigned length = stream->frame_bytes; - - /* reset the stream */ - stream->frame_bytes = 0; - stream->escaped = false; - - /* not a real frame - too short */ - if (length < 4) { - if (length > 1) - perf_count(stream->pc_rx_errors); - - return 0; - } - - length -= 4; - - /* compute expected CRC */ - u.w = crc32(&stream->buf[0], length); - - /* compare computed and actual CRC */ - for (unsigned i = 0; i < 4; i++) { - if (u.b[i] != stream->buf[length + i]) { - perf_count(stream->pc_rx_errors); - return 0; - } - } - - /* frame is good */ - perf_count(stream->pc_rx_frames); - stream->callback(stream->callback_arg, &stream->buf[0], length); - return 1; -} - -hx_stream_t -hx_stream_init(int fd, - hx_stream_rx_callback callback, - void *arg) -{ - hx_stream_t stream; - - stream = (hx_stream_t)malloc(sizeof(struct hx_stream)); - - if (stream != NULL) { - memset(stream, 0, sizeof(struct hx_stream)); - stream->fd = fd; - stream->callback = callback; - stream->callback_arg = arg; - } - - return stream; -} - -void -hx_stream_free(hx_stream_t stream) -{ - /* free perf counters (OK if they are NULL) */ - perf_free(stream->pc_tx_frames); - perf_free(stream->pc_rx_frames); - perf_free(stream->pc_rx_errors); - - free(stream); -} - -void -hx_stream_set_counters(hx_stream_t stream, - perf_counter_t tx_frames, - perf_counter_t rx_frames, - perf_counter_t rx_errors) -{ - stream->pc_tx_frames = tx_frames; - stream->pc_rx_frames = rx_frames; - stream->pc_rx_errors = rx_errors; -} - -int -hx_stream_send(hx_stream_t stream, - const void *data, - size_t count) -{ - union { - uint8_t b[4]; - uint32_t w; - } u; - const uint8_t *p = (const uint8_t *)data; - unsigned resid = count; - - if (resid > HX_STREAM_MAX_FRAME) - return -EINVAL; - - /* start the frame */ - hx_tx_raw(stream, FBO); - - /* transmit the data */ - while (resid--) - hx_tx_byte(stream, *p++); - - /* compute the CRC */ - u.w = crc32(data, count); - - /* send the CRC */ - p = &u.b[0]; - resid = 4; - - while (resid--) - hx_tx_byte(stream, *p++); - - /* and the trailing frame separator */ - hx_tx_raw(stream, FBO); - - /* check for transmit error */ - if (stream->txerror) { - stream->txerror = false; - return -EIO; - } - - perf_count(stream->pc_tx_frames); - return 0; -} - -void -hx_stream_rx(hx_stream_t stream, uint8_t c) -{ - /* frame end? */ - if (c == FBO) { - hx_rx_frame(stream); - return; - } - - /* escaped? */ - if (stream->escaped) { - stream->escaped = false; - c ^= 0x20; - - } else if (c == CEO) { - /* now escaped, ignore the byte */ - stream->escaped = true; - return; - } - - /* save for later */ - if (stream->frame_bytes < sizeof(stream->buf)) - stream->buf[stream->frame_bytes++] = c; -} diff --git a/src/modules/px4iofirmware/hx_stream.h b/src/modules/px4iofirmware/hx_stream.h deleted file mode 100644 index 128689953..000000000 --- a/src/modules/px4iofirmware/hx_stream.h +++ /dev/null @@ -1,122 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file hx_stream.h - * - * A simple serial line framing protocol based on HDLC - * with 32-bit CRC protection. - */ - -#ifndef _SYSTEMLIB_HX_STREAM_H -#define _SYSTEMLIB_HX_STREAM_H - -#include <sys/types.h> - -#include "perf_counter.h" - -struct hx_stream; -typedef struct hx_stream *hx_stream_t; - -#define HX_STREAM_MAX_FRAME 64 - -typedef void (* hx_stream_rx_callback)(void *arg, const void *data, size_t length); - -__BEGIN_DECLS - -/** - * Allocate a new hx_stream object. - * - * @param fd The file handle over which the protocol will - * communicate. - * @param callback Called when a frame is received. - * @param callback_arg Passed to the callback. - * @return A handle to the stream, or NULL if memory could - * not be allocated. - */ -__EXPORT extern hx_stream_t hx_stream_init(int fd, - hx_stream_rx_callback callback, - void *arg); - -/** - * Free a hx_stream object. - * - * @param stream A handle returned from hx_stream_init. - */ -__EXPORT extern void hx_stream_free(hx_stream_t stream); - -/** - * Set performance counters for the stream. - * - * Any counter may be set to NULL to disable counting that datum. - * - * @param tx_frames Counter for transmitted frames. - * @param rx_frames Counter for received frames. - * @param rx_errors Counter for short and corrupt received frames. - */ -__EXPORT extern void hx_stream_set_counters(hx_stream_t stream, - perf_counter_t tx_frames, - perf_counter_t rx_frames, - perf_counter_t