Exemple #1
0
void CAN_start_transmission_internal(volatile can_stream_data_t* data) {
	int i=0;
	
	while ((buffer_bytes_available((buffer_t*)&data->byte_buffer)>0) && i<8) {
		data->can_msg.data.u8[i]=buffer_get((buffer_t*)&data->byte_buffer);
		i++;
	}
	if (i==0) { // nothing left to transmit
		data->transmission_active=false;
		return;
	}
	/*
	if (data->can_channel==0) {
		can_bus_init(data->can_channel, ((uint32_t)&mob_ram_ch0[0]), CANIF_CHANNEL_MODE_NORMAL, can_callback0);
	} else {
		can_bus_init(data->can_channel, ((uint32_t)&mob_ram_ch1[0]), CANIF_CHANNEL_MODE_NORMAL, can_callback1);
	}
	*/
	data->can_mob.handle=CAN_TX_MOB;
	data->can_mob.dlc=i;
	data->can_msg.id=data->id;
	data->can_msg.id_mask = data->id_mask;
	data->can_mob.req_type=CAN_DATA_FRAME;
	data->transmission_active=true;
	can_bus_tx(data->can_channel,
	       data->can_mob.handle,
	       data->can_mob.dlc,
	       data->can_mob.req_type,
	       data->can_mob.can_msg);
}
bool acoustic_update(audio_t* audio_data)
{
    uint8_t buffer[6];

    //reset new_data flag
    audio_data->new_data = 0;

    if (first_run == 0)
    {
        first_run = 1;
        buffer_clear(&(audio_data->audio_buffer));
    }
    else if (buffer_bytes_available(&(audio_data->audio_buffer)) >= 6)
    {
        buffer[0] = buffer_get(&(audio_data->audio_buffer));
        if (buffer[0] == 254)
        {
            buffer[1] = buffer_get(&(audio_data->audio_buffer));
            buffer[2] = buffer_get(&(audio_data->audio_buffer));
            buffer[3] = buffer_get(&(audio_data->audio_buffer));
            buffer[4] = buffer_get(&(audio_data->audio_buffer));
            buffer[5] = buffer_get(&(audio_data->audio_buffer));

            //checksum check
            if ((-(buffer[1] + buffer[2] + buffer[3] + buffer[4]) & 0xFF) == buffer[5])
            {
                audio_data->azimuth     = (float)((buffer[1] << 8) | buffer[2]);
                audio_data->elevation   = (float)((buffer[3] << 8) | buffer[4]);
                audio_data->new_data    = 1;
                buffer_clear(&(audio_data->audio_buffer));
            }
        }

    }

    acoustic_process(audio_data);

    return true;
}
Exemple #3
0
int CAN_bytes_available(can_stream_data_t *data) {
	return buffer_bytes_available(&data->byte_buffer);
}
static ssize_t annotate_write(struct file *file, char const __user *buf, size_t count_orig, loff_t *offset)
{
	int pid, cpu, header_size, available, contiguous, length1, length2, size, count = count_orig & 0x7fffffff;
	bool interrupt_context;

	if (*offset)
		return -EINVAL;

	interrupt_context = in_interrupt();
	/* Annotations are not supported in interrupt context, but may work
	 * if you comment out the the next four lines of code. By doing so,
	 * annotations in interrupt context can result in deadlocks and lost
	 * data.
	 */
	if (interrupt_context) {
		pr_warning("gator: Annotations are not supported in interrupt context. Edit gator_annotate.c in the gator driver to enable annotations in interrupt context.\n");
		return -EINVAL;
	}

 retry:
	/* synchronize between cores and with collect_annotations */
	spin_lock(&annotate_lock);

	if (!collect_annotations) {
		/* Not collecting annotations, tell the caller everything was written */
		size = count_orig;
		goto annotate_write_out;
	}

	/* Annotation only uses a single per-cpu buffer as the data must be in order to the engine */
	cpu = 0;

        if (current == NULL)
		pid = 0;
	else
		pid = current->pid;

	/* determine total size of the payload */
	header_size = MAXSIZE_PACK32 * 3 + MAXSIZE_PACK64;
	available = buffer_bytes_available(cpu, ANNOTATE_BUF) - header_size;
	size = count < available ? count : available;

	if (size <= 0) {
		/* Buffer is full, wait until space is available */
		spin_unlock(&annotate_lock);

		/* Drop the annotation as blocking is not allowed in interrupt context */
		if (interrupt_context)
			return -EINVAL;

		wait_event_interruptible(gator_annotate_wait, buffer_bytes_available(cpu, ANNOTATE_BUF) > header_size || !collect_annotations);

		/* Check to see if a signal is pending */
		if (signal_pending(current))
			return -EINTR;

		goto retry;
	}

	/* synchronize shared variables annotateBuf and annotatePos */
	if (per_cpu(gator_buffer, cpu)[ANNOTATE_BUF]) {
		u64 time = gator_get_time();

		gator_buffer_write_packed_int(cpu, ANNOTATE_BUF, get_physical_cpu());
		gator_buffer_write_packed_int(cpu, ANNOTATE_BUF, pid);
		gator_buffer_write_packed_int64(cpu, ANNOTATE_BUF, time);
		gator_buffer_write_packed_int(cpu, ANNOTATE_BUF, size);

		/* determine the sizes to capture, length1 + length2 will equal size */
		contiguous = contiguous_space_available(cpu, ANNOTATE_BUF);
		if (size < contiguous) {
			length1 = size;
			length2 = 0;
		} else {
			length1 = contiguous;
			length2 = size - contiguous;
		}

		if (annotate_copy(file, buf, length1) != 0) {
			size = -EINVAL;
			goto annotate_write_out;
		}

		if (length2 > 0 && annotate_copy(file, &buf[length1], length2) != 0) {
			size = -EINVAL;
			goto annotate_write_out;
		}

		/* Check and commit; commit is set to occur once buffer is 3/4 full */
		buffer_check(cpu, ANNOTATE_BUF, time);
	}

annotate_write_out:
	spin_unlock(&annotate_lock);

	/* return the number of bytes written */
	return size;
}