mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 15:40:35 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
123 lines
4.1 KiB
C
123 lines
4.1 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2015 Mark Charlebois. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4_i2c.h
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*
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* Includes device headers depending on the build target
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*/
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#pragma once
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#define PX4_I2C_M_READ 0x0001 /* read data, from slave to master */
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#if defined (__PX4_NUTTX)
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__BEGIN_DECLS
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/*
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* Building for NuttX
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*/
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#include <px4_platform_common/px4_config.h>
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#include <sys/ioctl.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/irq.h>
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#include <nuttx/wqueue.h>
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#include <chip.h>
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#include <arch/board/board.h>
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#include <arch/chip/chip.h>
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#include "up_internal.h"
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#include "up_arch.h"
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#define px4_i2c_msg_t i2c_msg_s
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typedef struct i2c_master_s px4_i2c_dev_t;
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__END_DECLS
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#elif defined(__PX4_POSIX)
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#include <stdint.h>
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#define I2C_M_READ 0x0001 /* read data, from slave to master */
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#define I2C_M_TEN 0x0002 /* ten bit address */
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#define I2C_M_NORESTART 0x0080 /* message should not begin with (re-)start of transfer */
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// NOTE - This is a copy of the NuttX i2c_msg_s structure
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typedef struct {
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uint32_t frequency; /* I2C frequency */
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uint16_t addr; /* Slave address (7- or 10-bit) */
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uint16_t flags; /* See I2C_M_* definitions */
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uint8_t *buffer; /* Buffer to be transferred */
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ssize_t length; /* Length of the buffer in bytes */
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} px4_i2c_msg_t;
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// NOTE - This is a copy of the NuttX i2c_ops_s structure
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typedef struct {
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const struct px4_i2c_ops_t *ops; /* I2C vtable */
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} px4_i2c_dev_t;
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//#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s))
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#define SPI_SELECT(d,id,s)
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// FIXME - Stub implementation
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// Original version commented out
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//#define I2C_TRANSFER(d,m,c) ((d)->ops->transfer(d,m,c))
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inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count);
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inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count) { return 0; }
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#ifdef __PX4_QURT
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struct i2c_msg {
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uint16_t addr; /* Slave address */
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uint16_t flags; /* See I2C_M_* definitions */
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uint8_t *buf;
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int len;
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};
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#define I2C_RDWR 0x0FFF
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struct i2c_rdwr_ioctl_data {
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struct i2c_msg *msgs; /* pointers to i2c_msgs */
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uint32_t nmsgs; /* number of i2c_msgs */
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};
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// FIXME - The functions are not implemented on QuRT/DSPAL
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int ioctl(int fd, int flags, unsigned long data);
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int write(int fd, const char *buffer, int buflen);
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#endif
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#else
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#error "No target platform defined"
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#endif
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