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134 lines
4.2 KiB
C
134 lines
4.2 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_posix.h
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*
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* Includes POSIX-like functions for virtual character devices
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*/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/tasks.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/types.h>
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#include "sem.h"
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#define PX4_F_RDONLY 1
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#define PX4_F_WRONLY 2
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#ifdef __PX4_NUTTX
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#include <poll.h>
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typedef struct pollfd px4_pollfd_struct_t;
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typedef pollevent_t px4_pollevent_t;
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#if defined(__cplusplus)
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#define _GLOBAL ::
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#else
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#define _GLOBAL
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#endif
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#define px4_open _GLOBAL open
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#define px4_close _GLOBAL close
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#define px4_ioctl _GLOBAL ioctl
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#define px4_write _GLOBAL write
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#define px4_read _GLOBAL read
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#define px4_poll _GLOBAL poll
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#define px4_access _GLOBAL access
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#define px4_getpid _GLOBAL getpid
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#define PX4_STACK_OVERHEAD 0
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#elif defined(__PX4_POSIX)
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#define PX4_STACK_OVERHEAD (1024 * 24)
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#define px4_cache_aligned_data()
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#define px4_cache_aligned_alloc malloc
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__BEGIN_DECLS
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typedef short px4_pollevent_t;
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typedef struct {
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/* This part of the struct is POSIX-like */
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int fd; /* The descriptor being polled */
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px4_pollevent_t events; /* The input event flags */
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px4_pollevent_t revents; /* The output event flags */
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/* Required for PX4 compatibility */
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px4_sem_t *sem; /* Pointer to semaphore used to post output event */
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void *priv; /* For use by drivers */
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} px4_pollfd_struct_t;
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#ifndef POLLIN
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#define POLLIN (0x01)
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#endif
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#if defined(__PX4_QURT)
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// Qurt has no fsync implementation so need to declare one here
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// and then define a fake one in the Qurt platform code.
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void fsync(int fd);
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#endif
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__EXPORT int px4_open(const char *path, int flags, ...);
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__EXPORT int px4_close(int fd);
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__EXPORT ssize_t px4_read(int fd, void *buffer, size_t buflen);
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__EXPORT ssize_t px4_write(int fd, const void *buffer, size_t buflen);
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__EXPORT int px4_ioctl(int fd, int cmd, unsigned long arg);
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__EXPORT int px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout);
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__EXPORT int px4_access(const char *pathname, int mode);
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__EXPORT px4_task_t px4_getpid(void);
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__END_DECLS
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#else
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#error "No TARGET OS Provided"
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#endif
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// The stack size is intended for 32-bit architectures; therefore
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// we often run out of stack space when pointers are larger than 4 bytes.
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// Double the stack size on posix when we're on a 64-bit architecture.
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// Most full-scale OS use 1-4K of memory from the stack themselves
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#define PX4_STACK_ADJUSTED(_s) (_s * (__SIZEOF_POINTER__ >> 2) + PX4_STACK_OVERHEAD)
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__BEGIN_DECLS
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__EXPORT void px4_show_files(void);
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__END_DECLS
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