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px4_micro_hal:Provide PX4_BUS_NUMBER_{TO|FROM}_PX4 mapping

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For historical reasons (NuttX STM32 numbering) PX4 bus numbering is
   1 based. All PX4 code, including, board code is written to assuming 1
   based numbering. In the PX4 I2C driver the 1 is subtracted from the
   buss number to address the freqency array.  These  macros are used to
   allow the board config to define the bus  numbers in terms of the NuttX
   driver numbering. 1,2,3 for one based numbering (STM32)  or 0,1,2
   for zero based (Kinetis)
This commit is contained in:
David Sidrane
2017-09-29 10:13:51 -04:00
committed by Daniel Agar
parent 5889b4d89c
commit 64b9f687c0
1 changed files with 21 additions and 7 deletions
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src/platforms/px4_micro_hal.h
+21 -7
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@@ -40,6 +40,16 @@ __BEGIN_DECLS
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
/* For historical reasons (NuttX STM32 numbering) PX4 bus numbering is 1 based
* All PX4 code, including, board code is written to assuming 1 based numbering.
* The following macros are used to allow the board config to define the bus
* numbers in terms of the NuttX driver numbering. 1,2,3 for one based numbering
* schemes or 0,1,2 for zero based schemes.
*/
#define PX4_BUS_NUMBER_TO_PX4(x) ((x)+PX4_BUS_OFFSET) /* Use to define Zero based to match Nuttx Driver but provide 1 based to PX4 */
#define PX4_BUS_NUMBER_FROM_PX4(x) ((x)-PX4_BUS_OFFSET) /* Use to map PX4 1 based to NuttX driver 0 based */
# define px4_enter_critical_section() enter_critical_section()
# define px4_leave_critical_section(flags) leave_critical_section(flags)
@@ -119,7 +129,8 @@ __BEGIN_DECLS
# define px4_savepanic(fileno, context, length) stm32_bbsram_savepanic(fileno, context, length)
# define px4_spibus_initialize(port_1based) stm32_spibus_initialize(port_1based)
# define PX4_BUS_OFFSET 0 /* STM buses are 1 based no adjustment needed */
# define px4_spibus_initialize(bus_num_1based) stm32_spibus_initialize(bus_num_1based)
# define px4_i2cbus_initialize(bus_num_1based) stm32_i2cbus_initialize(bus_num_1based)
# define px4_i2cbus_uninitialize(pdev) stm32_i2cbus_uninitialize(pdev)
@@ -187,10 +198,12 @@ __BEGIN_DECLS
/* bus_num is zero based on kinetis and must be translated from the legacy one based */
# define px4_spibus_initialize(port_0based) kinetis_spibus_initialize(port_0based)
# define PX4_BUS_OFFSET 1 /* Kinetis buses are 0 based and adjustment is needed */
# define px4_i2cbus_initialize(bus_num_0based) kinetis_i2cbus_initialize(bus_num_0based)
# define px4_i2cbus_uninitialize(pdev) kinetis_i2cbus_uninitialize(pdev)
# define px4_spibus_initialize(bus_num_1based) kinetis_spibus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
# define px4_i2cbus_initialize(bus_num_1based) kinetis_i2cbus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
# define px4_i2cbus_uninitialize(pdev) kinetis_i2cbus_uninitialize(pdev)
# define px4_arch_configgpio(pinset) kinetis_pinconfig(pinset)
# define px4_arch_unconfiggpio(pinset)
@@ -246,10 +259,11 @@ __BEGIN_DECLS
/* bus_num is zero based on same70 and must be translated from the legacy one based */
# define px4_spibus_initialize(port_1based) sam_spibus_initialize(port_1based-1)
# define PX4_BUS_OFFSET 1 /* Same70 buses are 0 based and adjustment is needed */
# define px4_spibus_initialize(bus_num_1based) sam_spibus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
# define px4_i2cbus_initialize(bus_num_1based) sam_i2cbus_initialize(bus_num_1based-1)
# define px4_i2cbus_uninitialize(pdev) sam_i2cbus_uninitialize(pdev)
# define px4_i2cbus_initialize(bus_num_1based) sam_i2cbus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
# define px4_i2cbus_uninitialize(pdev) sam_i2cbus_uninitialize(pdev)
# define px4_arch_configgpio(pinset) sam_configgpio(pinset)
# define px4_arch_unconfiggpio(pinset) sam_unconfiggpio(pinset)