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

src/modules/systemlib/param/param.c

@@ -807,17 +807,17 @@ param_bus_lock(bool lock)
 
 	// XXX this would be the preferred locking method
 	// if (dev == nullptr) {
-	// 	dev = up_spiinitialize(PX4_SPI_BUS_BARO);
+	// 	dev = px4_spibus_initialize(PX4_SPI_BUS_BARO);
 	// }
 
 	// SPI_LOCK(dev, lock);
 
 	// we lock like this for Pixracer for now
 	if (lock) {
-		irq_state = irqsave();
+		irq_state = px4_enter_critical_section();
 
 	} else {
-		irqrestore(irq_state);
+		px4_leave_critical_section(irq_state);
 	}
 
 #endif

src/modules/systemlib/px4_macros.h

@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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 px4_macros.h
+ *
+ * A set of useful macros for enhanced runtime and compile time
+ * error detection and warning suppression.
+ *
+ * Define NO_BLOAT to reduce bloat from file name inclusion.
+ *
+ * The arraySize() will compute the size of an array regardless
+ * it's type
+ *
+ * INVALID_CASE(c) should be used is case statements to ferret out
+ * unintended behavior
+ *
+ * UNUSED(var) will suppress compile time warnings of unused
+ * variables
+ *
+ * CCASSERT(predicate) Will generate a compile time error it the
+ * predicate is false
+ */
+#include <assert.h>
+
+#ifndef _PX4_MACROS_H
+#define _PX4_MACROS_H
+
+
+#if !defined(arraySize)
+#define arraySize(a) (sizeof((a))/sizeof((a[0])))
+#endif
+
+#if !defined(NO_BLOAT)
+#if defined(__BASE_FILE__)
+#define _FILE_NAME_ __BASE_FILE__
+#else
+#define _FILE_NAME_ __FILE__
+#endif
+#else
+#define _FILE_NAME_ ""
+#endif
+
+#if !defined(INVALID_CASE)
+#define INVALID_CASE(c) printf("Invalid Case %d, %s:%d",(c),__BASE_FILE__,__LINE__) /* todo use PANIC */
+#endif
+
+#if !defined(UNUSED)
+#define UNUSED(var) (void)(var)
+#endif
+
+#if !defined(CAT)
+#if !defined(_CAT)
+#define _CAT(a, b) a ## b
+#endif
+#define CAT(a, b) _CAT(a, b)
+#endif
+
+#if !defined(CCASSERT)
+#if defined(static_assert)
+#		define CCASSERT(predicate) static_assert(predicate)
+#	else
+#		define CCASSERT(predicate) _x_CCASSERT_LINE(predicate, __LINE__)
+#		if !defined(_x_CCASSERT_LINE)
+#			define _x_CCASSERT_LINE(predicate, line) typedef char CAT(constraint_violated_on_line_,line)[2*((predicate)!=0)-1] __attribute__ ((unused)) ;
+#		endif
+#	endif
+#endif
+
+#define DO_PRAGMA(x) _Pragma (#x)
+#define TODO(x) DO_PRAGMA(message ("TODO - " #x))
+
+#endif /* _PX4_MACROS_H */