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Make NuttX drivers cross platform (VDev -> CDev)

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This commit is contained in:
Daniel Agar
2017-08-31 09:27:36 +02:00
committed by Lorenz Meier
parent 6562dd496b
commit 07619cf723
29 changed files with 216 additions and 306 deletions
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src/drivers/airspeed/airspeed.cpp
+6 -24
View File
@@ -39,28 +39,10 @@
*/
#include <px4_config.h>
#include <drivers/device/device.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <systemlib/airspeed.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
@@ -173,7 +155,7 @@ Airspeed::probe()
}
int
Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@@ -249,14 +231,14 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
ATOMIC_ENTER;
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
ATOMIC_LEAVE;
return -ENOMEM;
}
px4_leave_critical_section(flags);
ATOMIC_LEAVE;
return OK;
}
@@ -288,7 +270,7 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
}
ssize_t
Airspeed::read(struct file *filp, char *buffer, size_t buflen)
Airspeed::read(device::file_t *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(differential_pressure_s);
differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);
src/drivers/airspeed/airspeed.h
+5 -32
View File
@@ -38,47 +38,20 @@
* Generic driver for airspeed sensors connected via I2C.
*/
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#ifdef __PX4_NUTTX
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#
#else
#include <px4_workqueue.h>
#endif
#include <arch/board/board.h>
#include <systemlib/airspeed.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/uORB.h>
/* Default I2C bus */
static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;