Moved last libs, drivers and headers, cleaned up IO build

src/drivers/device/device.cpp

@@ -0,0 +1,227 @@
+/****************************************************************************
+ *
+ *   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 device.cpp
+ *
+ * Fundamental driver base class for the device framework.
+ */
+
+#include "device.h"
+
+#include <nuttx/arch.h>
+#include <stdio.h>
+#include <unistd.h>
+
+namespace device
+{
+
+/**
+ * Interrupt dispatch table entry.
+ */
+struct irq_entry {
+	int	irq;
+	Device	*owner;
+};
+
+static const unsigned	irq_nentries = 8;		/**< size of the interrupt dispatch table */
+static irq_entry	irq_entries[irq_nentries];	/**< interrupt dispatch table (XXX should be a vector) */
+
+/**
+ * Register an interrupt to a specific device.
+ *
+ * @param irq		The interrupt number to register.
+ * @param owner		The device receiving the interrupt.
+ * @return		OK if the interrupt was registered.
+ */
+static int	register_interrupt(int irq, Device *owner);
+
+/**
+ * Unregister an interrupt.
+ *
+ * @param irq		The previously-registered interrupt to be de-registered.
+ */
+static void	unregister_interrupt(int irq);
+
+/**
+ * Handle an interrupt.
+ *
+ * @param irq		The interrupt being invoked.
+ * @param context	The interrupt register context.
+ * @return		Always returns OK.
+ */
+static int	interrupt(int irq, void *context);
+
+Device::Device(const char *name,
+	       int irq) :
+	// public
+	// protected
+	_name(name),
+	_debug_enabled(false),
+	// private
+	_irq(irq),
+	_irq_attached(false)
+{
+	sem_init(&_lock, 0, 1);
+}
+
+Device::~Device()
+{
+	sem_destroy(&_lock);
+
+	if (_irq_attached)
+		unregister_interrupt(_irq);
+}
+
+int
+Device::init()
+{
+	int ret = OK;
+
+	// If assigned an interrupt, connect it
+	if (_irq) {
+		/* ensure it's disabled */
+		up_disable_irq(_irq);
+
+		/* register */
+		ret = register_interrupt(_irq, this);
+
+		if (ret != OK)
+			goto out;
+
+		_irq_attached = true;
+	}
+
+out:
+	return ret;
+}
+
+void
+Device::interrupt_enable()
+{
+	if (_irq_attached)
+		up_enable_irq(_irq);
+}
+
+void
+Device::interrupt_disable()
+{
+	if (_irq_attached)
+		up_disable_irq(_irq);
+}
+
+void
+Device::interrupt(void *context)
+{
+	// default action is to disable the interrupt so we don't get called again
+	interrupt_disable();
+}
+
+void
+Device::log(const char *fmt, ...)
+{
+	va_list	ap;
+
+	printf("[%s] ", _name);
+	va_start(ap, fmt);
+	vprintf(fmt, ap);
+	va_end(ap);
+	printf("\n");
+	fflush(stdout);
+}
+
+void
+Device::debug(const char *fmt, ...)
+{
+	va_list	ap;
+
+	if (_debug_enabled) {
+		printf("<%s> ", _name);
+		va_start(ap, fmt);
+		vprintf(fmt, ap);
+		va_end(ap);
+		printf("\n");
+		fflush(stdout);
+	}
+}
+
+static int
+register_interrupt(int irq, Device *owner)
+{
+	int ret = -ENOMEM;
+
+	// look for a slot where we can register the interrupt
+	for (unsigned i = 0; i < irq_nentries; i++) {
+		if (irq_entries[i].irq == 0) {
+
+			// great, we could put it here; try attaching it
+			ret = irq_attach(irq, &interrupt);
+
+			if (ret == OK) {
+				irq_entries[i].irq = irq;
+				irq_entries[i].owner = owner;
+			}
+
+			break;
+		}
+	}
+
+	return ret;
+}
+
+static void
+unregister_interrupt(int irq)
+{
+	for (unsigned i = 0; i < irq_nentries; i++) {
+		if (irq_entries[i].irq == irq) {
+			irq_entries[i].irq = 0;
+			irq_entries[i].owner = nullptr;
+		}
+	}
+}
+
+static int
+interrupt(int irq, void *context)
+{
+	for (unsigned i = 0; i < irq_nentries; i++) {
+		if (irq_entries[i].irq == irq) {
+			irq_entries[i].owner->interrupt(context);
+			break;
+		}
+	}
+
+	return OK;
+}
+
+
+} // namespace device