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

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This commit is contained in:
Lorenz Meier
2016-05-28 14:56:17 +02:00
parent c2e2645c82
commit 7398164fcc
89 changed files with 1294 additions and 1087 deletions
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src/modules/uORB/uORBDevices_nuttx.cpp
+8 -8
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@@ -183,7 +183,7 @@ uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
/*
* Perform an atomic copy & state update
*/
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
/* if the caller doesn't want the data, don't give it to them */
if (nullptr != buffer) {
@@ -202,7 +202,7 @@ uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
*/
sd->update_reported = false;
irqrestore(flags);
px4_leave_critical_section(flags);
return _meta->o_size;
}
@@ -244,7 +244,7 @@ uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
}
/* Perform an atomic copy. */
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
memcpy(_data, buffer, _meta->o_size);
/* update the timestamp and generation count */
@@ -253,7 +253,7 @@ uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
_published = true;
irqrestore(flags);
px4_leave_critical_section(flags);
/* notify any poll waiters */
poll_notify(POLLIN);
@@ -268,9 +268,9 @@ uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
switch (cmd) {
case ORBIOCLASTUPDATE: {
irqstate_t state = irqsave();
irqstate_t state = px4_enter_critical_section();
*(hrt_abstime *)arg = _last_update;
irqrestore(state);
px4_leave_critical_section(state);
return OK;
}
@@ -400,7 +400,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
bool ret = false;
/* avoid racing between interrupt and non-interrupt context calls */
irqstate_t state = irqsave();
irqstate_t state = px4_enter_critical_section();
/* check if this topic has been published yet, if not bail out */
if (_data == nullptr) {
@@ -466,7 +466,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
}
out:
irqrestore(state);
px4_leave_critical_section(state);
/* consider it updated */
return ret;