Linux to posix conversion

Changed "linux" target to "posix". Most of the changes are shared with QuRT and with OSX. The Linux specific parts are in for i2c which uses <linux/i2c.h> and <linux/i2c-dev.h>. There is also a check for __PX4_LINUX in mavlink for a tty ioctl that is not supported. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2026-10-24 14:43:33 +08:00 · 2015-04-21 09:53:09 -07:00
parent 40faa98416
commit f3b5076d70
109 changed files with 106 additions and 107 deletions
@@ -0,0 +1,217 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 baro_sim.cpp
+  *
+  * Simulation interface for barometer
+  */
+
+/* XXX trim includes */
+#include <px4_config.h>
+#include <px4_defines.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <assert.h>
+//#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <drivers/device/sim.h>
+#include <simulator/simulator.h>
+#include "barosim.h"
+#include "board_config.h"
+
+device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf);
+
+class BARO_SIM : public device::SIM
+{
+public:
+	BARO_SIM(uint8_t bus, barosim::prom_u &prom_buf);
+	virtual ~BARO_SIM();
+
+	virtual int	init();
+	virtual int	dev_read(unsigned offset, void *data, unsigned count);
+	virtual int	dev_ioctl(unsigned operation, unsigned &arg);
+
+	virtual int	transfer(const uint8_t *send, unsigned send_len,
+				 uint8_t *recv, unsigned recv_len);
+private:
+	barosim::prom_u	&_prom;
+
+	/**
+	 * Send a reset command to the barometer simulator.
+	 *
+	 * This is required after any bus reset.
+	 */
+	int		_reset();
+
+	/**
+	 * Send a measure command to the barometer simulator.
+	 *
+	 * @param addr		Which address to use for the measure operation.
+	 */
+	int		_measure(unsigned addr);
+
+	/**
+	 * Read the MS5611 PROM
+	 *
+	 * @return		PX4_OK if the PROM reads successfully.
+	 */
+	int		_read_prom();
+
+};
+
+device::Device *
+BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum)
+{
+	return new BARO_SIM(busnum, prom_buf);
+}
+
+BARO_SIM::BARO_SIM(uint8_t bus, barosim::prom_u &prom) :
+	SIM("BARO_SIM", "/dev/BARO_SIM", bus, 0),
+	_prom(prom)
+{
+}
+
+BARO_SIM::~BARO_SIM()
+{
+}
+
+int
+BARO_SIM::init()
+{
+	return SIM::init();
+}
+
+int
+BARO_SIM::dev_read(unsigned offset, void *data, unsigned count)
+{
+	union _cvt {
+		uint8_t	b[4];
+		uint32_t w;
+	} *cvt = (_cvt *)data;
+	uint8_t buf[3];
+
+	/* read the most recent measurement */
+	uint8_t cmd = 0;
+	int ret = transfer(&cmd, 1, &buf[0], 3);
+	if (ret == PX4_OK) {
+		/* fetch the raw value */
+		cvt->b[0] = buf[2];
+		cvt->b[1] = buf[1];
+		cvt->b[2] = buf[0];
+		cvt->b[3] = 0;
+	}
+
+	return ret;
+}
+
+int
+BARO_SIM::dev_ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+	case IOCTL_RESET:
+		ret = _reset();
+		break;
+
+	case IOCTL_MEASURE:
+		ret = _measure(arg);
+		break;
+
+	default:
+		ret = EINVAL;
+	}
+
+	return ret;
+}
+
+int
+BARO_SIM::_reset()
+{
+	unsigned	old_retrycount = _retries;
+	uint8_t		cmd = ADDR_RESET_CMD;
+	int		result;
+
+	/* bump the retry count */
+	_retries = 10;
+	result = transfer(&cmd, 1, nullptr, 0);
+	_retries = old_retrycount;
+
+	return result;
+}
+
+int
+BARO_SIM::_measure(unsigned addr)
+{
+	/*
+	 * Disable retries on this command; we can't know whether failure 
+	 * means the device did or did not see the command.
+	 */
+	_retries = 0;
+
+	uint8_t cmd = addr;
+	return transfer(&cmd, 1, nullptr, 0);
+}
+
+int
+BARO_SIM::_read_prom()
+{
+	int ret = 1;
+	// TODO input simlation data
+	return ret;
+}
+
+int
+BARO_SIM::transfer(const uint8_t *send, unsigned send_len,
+				 uint8_t *recv, unsigned recv_len)
+{
+	// TODO add Simulation data connection so calls retrieve
+	// data from the simulator
+
+	if (send_len != 1 || send[0] != 0 || recv_len != 3) {
+		return 1;
+	}
+	else {
+		Simulator *sim = Simulator::getInstance();
+		if (sim == NULL) {
+			return -ENODEV;
+		}
+		sim->getBaroSample(recv, recv_len);
+	}
+	return 0;
+}