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Platforms: Fix platform headers

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This commit is contained in:
Lorenz Meier
2015-10-19 13:25:39 +02:00
parent 2c8e853294
commit 73545a4311
13 changed files with 168 additions and 172 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/px4_adc.h
+5 -6
View File
@@ -52,13 +52,12 @@
// FIXME - this needs to be a px4_adc_msg_s type
// Curently copied from NuttX
struct adc_msg_s
{
uint8_t am_channel; /* The 8-bit ADC Channel */
int32_t am_data; /* ADC convert result (4 bytes) */
} __attribute__ ((packed));
struct adc_msg_s {
uint8_t am_channel; /* The 8-bit ADC Channel */
int32_t am_data; /* ADC convert result (4 bytes) */
} __attribute__((packed));
// Example settings
// Example settings
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
src/platforms/px4_app.h
+6 -4
View File
@@ -40,9 +40,11 @@
#pragma once
namespace px4 {
namespace px4
{
class AppState {
class AppState
{
public:
~AppState() {}
@@ -65,8 +67,8 @@ protected:
bool _isRunning;
#endif
private:
AppState(const AppState&);
const AppState& operator=(const AppState&);
AppState(const AppState &);
const AppState &operator=(const AppState &);
};
}
src/platforms/px4_defines.h
+8 -8
View File
@@ -92,7 +92,7 @@ typedef param_t px4_param_t;
*/
#if defined(__PX4_NUTTX)
#define PX4_ROOTFSDIR
#define PX4_ROOTFSDIR
/* XXX this is a hack to resolve conflicts with NuttX headers */
#if !defined(__PX4_TESTS)
@@ -119,7 +119,7 @@ typedef param_t px4_param_t;
#define PRId64 "lld"
#endif
/*
/*
* POSIX Specific defines
*/
#elif defined(__PX4_POSIX)
@@ -138,7 +138,7 @@ typedef param_t px4_param_t;
/* FIXME - Used to satisfy build */
//STM DocID018909 Rev 8 Sect 39.1 (Unique device ID Register)
#define UNIQUE_ID 0x1FFF7A10
#define UNIQUE_ID 0x1FFF7A10
#define STM32_SYSMEM_UID "SIMULATIONID"
/* FIXME - Used to satisfy build */
@@ -153,12 +153,12 @@ __END_DECLS
#endif
#define USEC_PER_TICK (1000000UL/PX4_TICKS_PER_SEC)
#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
#define px4_statfs_buf_f_bavail_t unsigned long
#if defined(__PX4_QURT)
#define PX4_ROOTFSDIR
#define PX4_ROOTFSDIR
#else
#define PX4_ROOTFSDIR "rootfs"
#endif
@@ -166,7 +166,7 @@ __END_DECLS
#endif
/*
/*
* Defines for ROS and Linux
*/
#if defined(__PX4_ROS) || defined(__PX4_POSIX)
@@ -226,7 +226,7 @@ __END_DECLS
#if defined(__PX4_QURT)
#define PX4_ROOTFSDIR
#define PX4_ROOTFSDIR
#define DEFAULT_PARAM_FILE "/fs/eeprom/parameters"
#define SIOCDEVPRIVATE 999999
@@ -244,7 +244,7 @@ __END_DECLS
#endif
/*
/*
*Defines for all platforms
*/
src/platforms/px4_i2c.h
+8 -9
View File
@@ -75,23 +75,23 @@ typedef struct i2c_dev_s px4_i2c_dev_t;
// NOTE - This is a copy of the NuttX i2c_msg_s structure
typedef struct {
uint16_t addr; /* Slave address */
uint16_t flags; /* See I2C_M_* definitions */
uint8_t *buffer;
int length;
uint16_t addr; /* Slave address */
uint16_t flags; /* See I2C_M_* definitions */
uint8_t *buffer;
int length;
} px4_i2c_msg_t;
// NOTE - This is a copy of the NuttX i2c_ops_s structure
typedef struct {
const struct px4_i2c_ops_t *ops; /* I2C vtable */
const struct px4_i2c_ops_t *ops; /* I2C vtable */
} px4_i2c_dev_t;
// FIXME - Empty defines for I2C ops
// Original version commented out
//#define I2C_SETFREQUENCY(d,f) ((d)->ops->setfrequency(d,f))
#define I2C_SETFREQUENCY(d,f)
#define I2C_SETFREQUENCY(d,f)
//#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s))
#define SPI_SELECT(d,id,s)
#define SPI_SELECT(d,id,s)
// FIXME - Stub implementation
// Original version commented out
@@ -101,8 +101,7 @@ inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count) { ret
#ifdef __PX4_QURT
struct i2c_msg
{
struct i2c_msg {
uint16_t addr; /* Slave address */
uint16_t flags; /* See I2C_M_* definitions */
uint8_t *buf;
src/platforms/px4_log.h
+70 -70
View File
@@ -178,11 +178,11 @@ __END_DECLS
****************************************************************************/
#define __px4_log_named_cond(name, cond, FMT, ...) \
__px4__log_printcond(cond,\
"%s " \
FMT\
__px4__log_end_fmt \
,name, ##__VA_ARGS__\
)
"%s " \
FMT\
__px4__log_end_fmt \
,name, ##__VA_ARGS__\
)
/****************************************************************************
