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

src/platforms/px4_micro_hal.h

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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.
+ *
+ ****************************************************************************/
+#pragma once
+/*
+ * This file is a shim to bridge to nuttx_v3
+ */
+#ifdef __PX4_NUTTX
+
+#  define px4_enter_critical_section()       irqsave()
+#  define px4_leave_critical_section(flags)  irqrestore(flags)
+
+#  define px4_spibus_initialize(port_1based)       up_spiinitialize(port_1based)
+
+#  define px4_i2cbus_initialize(bus_num_1based)    up_i2cinitialize(bus_num_1based)
+#  define px4_i2cbus_uninitialize(pdev)            up_i2cuninitialize(pdev)
+
+#  if defined(CONFIG_STM32_VALUELINE) || defined(CONFIG_STM32_STM32F40XX)
+#    define px4_arch_configgpio(pinset)      stm32_configgpio(pinset)
+#    define px4_arch_unconfiggpio(pinset)     stm32_unconfiggpio(pinset)
+#    define px4_arch_gpioread(pinset)         stm32_gpioread(pinset)
+#    define px4_arch_gpiowrite(pinset, value) stm32_gpiowrite(pinset, value)
+#  endif
+#endif