mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 00:23:33 +08:00
Daniel Agar
de4f594937
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
132 lines
4.1 KiB
C
132 lines
4.1 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2015 Mark Charlebois. 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_posix.h
|
|
*
|
|
* Includes POSIX-like functions for virtual character devices
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_platform_common/defines.h>
|
|
#include <px4_platform_common/tasks.h>
|
|
#include <stdint.h>
|
|
#include <unistd.h>
|
|
#include <fcntl.h>
|
|
#include <stdint.h>
|
|
|
|
#if defined(__PX4_QURT)
|
|
#include <dspal_types.h>
|
|
#else
|
|
#include <sys/types.h>
|
|
#endif
|
|
|
|
#include "sem.h"
|
|
|
|
#define PX4_F_RDONLY 1
|
|
#define PX4_F_WRONLY 2
|
|
|
|
#ifdef __PX4_NUTTX
|
|
|
|
#include <poll.h>
|
|
|
|
typedef struct pollfd px4_pollfd_struct_t;
|
|
typedef pollevent_t px4_pollevent_t;
|
|
|
|
#if defined(__cplusplus)
|
|
#define _GLOBAL ::
|
|
#else
|
|
#define _GLOBAL
|
|
#endif
|
|
#define px4_open _GLOBAL open
|
|
#define px4_close _GLOBAL close
|
|
#define px4_ioctl _GLOBAL ioctl
|
|
#define px4_write _GLOBAL write
|
|
#define px4_read _GLOBAL read
|
|
#define px4_poll _GLOBAL poll
|
|
#define px4_access _GLOBAL access
|
|
#define px4_getpid _GLOBAL getpid
|
|
|
|
#define PX4_STACK_OVERHEAD 0
|
|
|
|
#elif defined(__PX4_POSIX)
|
|
|
|
#define PX4_STACK_OVERHEAD (1024 * 11)
|
|
|
|
__BEGIN_DECLS
|
|
|
|
typedef short px4_pollevent_t;
|
|
|
|
typedef struct {
|
|
/* This part of the struct is POSIX-like */
|
|
int fd; /* The descriptor being polled */
|
|
px4_pollevent_t events; /* The input event flags */
|
|
px4_pollevent_t revents; /* The output event flags */
|
|
|
|
/* Required for PX4 compatibility */
|
|
px4_sem_t *sem; /* Pointer to semaphore used to post output event */
|
|
void *priv; /* For use by drivers */
|
|
} px4_pollfd_struct_t;
|
|
|
|
#ifndef POLLIN
|
|
#define POLLIN (0x01)
|
|
#endif
|
|
|
|
__EXPORT int px4_open(const char *path, int flags, ...);
|
|
__EXPORT int px4_close(int fd);
|
|
__EXPORT ssize_t px4_read(int fd, void *buffer, size_t buflen);
|
|
__EXPORT ssize_t px4_write(int fd, const void *buffer, size_t buflen);
|
|
__EXPORT int px4_ioctl(int fd, int cmd, unsigned long arg);
|
|
__EXPORT int px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout);
|
|
__EXPORT int px4_access(const char *pathname, int mode);
|
|
__EXPORT px4_task_t px4_getpid(void);
|
|
|
|
__END_DECLS
|
|
#else
|
|
#error "No TARGET OS Provided"
|
|
#endif
|
|
|
|
|
|
// The stack size is intended for 32-bit architectures; therefore
|
|
// we often run out of stack space when pointers are larger than 4 bytes.
|
|
// Double the stack size on posix when we're on a 64-bit architecture.
|
|
// Most full-scale OS use 1-4K of memory from the stack themselves
|
|
#define PX4_STACK_ADJUSTED(_s) (_s * (__SIZEOF_POINTER__ >> 2) + PX4_STACK_OVERHEAD)
|
|
|
|
__BEGIN_DECLS
|
|
|
|
__EXPORT void px4_show_files(void);
|
|
|
|
__END_DECLS
|