* __px4_log:
@@ -193,11 +193,11 @@ __END_DECLS
****************************************************************************/
#define __px4_log(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt \
FMT\
__px4__log_end_fmt \
__px4__log_level_arg(level), ##__VA_ARGS__\
)
__px4__log_level_fmt \
FMT\
__px4__log_end_fmt \
__px4__log_level_arg(level), ##__VA_ARGS__\
)
/****************************************************************************
* __px4_log_timestamp:
@@ -209,14 +209,14 @@ __END_DECLS
****************************************************************************/
#define __px4_log_timestamp(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
)
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
)
/****************************************************************************
* __px4_log_timestamp_thread:
@@ -228,16 +228,16 @@ __END_DECLS
****************************************************************************/
#define __px4_log_timestamp_thread(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
__px4__log_thread_arg\
, ##__VA_ARGS__\
)
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
__px4__log_thread_arg\
, ##__VA_ARGS__\
)
/****************************************************************************
* __px4_log_file_and_line:
@@ -249,16 +249,16 @@ __END_DECLS
****************************************************************************/
#define __px4_log_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
/****************************************************************************
* __px4_log_timestamp_file_and_line:
@@ -271,16 +271,16 @@ __END_DECLS
****************************************************************************/
#define __px4_log_timestamp_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
/****************************************************************************
* __px4_log_thread_file_and_line:
@@ -293,16 +293,16 @@ __END_DECLS
****************************************************************************/
#define __px4_log_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_thread_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
__px4__log_level_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_thread_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
/****************************************************************************
* __px4_log_timestamp_thread_file_and_line:
@@ -315,18 +315,18 @@ __END_DECLS
****************************************************************************/
#define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
__px4__log_thread_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
__px4__log_thread_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
/****************************************************************************
src/platforms/px4_nodehandle.h
+8 -8
View File
@@ -86,7 +86,7 @@ public:
template<typename T>
Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval)
{
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, std::placeholders::_1));
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle *)this, std::bind(fp, std::placeholders::_1));
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
@@ -99,7 +99,7 @@ public:
template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
{
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, obj, std::placeholders::_1));
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle *)this, std::bind(fp, obj, std::placeholders::_1));
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
@@ -110,7 +110,7 @@ public:
template<typename T>
Subscriber<T> *subscribe(unsigned interval)
{
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this);
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle *)this);
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
@@ -119,11 +119,11 @@ public:
* Advertise topic
*/
template<typename T>
Publisher<T>* advertise()
Publisher<T> *advertise()
{
PublisherROS<T> *pub = new PublisherROS<T>((ros::NodeHandle*)this);
_pubs.push_back((PublisherBase*)pub);
return (Publisher<T>*)pub;
PublisherROS<T> *pub = new PublisherROS<T>((ros::NodeHandle *)this);
_pubs.push_back((PublisherBase *)pub);
return (Publisher<T> *)pub;
}
/**