rx_errors); - -/** - * Send a frame. - * - * This function will block until all frame bytes are sent if - * the descriptor passed to hx_stream_init is marked blocking, - * otherwise it will return -1 (but may transmit a - * runt frame at the same time). - * - * @todo Handling of non-blocking streams needs to be better. - * - * @param stream A handle returned from hx_stream_init. - * @param data Pointer to the data to send. - * @param count The number of bytes to send. - * @return Zero on success, -errno on error. - */ -__EXPORT extern int hx_stream_send(hx_stream_t stream, - const void *data, - size_t count); - -/** - * Handle a byte from the stream. - * - * @param stream A handle returned from hx_stream_init. - * @param c The character to process. - */ -__EXPORT extern void hx_stream_rx(hx_stream_t stream, - uint8_t c); - -__END_DECLS - -#endif diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 085697fbb..82b8f16d3 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -1,4 +1,18 @@ -SRCS = adc.c controls.c dsm.c i2c.c mixer.cpp px4io.c registers.c safety.c sbus.c \ - up_cxxinitialize.c hx_stream.c perf_counter.c +SRCS = adc.c \ + controls.c \ + dsm.c \ + i2c.c \ + px4io.c \ + registers.c \ + safety.c \ + sbus.c \ + mixer.cpp \ + ../systemlib/mixer/mixer.cpp \ + ../systemlib/mixer/mixer_group.cpp \ + ../systemlib/mixer/mixer_multirotor.cpp \ + ../systemlib/mixer/mixer_simple.cpp \ + ../systemlib/up_cxxinitialize.c \ + ../systemlib/hx_stream.c \ + ../systemlib/perf_counter.c diff --git a/src/modules/px4iofirmware/perf_counter.c b/src/modules/px4iofirmware/perf_counter.c deleted file mode 100644 index 879f4715a..000000000 --- a/src/modules/px4iofirmware/perf_counter.c +++ /dev/null @@ -1,317 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file perf_counter.c - * - * @brief Performance measuring tools. - */ - -#include <stdlib.h> -#include <stdio.h> -#include <sys/queue.h> -#include <drivers/drv_hrt.h> - -#include "perf_counter.h" - -/** - * Header common to all counters. - */ -struct perf_ctr_header { - sq_entry_t link; /**< list linkage */ - enum perf_counter_type type; /**< counter type */ - const char *name; /**< counter name */ -}; - -/** - * PC_EVENT counter. - */ -struct perf_ctr_count { - struct perf_ctr_header hdr; - uint64_t event_count; -}; - -/** - * PC_ELAPSED counter. - */ -struct perf_ctr_elapsed { - struct perf_ctr_header hdr; - uint64_t event_count; - uint64_t time_start; - uint64_t time_total; - uint64_t time_least; - uint64_t time_most; -}; - -/** - * PC_INTERVAL counter. - */ -struct perf_ctr_interval { - struct perf_ctr_header hdr; - uint64_t event_count; - uint64_t time_event; - uint64_t time_first; - uint64_t time_last; - uint64_t time_least; - uint64_t time_most; - -}; - -/** - * List of all known counters. - */ -static sq_queue_t perf_counters; - - -perf_counter_t -perf_alloc(enum perf_counter_type type, const char *name) -{ - perf_counter_t ctr = NULL; - - switch (type) { - case PC_COUNT: - ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1); - break; - - case PC_ELAPSED: - ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1); - break; - - case PC_INTERVAL: - ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1); - break; - - default: - break; - } - - if (ctr != NULL) { - ctr->type = type; - ctr->name = name; - sq_addfirst(&ctr->link, &perf_counters); - } - - return ctr; -} - -void -perf_free(perf_counter_t handle) -{ - if (handle == NULL) - return; - - sq_rem(&handle->link, &perf_counters); - free(handle); -} - -void -perf_count(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_COUNT: - ((struct perf_ctr_count *)handle)->event_count++; - break; - - case PC_INTERVAL: { - struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; - hrt_abstime now = hrt_absolute_time(); - - switch (pci->event_count) { - case 0: - pci->time_first = now; - break; - case 1: - pci->time_least = now - pci->time_last; - pci->time_most = now - pci->time_last; - break; - default: { - hrt_abstime interval = now - pci->time_last; - if (interval < pci->time_least) - pci->time_least = interval; - if (interval > pci->time_most) - pci->time_most = interval; - break; - } - } - pci->time_last = now; - pci->event_count++; - break; - } - - default: - break; - } -} - -void -perf_begin(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_ELAPSED: - ((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time(); - break; - - default: - break; - } -} - -void -perf_end(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_ELAPSED: { - struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - hrt_abstime elapsed = hrt_absolute_time() - pce->time_start; - - pce->event_count++; - pce->time_total += elapsed; - - if ((pce->time_least > elapsed) || (pce->time_least == 0)) - pce->time_least = elapsed; - - if (pce->time_most < elapsed) - pce->time_most = elapsed; - } - - default: - break; - } -} - -void -perf_reset(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_COUNT: - ((struct perf_ctr_count *)handle)->event_count = 0; - break; - - case PC_ELAPSED: { - struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - pce->event_count = 0; - pce->time_start = 0; - pce->time_total = 0; - pce->time_least = 0; - pce->time_most = 0; - break; - } - - case PC_INTERVAL: { - struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; - pci->event_count = 0; - pci->time_event = 0; - pci->time_first = 0; - pci->time_last = 0; - pci->time_least = 0; - pci->time_most = 0; - break; - } - } -} - -void -perf_print_counter(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_COUNT: - printf("%s: %llu events\n", - handle->name, - ((struct perf_ctr_count *)handle)->event_count); - break; - - case PC_ELAPSED: { - struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - - printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n", - handle->name, - pce->event_count, - pce->time_total, - pce->time_least, - pce->time_most); - break; - } - - case PC_INTERVAL: { - struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; - - printf("%s: %llu events, %llu avg, min %lluus max %lluus\n", - handle->name, - pci->event_count, - (pci->time_last - pci->time_first) / pci->event_count, - pci->time_least, - pci->time_most); - break; - } - - default: - break; - } -} - -void -perf_print_all(void) -{ - perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); - - while (handle != NULL) { - perf_print_counter(handle); - handle = (perf_counter_t)sq_next(&handle->link); - } -} - -void -perf_reset_all(void) -{ - perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); - - while (handle != NULL) { - perf_reset(handle); - handle = (perf_counter_t)sq_next(&handle->link); - } -} diff --git a/src/modules/px4iofirmware/perf_counter.h b/src/modules/px4iofirmware/perf_counter.h deleted file mode 100644 index 5c2cb15b2..000000000 --- a/src/modules/px4iofirmware/perf_counter.h +++ /dev/null @@ -1,128 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file perf_counter.h - * Performance measuring tools. - */ - -#ifndef _SYSTEMLIB_PERF_COUNTER_H -#define _SYSTEMLIB_PERF_COUNTER_H value - -/** - * Counter types. - */ -enum perf_counter_type { - PC_COUNT, /**< count the number of times an event occurs */ - PC_ELAPSED, /**< measure the time elapsed performing an event */ - PC_INTERVAL /**< measure the interval between instances of an event */ -}; - -struct perf_ctr_header; -typedef struct perf_ctr_header *perf_counter_t; - -__BEGIN_DECLS - -/** - * Create a new counter. - * - * @param type The type of the new counter. - * @param name The counter name. - * @return Handle for the new counter, or NULL if a counter - * could not be allocated. - */ -__EXPORT extern perf_counter_t perf_alloc(enum perf_counter_type type, const char *name); - -/** - * Free a counter. - * - * @param handle The performance counter's handle. - */ -__EXPORT extern void perf_free(perf_counter_t handle); - -/** - * Count a performance event. - * - * This call only affects counters that take single events; PC_COUNT etc. - * - * @param handle The handle returned from perf_alloc. - */ -__EXPORT extern void perf_count(perf_counter_t handle); - -/** - * Begin a performance event. - * - * This call applies to counters that operate over ranges of time; PC_ELAPSED etc. - * - * @param handle The handle returned from perf_alloc. - */ -__EXPORT extern void perf_begin(perf_counter_t handle); - -/** - * End a performance event. - * - * This call applies to counters that operate over ranges of time; PC_ELAPSED etc. - * - * @param handle The handle returned from perf_alloc. - */ -__EXPORT extern void perf_end(perf_counter_t handle); - -/** - * Reset a performance event. - * - * This call resets performance counter to initial state - * - * @param handle The handle returned from perf_alloc. - */ -__EXPORT extern