diff --git a/drivers/math/Make.defs b/drivers/math/Make.defs index b628198bf8..fba13618df 100644 --- a/drivers/math/Make.defs +++ b/drivers/math/Make.defs @@ -21,7 +21,7 @@ # Include CORDIC support ifeq ($(CONFIG_MATH_CORDIC),y) -CSRCS += cordic.c +CSRCS += math.c endif # Include build support diff --git a/drivers/math/cordic.c b/drivers/math/math.c similarity index 66% rename from drivers/math/cordic.c rename to drivers/math/math.c index a20cdcc7f6..0876d96511 100644 --- a/drivers/math/cordic.c +++ b/drivers/math/math.c @@ -1,5 +1,5 @@ /**************************************************************************** - * drivers/math/cordic.c + * drivers/math/math.c * * Licensed to the Apache Software Foundation (ASF) under one or more * contributor license agreements. See the NOTICE file distributed with @@ -22,24 +22,13 @@ * Included Files ****************************************************************************/ -#include - -#include -#include -#include -#include -#include -#include -#include #include #include #include #include -#include - +#include #include -#include /**************************************************************************** * Pre-processor Definitions @@ -51,34 +40,31 @@ /* This structure describes the state of the upper half driver */ -struct cordic_upperhalf_s -{ - FAR struct cordic_lowerhalf_s *lower; -}; +typedef struct math_config_s math_upperhalf_s; /**************************************************************************** * Private Function Prototypes ****************************************************************************/ -static ssize_t cordic_read(FAR struct file *filep, FAR char *buffer, - size_t buflen); -static ssize_t cordic_write(FAR struct file *filep, FAR const char *buffer, - size_t buflen); -static int cordic_ioctl(FAR struct file *filep, int cmd, - unsigned long arg); +static ssize_t math_read(FAR struct file *filep, FAR char *buffer, + size_t buflen); +static ssize_t math_write(FAR struct file *filep, FAR const char *buffer, + size_t buflen); +static int math_ioctl(FAR struct file *filep, int cmd, + unsigned long arg); /**************************************************************************** * Private Data ****************************************************************************/ -static const struct file_operations g_cordicops = +static const struct file_operations g_math_ops = { NULL, /* open */ NULL, /* close */ - cordic_read, /* read */ - cordic_write, /* write */ + math_read, /* read */ + math_write, /* write */ NULL, /* seek */ - cordic_ioctl, /* ioctl */ + math_ioctl, /* ioctl */ }; /**************************************************************************** @@ -86,14 +72,14 @@ static const struct file_operations g_cordicops = ****************************************************************************/ /**************************************************************************** - * Name: cordic_read + * Name: math_read * * Description: * A dummy read method. This is provided only to satisfy the VFS layer. * ****************************************************************************/ -static ssize_t cordic_read(FAR struct file *filep, FAR char *buffer, +static ssize_t math_read(FAR struct file *filep, FAR char *buffer, size_t buflen) { /* Return zero -- usually meaning end-of-file */ @@ -102,41 +88,38 @@ static ssize_t cordic_read(FAR struct file *filep, FAR char *buffer, } /**************************************************************************** - * Name: cordic_write + * Name: math_write * * Description: * A dummy write method. This is provided only to satisfy the VFS layer. * ****************************************************************************/ -static ssize_t cordic_write(FAR struct file *filep, FAR const char *buffer, +static ssize_t math_write(FAR struct file *filep, FAR const char *buffer, size_t buflen) { return 0; } /**************************************************************************** - * Name: cordic_ioctl + * Name: math_ioctl * * Description: - * The standard ioctl method. This is where ALL of the cordic timer + * The standard ioctl method. This is where ALL of the math timer * work is done. * ****************************************************************************/ -static int cordic_ioctl(FAR struct file *filep, int cmd, unsigned long arg) +static int math_ioctl(FAR struct file *filep, int cmd, unsigned long arg) { - FAR struct inode *inode = filep->f_inode; - FAR struct cordic_upperhalf_s *upper = NULL; - FAR struct cordic_lowerhalf_s *lower = NULL; - int ret = 0; + FAR struct inode *inode = filep->f_inode; + FAR math_upperhalf_s *upper = inode->i_private; + int ret = -ENOTTY; irqstate_t flags; - _info("cmd: %d arg: %lu\n", cmd, arg); - upper = inode->i_private; DEBUGASSERT(upper != NULL); - lower = upper->lower; - DEBUGASSERT(lower != NULL); + + _info("cmd: %d arg: %lu\n", cmd, arg); flags = enter_critical_section(); @@ -149,16 +132,10 @@ static int cordic_ioctl(FAR struct file *filep, int cmd, unsigned long arg) FAR struct cordic_calc_s *calc = (FAR struct cordic_calc_s *)((uintptr_t)arg); - ret = lower->ops->calc(lower, calc); - - break; - } - - /* Not supported */ - - default: - { - ret = -ENOTTY; + if (upper->cordic != NULL) + { + ret = upper->cordic->ops->calc(upper->cordic, calc); + } break; } @@ -174,45 +151,64 @@ static int cordic_ioctl(FAR struct file *filep, int cmd, unsigned long arg) ****************************************************************************/ /**************************************************************************** - * Name: cordic_register + * Name: math_register * * Description: - * Register a CORDIC driver. + * Register a math driver. * ****************************************************************************/ -int cordic_register(FAR const char *path, - FAR struct cordic_lowerhalf_s *lower) +int math_register(FAR const char *path, + FAR const struct math_config_s *config) { - FAR struct cordic_upperhalf_s *upper = NULL; - int ret = OK; + FAR math_upperhalf_s *upper = NULL; + int ret = -ENOMEM; DEBUGASSERT(path); - DEBUGASSERT(lower); + DEBUGASSERT(config); /* Allocate the upper-half data structure */ - upper = (FAR struct cordic_upperhalf_s *) - kmm_zalloc(sizeof(struct cordic_upperhalf_s)); + upper = (FAR math_upperhalf_s *) + kmm_malloc(sizeof(math_upperhalf_s)); if (!upper) { _err("Upper half allocation failed\n"); goto errout; } - /* Initialize the CORDIC device structure */ + /* Initialize the math device structure */ - upper->lower = lower; + memcpy(upper, config, sizeof(math_upperhalf_s)); - /* Register the cordic timer device */ + /* Register the math timer device */ - ret = register_driver(path, &g_cordicops, 0666, upper); + ret = register_driver(path, &g_math_ops, 0666, upper); if (ret < 0) { - _err("register_driver failed: %d\n", ret); + _err("register math driver failed: %d\n", ret); kmm_free(upper); } errout: return ret; } + +/**************************************************************************** + * Name: cordic_register + * + * Description: + * Register a CORDIC driver. Deprecated, use math_register instead! + * + ****************************************************************************/ + +int cordic_register(FAR const char *path, + FAR struct cordic_lowerhalf_s *lower) +{ + struct math_config_s config; + + memset(&config, 0, sizeof(config)); + config.cordic = lower; + + return math_register(path, &config); +} diff --git a/include/nuttx/math/math.h b/include/nuttx/math/math.h new file mode 100644 index 0000000000..3656861736 --- /dev/null +++ b/include/nuttx/math/math.h @@ -0,0 +1,59 @@ +/**************************************************************************** + * include/nuttx/math/math.h + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __INCLUDE_NUTTX_MATH_MATH_H +#define __INCLUDE_NUTTX_MATH_MATH_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* This math config struct provides the all "lower half" of math drivers. + * Each will have an internal structure definition that will be + * cast-compatible with this structure definitions. + */ + +struct math_config_s +{ + FAR struct cordic_lowerhalf_s *cordic; +}; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: math_register + * + * Description: + * Register all math related drivers. + * + ****************************************************************************/ + +int math_register(FAR const char *path, + FAR const struct math_config_s *config); + +#endif /* __INCLUDE_NUTTX_MATH_MATH_H */