From 474e376f96f2006e2b5ee44f8d2cdde8671633ef Mon Sep 17 00:00:00 2001 From: Mark Charlebois Date: Thu, 29 Oct 2015 12:03:57 -0700 Subject: [PATCH] Removed deadcode from accelsim Signed-off-by: Mark Charlebois --- .../posix/drivers/accelsim/accelsim.cpp | 156 ++---------------- 1 file changed, 10 insertions(+), 146 deletions(-) diff --git a/src/platforms/posix/drivers/accelsim/accelsim.cpp b/src/platforms/posix/drivers/accelsim/accelsim.cpp index 1f9fa0da05..8e770aafd8 100644 --- a/src/platforms/posix/drivers/accelsim/accelsim.cpp +++ b/src/platforms/posix/drivers/accelsim/accelsim.cpp @@ -227,41 +227,6 @@ private: */ void mag_measure(); - /** - * Read a register from the ACCELSIM - * - * @param The register to read. - * @return The value that was read. - */ - uint8_t read_reg(unsigned reg); - - /** - * Write a register in the ACCELSIM - * - * @param reg The register to write. - * @param value The new value to write. - */ - void write_reg(unsigned reg, uint8_t value); - - /** - * Modify a register in the ACCELSIM - * - * Bits are cleared before bits are set. - * - * @param reg The register to modify. - * @param clearbits Bits in the register to clear. - * @param setbits Bits in the register to set. - */ - void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); - - /** - * Write a register in the ACCELSIM, updating _checked_values - * - * @param reg The register to write. - * @param value The new value to write. - */ - void write_checked_reg(unsigned reg, uint8_t value); - /** * Set the ACCELSIM accel measurement range. * @@ -329,25 +294,25 @@ public: ACCELSIM_mag(ACCELSIM *parent); ~ACCELSIM_mag(); - virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen); - virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); + virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen); + virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); - virtual int init(); + virtual int init(); protected: friend class ACCELSIM; - void parent_poll_notify(); + void parent_poll_notify(); private: - ACCELSIM *_parent; + ACCELSIM *_parent; - orb_advert_t _mag_topic; - int _mag_orb_class_instance; - int _mag_class_instance; + orb_advert_t _mag_topic; + int _mag_orb_class_instance; + int _mag_class_instance; - void measure(); + void measure(); - void measure_trampoline(void *arg); + void measure_trampoline(void *arg); /* this class does not allow copying due to ptr data members */ ACCELSIM_mag(const ACCELSIM_mag &); @@ -391,8 +356,6 @@ ACCELSIM::ACCELSIM(const char *path, enum Rotation rotation) : _last_temperature(0), _checked_next(0) { - - // enable debug() calls _debug_enabled = false; @@ -886,53 +849,6 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg) } } -uint8_t -ACCELSIM::read_reg(unsigned reg) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_READ; - cmd[1] = 0; - - transfer(cmd, cmd, sizeof(cmd)); - - return cmd[1]; -} - -void -ACCELSIM::write_reg(unsigned reg, uint8_t value) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_WRITE; - cmd[1] = value; - - transfer(cmd, nullptr, sizeof(cmd)); -} - -void -ACCELSIM::write_checked_reg(unsigned reg, uint8_t value) -{ - write_reg(reg, value); - - for (uint8_t i = 0; i < ACCELSIM_NUM_CHECKED_REGISTERS; i++) { - if (reg == _checked_registers[i]) { - _checked_values[i] = value; - } - } -} - -void -ACCELSIM::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) -{ - uint8_t val; - - val = read_reg(reg); - val &= ~clearbits; - val |= setbits; - write_checked_reg(reg, val); -} - int ACCELSIM::accel_set_range(unsigned max_g) { @@ -1086,51 +1002,6 @@ ACCELSIM::measure() accel_report.y_raw = (int16_t)(raw_accel_report.y / _accel_range_scale); accel_report.z_raw = (int16_t)(raw_accel_report.z / _accel_range_scale); - // float xraw_f = (int16_t)(raw_accel_report.x/_accel_range_scale); - // float yraw_f = (int16_t)(raw_accel_report.y / _accel_range_scale); - // float zraw_f = (int16_t)(raw_accel_report.z / _accel_range_scale); - - // // apply user specified rotation - // rotate_3f(_rotation, xraw_f, yraw_f, zraw_f); - - // float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; - // float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; - // float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; - - /* - we have logs where the accelerometers get stuck at a fixed - large value. We want to detect this and mark the sensor as - being faulty - */ - // if (fabsf(_last_accel[0] - x_in_new) < 0.001f && - // fabsf(_last_accel[1] - y_in_new) < 0.001f && - // fabsf(_last_accel[2] - z_in_new) < 0.001f && - // fabsf(x_in_new) > 20 && - // fabsf(y_in_new) > 20 && - // fabsf(z_in_new) > 20) { - // _constant_accel_count += 1; - // } else { - // _constant_accel_count = 0; - // } - // if (_constant_accel_count > 100) { - // // we've had 100 constant accel readings with large - // // values. The sensor is almost certainly dead. We - // // will raise the error_count so that the top level - // // flight code will know to avoid this sensor, but - // // we'll still give the data so that it can be logged - // // and viewed - // perf_count(_bad_values); - // _constant_accel_count = 0; - // } - - // _last_accel[0] = x_in_new; - // _last_accel[1] = y_in_new; - // _last_accel[2] = z_in_new; - - // accel_report.x = _accel_filter_x.apply(x_in_new); - // accel_report.y = _accel_filter_y.apply(y_in_new); - // accel_report.z = _accel_filter_z.apply(z_in_new); - accel_report.x = raw_accel_report.x; accel_report.y = raw_accel_report.y; accel_report.z = raw_accel_report.z; @@ -1218,13 +1089,6 @@ ACCELSIM::mag_measure() /* apply user specified rotation */ rotate_3f(_rotation, xraw_f, yraw_f, zraw_f); - // mag_report.x = ((xraw_f * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale; - // mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale; - // mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale; - // mag_report.scaling = _mag_range_scale; - // mag_report.range_ga = (float)_mag_range_ga; - // mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values); - /* remember the temperature. The datasheet isn't clear, but it * seems to be a signed offset from 25 degrees C in units of 0.125C */