Updated PX4 use / API of low level GPIO and other hardware-centric system facilities

src/drivers/device/cdev.cpp

@@ -339,14 +339,14 @@ void
 CDev::poll_notify(pollevent_t events)
 {
 	/* lock against poll() as well as other wakeups */
-	irqstate_t state = irqsave();
+	irqstate_t state = px4_enter_critical_section();
 
 	for (unsigned i = 0; i < _max_pollwaiters; i++)
 		if (nullptr != _pollset[i]) {
 			poll_notify_one(_pollset[i], events);
 		}
 
-	irqrestore(state);
+	px4_leave_critical_section(state);
 }
 
 void

src/drivers/device/i2c_nuttx.cpp

@@ -75,7 +75,7 @@ I2C::I2C(const char *name,
 I2C::~I2C()
 {
 	if (_dev) {
-		up_i2cuninitialize(_dev);
+		px4_i2cbus_uninitialize(_dev);
 		_dev = nullptr;
 	}
 }
@@ -105,7 +105,7 @@ I2C::init()
 	unsigned bus_index;
 
 	// attach to the i2c bus
-	_dev = up_i2cinitialize(_bus);
+	_dev = px4_i2cbus_initialize(_bus);
 
 	if (_dev == nullptr) {
 		DEVICE_DEBUG("failed to init I2C");
@@ -120,7 +120,7 @@ I2C::init()
 	// abort if the max frequency we allow (the frequency we ask)
 	// is smaller than the bus frequency
 	if (_bus_clocks[bus_index] > _frequency) {
-		(void)up_i2cuninitialize(_dev);
+		(void)px4_i2cbus_uninitialize(_dev);
 		_dev = nullptr;
 		DEVICE_LOG("FAIL: too slow for bus #%u: %u KHz, device max: %u KHz)",
 			   _bus, _bus_clocks[bus_index] / 1000, _frequency / 1000);
@@ -168,7 +168,7 @@ I2C::init()
 out:
 
 	if ((ret != OK) && (_dev != nullptr)) {
-		up_i2cuninitialize(_dev);
+		px4_i2cbus_uninitialize(_dev);
 		_dev = nullptr;
 	}
 

src/drivers/device/spi.cpp

@@ -95,7 +95,7 @@ SPI::init()
 
 	/* attach to the spi bus */
 	if (_dev == nullptr) {
-		_dev = up_spiinitialize(_bus);
+		_dev = px4_spibus_initialize(_bus);
 	}
 
 	if (_dev == nullptr) {
@@ -152,9 +152,9 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	switch (mode) {
 	default:
 	case LOCK_PREEMPTION: {
-			irqstate_t state = irqsave();
+			irqstate_t state = px4_enter_critical_section();
 			result = _transfer(send, recv, len);
-			irqrestore(state);
+			px4_leave_critical_section(state);
 		}
 		break;