@@ -242,7 +242,7 @@ public:
{
PublisherUORB<T> *pub = new PublisherUORB<T>();
_pubs.add(pub);
return (Publisher<T>*)pub;
return (Publisher<T> *)pub;
}
/**
src/platforms/px4_posix.h
+11 -12
View File
@@ -54,8 +54,7 @@
__BEGIN_DECLS
typedef struct
{
typedef struct {
pthread_mutex_t lock;
pthread_cond_t wait;
int value;
@@ -97,7 +96,7 @@ typedef struct pollfd px4_pollfd_struct_t;
#if defined(__cplusplus)
#define _GLOBAL ::
#else
#define _GLOBAL
#define _GLOBAL
#endif
#define px4_open _GLOBAL open
#define px4_close _GLOBAL close
@@ -118,14 +117,14 @@ typedef struct pollfd px4_pollfd_struct_t;
typedef short pollevent_t;
typedef struct {
/* This part of the struct is POSIX-like */
int fd; /* The descriptor being polled */
pollevent_t events; /* The input event flags */
pollevent_t revents; /* The output event flags */
/* This part of the struct is POSIX-like */
int fd; /* The descriptor being polled */
pollevent_t events; /* The input event flags */
pollevent_t revents; /* The output event flags */
/* Required for PX4 compatability */
px4_sem_t *sem; /* Pointer to semaphore used to post output event */
void *priv; /* For use by drivers */
/* Required for PX4 compatability */
px4_sem_t *sem; /* Pointer to semaphore used to post output event */
void *priv; /* For use by drivers */
} px4_pollfd_struct_t;
__BEGIN_DECLS
@@ -150,8 +149,8 @@ extern int px4_errno;
__EXPORT void px4_show_devices(void);
__EXPORT void px4_show_files(void);
__EXPORT const char * px4_get_device_names(unsigned int *handle);
__EXPORT const char *px4_get_device_names(unsigned int *handle);
__EXPORT void px4_show_topics(void);
__EXPORT const char * px4_get_topic_names(unsigned int *handle);
__EXPORT const char *px4_get_topic_names(unsigned int *handle);
__END_DECLS
src/platforms/px4_publisher.h
+6 -4
View File
@@ -86,7 +86,8 @@ public:
*/
PublisherROS(ros::NodeHandle *rnh) :
Publisher<T>(),
_ros_pub(rnh->advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault))
_ros_pub(rnh->advertise < typename std::remove_reference < decltype(((T *)nullptr)->data()) >::type & > (T::handle(),
kQueueSizeDefault))
{}
~PublisherROS() {};
@@ -136,7 +137,8 @@ public:
_uorb_pub(new uORB::PublicationBase(T::handle()))
{}
~PublisherUORB() {
~PublisherUORB()
{
delete _uorb_pub;
};
@@ -145,7 +147,7 @@ public:
*/
int publish(const T &msg)
{
_uorb_pub->update((void *)&(msg.data()));
_uorb_pub->update((void *) & (msg.data()));
return 0;
}
@@ -154,7 +156,7 @@ public:
*/
void update() {} ;
private:
uORB::PublicationBase * _uorb_pub; /**< Handle to the publisher */
uORB::PublicationBase *_uorb_pub; /**< Handle to the publisher */
};
#endif
src/platforms/px4_spi.h
+18 -21
View File
@@ -3,32 +3,29 @@
#ifdef __PX4_NUTTX
#include <nuttx/spi.h>
#elif defined(__PX4_POSIX)
enum spi_dev_e
{
SPIDEV_NONE = 0, /* Not a valid value */
SPIDEV_MMCSD, /* Select SPI MMC/SD device */
SPIDEV_FLASH, /* Select SPI FLASH device */
SPIDEV_ETHERNET, /* Select SPI ethernet device */
SPIDEV_DISPLAY, /* Select SPI LCD/OLED display device */
SPIDEV_WIRELESS, /* Select SPI Wireless device */
SPIDEV_TOUCHSCREEN, /* Select SPI touchscreen device */
SPIDEV_EXPANDER, /* Select SPI I/O expander device */
SPIDEV_MUX, /* Select SPI multiplexer device */
SPIDEV_AUDIO_DATA, /* Select SPI audio codec device data port */
SPIDEV_AUDIO_CTRL, /* Select SPI audio codec device control port */
enum spi_dev_e {
SPIDEV_NONE = 0, /* Not a valid value */
SPIDEV_MMCSD, /* Select SPI MMC/SD device */
SPIDEV_FLASH, /* Select SPI FLASH device */
SPIDEV_ETHERNET, /* Select SPI ethernet device */
SPIDEV_DISPLAY, /* Select SPI LCD/OLED display device */
SPIDEV_WIRELESS, /* Select SPI Wireless device */
SPIDEV_TOUCHSCREEN, /* Select SPI touchscreen device */
SPIDEV_EXPANDER, /* Select SPI I/O expander device */
SPIDEV_MUX, /* Select SPI multiplexer device */
SPIDEV_AUDIO_DATA, /* Select SPI audio codec device data port */
SPIDEV_AUDIO_CTRL, /* Select SPI audio codec device control port */
};
/* Certain SPI devices may required differnt clocking modes */
enum spi_mode_e
{
SPIDEV_MODE0 = 0, /* CPOL=0 CHPHA=0 */
SPIDEV_MODE1, /* CPOL=0 CHPHA=1 */
SPIDEV_MODE2, /* CPOL=1 CHPHA=0 */
SPIDEV_MODE3 /* CPOL=1 CHPHA=1 */
enum spi_mode_e {
SPIDEV_MODE0 = 0, /* CPOL=0 CHPHA=0 */
