shmem.h
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/****************************************************************************
*
* Copyright (c) 2015 Ramakrishna Kintada. 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.
*
****************************************************************************/
#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)
struct shmem_info {
union param_value_u params_val[MAX_SHMEM_PARAMS];
unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by krait*/
unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by adsp*/
#ifdef __PX4_NUTTX
};
#else
} __attribute__((packed));
#endif
#if (defined(__PX4_POSIX_EXCELSIOR) || defined(__PX4_QURT_EXCELSIOR))
#define MAP_ADDRESS 0x861FC000
#else
#define MAP_ADDRESS 0xfbfc000
#endif
#define MAP_SIZE 16384
#define MAP_MASK (MAP_SIZE - 1)
#define LOCK_OFFSET 0
#define LOCK_SIZE 4
#define LOCK_MEM 1
#define UNLOCK_MEM 2
#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);