void perf_reset(perf_counter_t handle); - -/** - * Print one performance counter. - * - * @param handle The counter to print. - */ -__EXPORT extern void perf_print_counter(perf_counter_t handle); - -/** - * Print all of the performance counters. - */ -__EXPORT extern void perf_print_all(void); - -/** - * Reset all of the performance counters. - */ -__EXPORT extern void perf_reset_all(void); - -__END_DECLS - -#endif diff --git a/src/modules/px4iofirmware/up_cxxinitialize.c b/src/modules/px4iofirmware/up_cxxinitialize.c deleted file mode 100644 index c78f29570..000000000 --- a/src/modules/px4iofirmware/up_cxxinitialize.c +++ /dev/null @@ -1,150 +0,0 @@ -/************************************************************************************ - * configs/stm32f4discovery/src/up_cxxinitialize.c - * arch/arm/src/board/up_cxxinitialize.c - * - * Copyright (C) 2012 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <gnutt@nuttx.org> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ************************************************************************************/ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include <nuttx/config.h> - -#include <debug.h> - -#include <nuttx/arch.h> - -//#include <arch/stm32/chip.h> -//#include "chip.h" - -/************************************************************************************ - * Definitions - ************************************************************************************/ -/* Debug ****************************************************************************/ -/* Non-standard debug that may be enabled just for testing the static constructors */ - -#ifndef CONFIG_DEBUG -# undef CONFIG_DEBUG_CXX -#endif - -#ifdef CONFIG_DEBUG_CXX -# define cxxdbg dbg -# define cxxlldbg lldbg -# ifdef CONFIG_DEBUG_VERBOSE -# define cxxvdbg vdbg -# define cxxllvdbg llvdbg -# else -# define cxxvdbg(x...) -# define cxxllvdbg(x...) -# endif -#else -# define cxxdbg(x...) -# define cxxlldbg(x...) -# define cxxvdbg(x...) -# define cxxllvdbg(x...) -#endif - -/************************************************************************************ - * Private Types - ************************************************************************************/ -/* This type defines one entry in initialization array */ - -typedef void (*initializer_t)(void); - -/************************************************************************************ - * External references - ************************************************************************************/ -/* _sinit and _einit are symbols exported by the linker script that mark the - * beginning and the end of the C++ initialization section. - */ - -extern initializer_t _sinit; -extern initializer_t _einit; - -/* _stext and _etext are symbols exported by the linker script that mark the - * beginning and the end of text. - */ - -extern uint32_t _stext; -extern uint32_t _etext; - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/**************************************************************************** - * Name: up_cxxinitialize - * - * Description: - * If C++ and C++ static constructors are supported, then this function - * must be provided by board-specific logic in order to perform - * initialization of the static C++ class instances. - * - * This function should then be called in the application-specific - * user_start logic in order to perform the C++ initialization. NOTE - * that no component of the core NuttX RTOS logic is involved; This - * function defintion only provides the 'contract' between application - * specific C++ code and platform-specific toolchain support - * - ***************************************************************************/ - -__EXPORT void up_cxxinitialize(void) -{ - initializer_t *initp; - - cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n", - &_sinit, &_einit, &_stext, &_etext); - - /* Visit each entry in the initialzation table */ - - for (initp = &_sinit; initp != &_einit; initp++) - { - initializer_t initializer = *initp; - cxxdbg("initp: %p initializer: %p\n", initp, initializer); - - /* Make sure that the address is non-NULL and lies in the text region - * defined by the linker script. Some toolchains may put NULL values - * or counts in the initialization table - */ - - if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext) - { - cxxdbg("Calling %p\n", initializer); - initializer(); - } - } -} |