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uavcan module cleanup

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- move most orb to uORB::Publication and uORB::Subscription
 - update legacy message handling (warn to PX4_INFO, PX4_WARN, PX4_ERR)
 - add perf counters
 - sensors/mag support newer `uavcan::equipment::ahrs::MagneticFieldStrength2` message
 - sensors/gps support `uavcan::equipment::gnss::Auxiliary` for hdop and vdop
 - sensors delete obsolete ioctl and read methods
 - use PublicationMulti for actuator_outputs and esc_reports (to coexist with other output modules)
 - add GNSS parameter metadata (parameters_injected.xml)
This commit is contained in:
Daniel Agar
2019-10-28 19:57:50 -04:00
committed by GitHub
parent 47dd312b57
commit 375fc4a75c
22 changed files with 705 additions and 677 deletions
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src/lib/drivers/device/nuttx/I2C.hpp
+2 -2
View File
@@ -65,7 +65,7 @@ public:
I2C(I2C &&) = delete;
I2C &operator=(I2C &&) = delete;
virtual int init();
virtual int init() override;
static int set_bus_clock(unsigned bus, unsigned clock_hz);
@@ -109,7 +109,7 @@ protected:
*/
int transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len);
bool external() { return px4_i2c_bus_external(_device_id.devid_s.bus); }
virtual bool external() const override { return px4_i2c_bus_external(_device_id.devid_s.bus); }
private:
uint32_t _frequency{0};
src/lib/drivers/device/nuttx/SPI.hpp
+2 -2
View File
@@ -80,7 +80,7 @@ protected:
LOCK_NONE /**< perform no locking, only safe if the bus is entirely private */
};
virtual int init();
virtual int init() override;
/**
* Check for the presence of the device on the bus.
@@ -164,7 +164,7 @@ protected:
int _transferhword(uint16_t *send, uint16_t *recv, unsigned len);
bool external() { return px4_spi_bus_external(get_device_bus()); }
virtual bool external() const override { return px4_spi_bus_external(get_device_bus()); }
};