drivers device organize by nuttx/posix

src/drivers/device/CMakeLists.txt

@@ -38,25 +38,30 @@ list(APPEND SRCS
 	integrator.cpp
 )
 
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+
 if(${OS} STREQUAL "nuttx")
+	include_directories(nuttx)
 	list(APPEND SRCS
-		device_nuttx.cpp
+		nuttx/device_nuttx.cpp
 		cdev.cpp
 	)
+
 	if ("${CONFIG_I2C}" STREQUAL "y")
-		list(APPEND SRCS i2c_nuttx.cpp)
+		list(APPEND SRCS nuttx/i2c_nuttx.cpp)
 	endif()
+
 	if ("${CONFIG_SPI}" STREQUAL "y")
-		list(APPEND SRCS spi.cpp)
+		list(APPEND SRCS nuttx/spi.cpp)
 	endif()
 else()
+	include_directories(posix)
 	list(APPEND SRCS
-		device_posix.cpp
-		vdev.cpp
-		vfile.cpp
-		vdev_posix.cpp
-		i2c_posix.cpp
-		sim.cpp
+		posix/device_posix.cpp
+		posix/vdev.cpp
+		posix/vfile.cpp
+		posix/vdev_posix.cpp
+		posix/i2c_posix.cpp
 	)
 
 endif()

src/drivers/device/device.h

@@ -34,14 +34,14 @@
 #pragma once
 
 #ifdef __PX4_NUTTX
-#include "device_nuttx.h"
+#include "nuttx/device_nuttx.h"
 
 #include <nuttx/arch.h>
 #define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
 #define ATOMIC_LEAVE px4_leave_critical_section(flags)
 
 #elif defined (__PX4_POSIX)
-#include "vdev.h"
+#include "posix/vdev.h"
 
 #define ATOMIC_ENTER lock()
 #define ATOMIC_LEAVE unlock()

src/drivers/device/i2c.h

@@ -33,7 +33,7 @@
 #pragma once
 
 #ifdef __PX4_NUTTX
-#include "i2c_nuttx.h"
+#include "nuttx/i2c_nuttx.h"
 #else
-#include "i2c_posix.h"
+#include "posix/i2c_posix.h"
 #endif

src/drivers/device/nuttx/i2c_nuttx.h

@@ -40,7 +40,7 @@
 #ifndef _DEVICE_I2C_H
 #define _DEVICE_I2C_H
 
-#include "device.h"
+#include "../device.h"
 
 #include <px4_i2c.h>
 

src/drivers/device/sim.cpp

@@ -1,116 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2015 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 sim.cpp
- *
- * Base class for simulated devices.
- *
- * @todo Bus frequency changes; currently we do nothing with the value
- *       that is supplied.  Should we just depend on the bus knowing?
- */
-
-#include <px4_log.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include "sim.h"
-
-namespace device
-{
-
-SIM::SIM(const char *name,
-	 const char *devname,
-	 int bus,
-	 uint16_t address) :
-	// base class
-	Device(name),
-	// public
-	// protected
-	// private
-	_bus(bus),
-	_address(address),
-	_devname(devname)
-{
-
-	PX4_DEBUG("SIM::SIM name = %s devname = %s", name, devname);
-	// fill in _device_id fields for a SIM device
-	_device_id.devid_s.bus_type = DeviceBusType_SIM;
-	_device_id.devid_s.bus = bus;
-	_device_id.devid_s.address = address;
-	// devtype needs to be filled in by the driver
-	_device_id.devid_s.devtype = 0;
-}
-
-SIM::~SIM()
-{
-}
-
-int
-SIM::init()
-{
-	int ret = PX4_OK;
-
-	// Assume the driver set the desired bus frequency. There is no standard
-	// way to set it from user space.
-
-	// do base class init, which registers the virtual driver
-	ret = Device::init();
-
-	if (ret != PX4_OK) {
-		PX4_ERR("CDev::init failed");
-		return ret;
-	}
-
-	return ret;
-}
-
-int
-SIM::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
-{
-	if (send_len > 0) {
-		PX4_DEBUG("SIM: sending %d bytes", send_len);
-	}
-
-	if (recv_len > 0) {
-		PX4_DEBUG("SIM: receiving %d bytes", recv_len);
-
-		// TODO - write data to recv;
-	}
-
-	PX4_DEBUG("I2C SIM: transfer_4 on %s", _devname);
-
-	return PX4_OK;
-}
-
-} // namespace device

src/drivers/device/sim.h

@@ -1,112 +0,0 @@
-/****************************************************************************
- *
- *   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 sim.h
- *
- * Base class for devices on simulation bus.
- */
-
-#pragma once
-
-#include "vdev.h"
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on SIM
- */
-class __EXPORT SIM : public Device
-{
-
-public:
-
-	/**
-	 * Get the address
-	 */
-	int16_t		get_address() const { return _address; }
-
-protected:
-	/**
-	 * The number of times a read or write operation will be retried on
-	 * error.
-	 */
-	unsigned		_retries;
-
-	/**
-	 * The SIM bus number the device is attached to.
-	 */
-	int			_bus;
-
-	/**
-	 * @ Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param bus		SIM bus on which the device lives
-	 * @param address	SIM bus address, or zero if set_address will be used
-	 */
-	SIM(const char *name,
-	    const char *devname,
-	    int bus,
-	    uint16_t address);
-	virtual ~SIM();
-
-	virtual int	init();
-
-	/**
-	 * Perform an SIM transaction to the device.
-	 *
-	 * At least one of send_len and recv_len must be non-zero.
-	 *
-	 * @param send		Pointer to bytes to send.
-	 * @param send_len	Number of bytes to send.
-	 * @param recv		Pointer to buffer for bytes received.
-	 * @param recv_len	Number of bytes to receive.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	virtual int	transfer(const uint8_t *send, unsigned send_len,
-				 uint8_t *recv, unsigned recv_len);
-
-private:
-	uint16_t		_address;
-	const char 		*_devname;
-
-	SIM(const device::SIM &);
-	SIM operator=(const device::SIM &);
-};
-
-} // namespace device
-