SPIDEV_MODE1, /* CPOL=0 CHPHA=1 */
SPIDEV_MODE2, /* CPOL=1 CHPHA=0 */
SPIDEV_MODE3 /* CPOL=1 CHPHA=1 */
};
struct spi_dev_s
{
struct spi_dev_s {
int unused;
};
#else
src/platforms/px4_subscriber.h
+11 -10
View File
@@ -86,12 +86,12 @@ public:
/**
* Get the last message value
*/
virtual T& get() {return _msg_current;}
virtual T &get() {return _msg_current;}
/**
* Get the last native message value
*/
virtual decltype(((T*)nullptr)->data()) data()
virtual decltype(((T *)nullptr)->data()) data()
{
return _msg_current.data();
}
@@ -135,7 +135,7 @@ protected:
* Called on topic update, saves the current message and then calls the provided callback function
* needs to use the native type as it is called by ROS
*/
void callback(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &msg)
void callback(const typename std::remove_reference < decltype(((T *)nullptr)->data()) >::type &msg)
{
/* Store data */
this->_msg_current.data() = msg;
@@ -197,7 +197,8 @@ public:
_uorb_sub(new uORB::SubscriptionBase(T::handle(), interval))
{}
virtual ~SubscriberUORB() {
virtual ~SubscriberUORB()
{
delete _uorb_sub;
};
@@ -219,19 +220,19 @@ public:
int getUORBHandle() { return _uorb_sub->getHandle(); }
protected:
uORB::SubscriptionBase * _uorb_sub; /**< Handle to the subscription */
uORB::SubscriptionBase *_uorb_sub; /**< Handle to the subscription */
#ifndef CONFIG_ARCH_BOARD_SIM
typename std::remove_reference<decltype(((T*)nullptr)->data())>::type getUORBData()
typename std::remove_reference < decltype(((T *)nullptr)->data()) >::type getUORBData()
{
return (typename std::remove_reference<decltype(((T*)nullptr)->data())>::type)*_uorb_sub;
return (typename std::remove_reference < decltype(((T *)nullptr)->data()) >::type) * _uorb_sub;
}
#endif
/**
* Get void pointer to last message value
*/
void *get_void_ptr() { return (void *)&(this->_msg_current.data()); }
void *get_void_ptr() { return (void *) & (this->_msg_current.data()); }
};
@@ -248,9 +249,9 @@ public:
*/
SubscriberUORBCallback(unsigned interval
#ifndef CONFIG_ARCH_BOARD_SIM
,std::function<void(const T &)> cbf)
, std::function<void(const T &)> cbf)
#else
)
)
#endif
:
SubscriberUORB<T>(interval),
src/platforms/px4_tasks.h
+5 -5
View File
@@ -105,11 +105,11 @@ __EXPORT void px4_systemreset(bool to_bootloader) noreturn_function;
/** Starts a task and performs any specific accounting, scheduler setup, etc. */
__EXPORT px4_task_t px4_task_spawn_cmd(const char *name,
int priority,
int scheduler,
int stack_size,
px4_main_t entry,
char * const argv[]);
int priority,
int scheduler,
int stack_size,
px4_main_t entry,
char *const argv[]);
/** Deletes a task - does not do resource cleanup **/
__EXPORT int px4_task_delete(px4_task_t pid);
src/platforms/px4_time.h
+1 -2
View File
@@ -30,8 +30,7 @@ __BEGIN_DECLS
#if 0
#if !defined(__cplusplus)
struct timespec
{
struct timespec {
time_t tv_sec;
long tv_nsec;
};
src/platforms/px4_workqueue.h
+11 -13
View File
@@ -48,7 +48,7 @@
#include <px4_platform_types.h>
#ifdef __PX4_QURT
#include <dspal_types.h>
#include <dspal_types.h>
#endif
__BEGIN_DECLS
@@ -57,10 +57,9 @@ __BEGIN_DECLS
#define LPWORK 1
#define NWORKERS 2
struct wqueue_s
{
pid_t pid; /* The task ID of the worker thread */
struct dq_queue_s q; /* The queue of pending work */
struct wqueue_s {
pid_t pid; /* The task ID of the worker thread */
struct dq_queue_s q; /* The queue of pending work */
};
extern struct wqueue_s g_work[NWORKERS];
@@ -69,13 +68,12 @@ extern struct wqueue_s g_work[NWORKERS];
typedef void (*worker_t)(void *arg);
struct work_s
{
struct dq_entry_s dq; /* Implements a doubly linked list */
worker_t worker; /* Work callback */
void *arg; /* Callback argument */
uint64_t qtime; /* Time work queued */
uint32_t delay; /* Delay until work performed */
struct work_s {
struct dq_entry_s dq; /* Implements a doubly linked list */
worker_t worker; /* Work callback */
void *arg; /* Callback argument */
uint64_t qtime; /* Time work queued */
uint32_t delay; /* Delay until work performed */
};
/****************************************************************************
@@ -144,6 +142,6 @@ int work_lpthread(int argc, char *argv[]);
__END_DECLS
#else
#else
#error "Unknown target OS"
#endif