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platforms/common/uORB: Separate IOCTLs going through boardctl interface from the original ones

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It was a mistake to mix these two together, it is simpler to implement the boardctl interface
for the protected build, if the boardctl ioctls are different

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2022-02-15 11:04:23 +02:00 committed by Beat Küng
parent f0d9f44f45
commit 6071b87afc
2 changed files with 16 additions and 15 deletions
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2
platforms/common/uORB/uORBManager.cpp
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@ -57,7 +57,7 @@ bool uORB::Manager::initialize()
}
#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT) && defined(__KERNEL__)
px4_register_boardct_ioctl(_ORBIOCBASE, orb_ioctl);
px4_register_boardct_ioctl(_ORBIOCDEVBASE, orb_ioctl);
#endif
return _Instance != nullptr;
}

29
platforms/common/uORB/uORBManager.hpp
View File

@ -65,7 +65,8 @@ class SubscriptionCallback;
* a handle
*/
#define ORBIOCDEVEXISTS _ORBIOC(30)
#define _ORBIOCDEV(_n) (_PX4_IOC(_ORBIOCDEVBASE, _n))
#define ORBIOCDEVEXISTS _ORBIOCDEV(30)
typedef struct orbiocdevexists {
const ORB_ID orb_id;
const uint8_t instance;
@ -73,7 +74,7 @@ typedef struct orbiocdevexists {
int ret;
} orbiocdevexists_t;
#define ORBIOCDEVADVERTISE _ORBIOC(31)
#define ORBIOCDEVADVERTISE _ORBIOCDEV(31)
typedef struct orbiocadvertise {
const struct orb_metadata *meta;
bool is_advertiser;
@ -81,13 +82,13 @@ typedef struct orbiocadvertise {
int ret;
} orbiocdevadvertise_t;
#define ORBIOCDEVUNADVERTISE _ORBIOC(32)
#define ORBIOCDEVUNADVERTISE _ORBIOCDEV(32)
typedef struct orbiocunadvertise {
void *handle;
int ret;
} orbiocdevunadvertise_t;
#define ORBIOCDEVPUBLISH _ORBIOC(33)
#define ORBIOCDEVPUBLISH _ORBIOCDEV(33)
typedef struct orbiocpublish {
const struct orb_metadata *meta;
orb_advert_t handle;
@ -95,7 +96,7 @@ typedef struct orbiocpublish {
int ret;
} orbiocdevpublish_t;
#define ORBIOCDEVADDSUBSCRIBER _ORBIOC(34)
#define ORBIOCDEVADDSUBSCRIBER _ORBIOCDEV(34)
typedef struct {
const ORB_ID orb_id;
const uint8_t instance;
@ -103,15 +104,15 @@ typedef struct {
void *handle;
} orbiocdevaddsubscriber_t;
#define ORBIOCDEVREMSUBSCRIBER _ORBIOC(35)
#define ORBIOCDEVREMSUBSCRIBER _ORBIOCDEV(35)
#define ORBIOCDEVQUEUESIZE _ORBIOC(36)
#define ORBIOCDEVQUEUESIZE _ORBIOCDEV(36)
typedef struct {
const void *handle;
uint8_t size;
} orbiocdevqueuesize_t;
#define ORBIOCDEVDATACOPY _ORBIOC(37)
#define ORBIOCDEVDATACOPY _ORBIOCDEV(37)
typedef struct {
void *handle;
void *dst;
@ -119,33 +120,33 @@ typedef struct {
bool ret;
} orbiocdevdatacopy_t;
#define ORBIOCDEVREGCALLBACK _ORBIOC(38)
#define ORBIOCDEVREGCALLBACK _ORBIOCDEV(38)
typedef struct {
void *handle;
class uORB::SubscriptionCallback *callback_sub;
bool registered;
} orbiocdevregcallback_t;
#define ORBIOCDEVUNREGCALLBACK _ORBIOC(39)
#define ORBIOCDEVUNREGCALLBACK _ORBIOCDEV(39)
typedef struct {
void *handle;
class uORB::SubscriptionCallback *callback_sub;
} orbiocdevunregcallback_t;
#define ORBIOCDEVGETINSTANCE _ORBIOC(40)
#define ORBIOCDEVGETINSTANCE _ORBIOCDEV(40)
typedef struct {
const void *handle;
uint8_t instance;
} orbiocdevgetinstance_t;
#define ORBIOCDEVUPDATESAVAIL _ORBIOC(41)
#define ORBIOCDEVUPDATESAVAIL _ORBIOCDEV(41)
typedef struct {
const void *handle;
unsigned last_generation;
unsigned ret;
} orbiocdevupdatesavail_t;
#define ORBIOCDEVISADVERTISED _ORBIOC(42)
#define ORBIOCDEVISADVERTISED _ORBIOCDEV(42)
typedef struct {
const void *handle;
bool ret;
@ -155,7 +156,7 @@ typedef enum {
ORB_DEVMASTER_STATUS = 0,
ORB_DEVMASTER_TOP = 1
} orbiocdevmastercmd_t;
#define ORBIOCDEVMASTERCMD _ORBIOC(45)
#define ORBIOCDEVMASTERCMD _ORBIOCDEV(45)
/**