Merge pull request #134 from UAVCAN/master_upstream_nuttx_irq_changes

pavel-kirienko · web-flow · commit 231b221b6426 · 2018-06-12T21:59:22.000+03:00
Support upstream NuttX IRQ API changes
diff --git a/libuavcan_drivers/stm32/driver/src/internal.hpp b/libuavcan_drivers/stm32/driver/src/internal.hpp
@@ -43,7 +43,7 @@
 # define UAVCAN_STM32_IRQ_PROLOGUE()    CH_IRQ_PROLOGUE()
 # define UAVCAN_STM32_IRQ_EPILOGUE()    CH_IRQ_EPILOGUE()
 #elif UAVCAN_STM32_NUTTX
-# define UAVCAN_STM32_IRQ_HANDLER(id)  int id(int irq, FAR void* context)
+# define UAVCAN_STM32_IRQ_HANDLER(id)  int id(int irq, FAR void* context, FAR void *arg)
 # define UAVCAN_STM32_IRQ_PROLOGUE()
 # define UAVCAN_STM32_IRQ_EPILOGUE()    return 0;
 #else
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -50,9 +50,9 @@
 # endif
 extern "C"
 {
-static int can1_irq(const int irq, void*);
+static int can1_irq(const int irq, void*, void*);
 #if UAVCAN_STM32_NUM_IFACES > 1
-static int can2_irq(const int irq, void*);
+static int can2_irq(const int irq, void*, void*);
 #endif
 }
 #endif
@@ -1010,7 +1010,7 @@ void CanDriver::initOnce()
 #if UAVCAN_STM32_NUTTX
 # define IRQ_ATTACH(irq, handler)                          \
     {                                                      \
-        const int res = irq_attach(irq, handler);          \
+        const int res = irq_attach(irq, handler, NULL);    \
         (void)res;                                         \
         assert(res >= 0);                                  \
         up_enable_irq(irq);                                \
@@ -1119,7 +1119,7 @@ extern "C"
 
 #if UAVCAN_STM32_NUTTX
 
-static int can1_irq(const int irq, void*)
+static int can1_irq(const int irq, void*, void*)
 {
     if (irq == STM32_IRQ_CAN1TX)
     {
@@ -1142,7 +1142,7 @@ static int can1_irq(const int irq, void*)
 
 # if UAVCAN_STM32_NUM_IFACES > 1
 
-static int can2_irq(const int irq, void*)
+static int can2_irq(const int irq, void*, void*)
 {
     if (irq == STM32_IRQ_CAN2TX)
     {
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
@@ -151,7 +151,7 @@ void init()
 # if UAVCAN_STM32_NUTTX
 
     // Attach IRQ
-    irq_attach(TIMX_IRQn, &TIMX_IRQHandler);
+    irq_attach(TIMX_IRQn, &TIMX_IRQHandler, NULL);
 
     // Power-on and reset
     modifyreg32(STM32_RCC_APB1ENR, 0, TIMX_RCC_ENR_MASK);

Original file line number	Diff line number	Diff line change
`@@ -50,9 +50,9 @@`
`50`	`50`	`# endif`
`51`	`51`	`extern "C"`
`52`	`52`	`{`
`53`		`-static int can1_irq(const int irq, void*);`
	`53`	`+static int can1_irq(const int irq, void, void);`
`54`	`54`	`#if UAVCAN_STM32_NUM_IFACES > 1`
`55`		`-static int can2_irq(const int irq, void*);`
	`55`	`+static int can2_irq(const int irq, void, void);`
`56`	`56`	`#endif`
`57`	`57`	`}`
`58`	`58`	`#endif`
`@@ -1010,7 +1010,7 @@ void CanDriver::initOnce()`
`1010`	`1010`	`#if UAVCAN_STM32_NUTTX`
`1011`	`1011`	`# define IRQ_ATTACH(irq, handler) \`
`1012`	`1012`	`{ \`
`1013`		`- const int res = irq_attach(irq, handler); \`
	`1013`	`+ const int res = irq_attach(irq, handler, NULL); \`
`1014`	`1014`	`(void)res; \`
`1015`	`1015`	`assert(res >= 0); \`
`1016`	`1016`	`up_enable_irq(irq); \`
`@@ -1119,7 +1119,7 @@ extern "C"`
`1119`	`1119`
`1120`	`1120`	`#if UAVCAN_STM32_NUTTX`
`1121`	`1121`
`1122`		`-static int can1_irq(const int irq, void*)`
	`1122`	`+static int can1_irq(const int irq, void, void)`
`1123`	`1123`	`{`
`1124`	`1124`	`if (irq == STM32_IRQ_CAN1TX)`
`1125`	`1125`	`{`
`@@ -1142,7 +1142,7 @@ static int can1_irq(const int irq, void*)`
`1142`	`1142`
`1143`	`1143`	`# if UAVCAN_STM32_NUM_IFACES > 1`
`1144`	`1144`
`1145`		`-static int can2_irq(const int irq, void*)`
	`1145`	`+static int can2_irq(const int irq, void, void)`
`1146`	`1146`	`{`
`1147`	`1147`	`if (irq == STM32_IRQ_CAN2TX)`
`1148`	`1148`	`{`