mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-03 05:41:36 +08:00
src/platforms: move all headers to platforms/common/include/px4_platform_common
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
This commit is contained in:
Beat Küng
@@ -0,0 +1,211 @@
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/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file defines.h
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*
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* Generally used magic defines
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*/
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#pragma once
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#include <px4_platform_common/log.h>
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#if defined(__PX4_NUTTX) && !defined(CONFIG_ARCH_MATH_H)
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#error CONFIG_ARCH_MATH_H is required to use math definitions and functions
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#endif
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/****************************************************************************
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* Defines for all platforms.
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****************************************************************************/
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/* Get the name of the default value fiven the param name */
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#define PX4_PARAM_DEFAULT_VALUE_NAME(_name) PARAM_##_name##_DEFAULT
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/* Shortcuts to define parameters when the default value is defined according to PX4_PARAM_DEFAULT_VALUE_NAME */
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#define PX4_PARAM_DEFINE_INT32(_name) PARAM_DEFINE_INT32(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
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#define PX4_PARAM_DEFINE_FLOAT(_name) PARAM_DEFINE_FLOAT(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
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#define PX4_ERROR (-1)
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#define PX4_OK 0
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/* Wrapper for 2d matrices */
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#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])
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/* Wrapper for rotation matrices stored in arrays */
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#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
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/* Define PX4_ISFINITE */
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#ifdef __cplusplus
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constexpr bool PX4_ISFINITE(float x) { return __builtin_isfinite(x); }
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constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
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#endif /* __cplusplus */
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#if defined(__PX4_NUTTX) || defined(__PX4_POSIX)
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/****************************************************************************
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* Building for NuttX or POSIX.
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****************************************************************************/
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/* Main entry point */
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#define PX4_MAIN_FUNCTION(_prefix) int _prefix##_task_main(int argc, char *argv[])
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/* Parameter handle datatype */
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#include <parameters/param.h>
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typedef param_t px4_param_t;
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/* Get value of parameter by name */
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#define PX4_PARAM_GET_BYNAME(_name, _destpt) param_get(param_find(_name), _destpt)
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#else // defined(__PX4_NUTTX) || defined(__PX4_POSIX)
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/****************************************************************************/
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#error "No target OS defined"
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#endif
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#if defined(__PX4_NUTTX)
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/****************************************************************************
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* NuttX specific defines.
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****************************************************************************/
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#define PX4_ROOTFSDIR ""
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#define PX4_STORAGEDIR PX4_ROOTFSDIR "/fs/microsd"
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#define _PX4_IOC(x,y) _IOC(x,y)
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// mode for open with O_CREAT
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#define PX4_O_MODE_777 0777
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#define PX4_O_MODE_666 0666
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#define PX4_O_MODE_600 0600
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#ifndef PRIu64
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# define PRIu64 "llu"
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#endif
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#ifndef PRId64
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# define PRId64 "lld"
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#endif
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#ifndef offsetof
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# define offsetof(TYPE, MEMBER) __builtin_offsetof (TYPE, MEMBER)
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#endif
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#elif defined(__PX4_POSIX)
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/****************************************************************************
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* POSIX Specific defines
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****************************************************************************/
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// Flag is meaningless on Linux
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#ifndef O_BINARY
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#define O_BINARY 0
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#endif
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// mode for open with O_CREAT
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#define PX4_O_MODE_777 (S_IRWXU | S_IRWXG | S_IRWXO)
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#define PX4_O_MODE_666 (S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH )
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#define PX4_O_MODE_600 (S_IRUSR | S_IWUSR)
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// NuttX _IOC is equivalent to Linux _IO
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#define _PX4_IOC(x,y) _IO(x,y)
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/* FIXME - Used to satisfy build */
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#define getreg32(a) (*(volatile uint32_t *)(a))
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#define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
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#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
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#ifdef __PX4_QURT
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// QURT specific
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# include "dspal_math.h"
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# define PX4_ROOTFSDIR "."
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# define PX4_TICKS_PER_SEC 1000L
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# define SIOCDEVPRIVATE 999999
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#else // __PX4_QURT
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// All POSIX except QURT.
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__BEGIN_DECLS
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extern long PX4_TICKS_PER_SEC;
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__END_DECLS
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# if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
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# define PX4_ROOTFSDIR "/home/linaro"
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# elif defined(__PX4_POSIX_BEBOP)
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# define PX4_ROOTFSDIR "/data/ftp/internal_000/px4"
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# else
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# define PX4_ROOTFSDIR "."
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# endif
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#endif // __PX4_QURT
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#define PX4_STORAGEDIR PX4_ROOTFSDIR
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#endif // __PX4_POSIX
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#if defined(__PX4_POSIX)
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/****************************************************************************
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* Defines for POSIX and ROS
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****************************************************************************/
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#define OK 0
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#define ERROR -1
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#define MAX_RAND 32767
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/* Math macro's for float literals. Do not use M_PI et al as they aren't
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* defined (neither C nor the C++ standard define math constants) */
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#define M_E_F 2.71828183f
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#define M_LOG2E_F 1.44269504f
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#define M_LOG10E_F 0.43429448f
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#define M_LN2_F 0.69314718f
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#define M_LN10_F 2.30258509f
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#define M_PI_F 3.14159265f
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#define M_TWOPI_F 6.28318531f
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#define M_PI_2_F 1.57079632f
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#define M_PI_4_F 0.78539816f
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#define M_3PI_4_F 2.35619449f
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#define M_SQRTPI_F 1.77245385f
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#define M_1_PI_F 0.31830989f
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#define M_2_PI_F 0.63661977f
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#define M_2_SQRTPI_F 1.12837917f
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#define M_DEG_TO_RAD_F 0.0174532925f
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#define M_RAD_TO_DEG_F 57.2957795f
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#define M_SQRT2_F 1.41421356f
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#define M_SQRT1_2_F 0.70710678f
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#define M_LN2LO_F 1.90821484E-10f
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#define M_LN2HI_F 0.69314718f
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#define M_SQRT3_F 1.73205081f
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#define M_IVLN10_F 0.43429448f // 1 / log(10)
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#define M_LOG2_E_F 0.69314718f
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#define M_INVLN2_F 1.44269504f // 1 / log(2)
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#define M_DEG_TO_RAD 0.017453292519943295
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#define M_RAD_TO_DEG 57.295779513082323
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#endif // defined(__PX4_POSIX)
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