fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 07:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage

Browse Source
This commit is contained in:
Daniel Agar
2021-01-12 22:04:52 -05:00
parent 7f5fae91b0
commit a57b9f9381
55 changed files with 117 additions and 553 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/cdev/CDev.cpp
-1
View File
@@ -42,7 +42,6 @@
#include <cstring>
#include <px4_platform_common/posix.h>
#include <drivers/drv_device.h>
namespace cdev
{
src/lib/cdev/nuttx/cdev_platform.cpp
-1
View File
@@ -40,7 +40,6 @@
#include "../CDev.hpp"
#include <px4_platform_common/posix.h>
#include "drivers/drv_device.h"
#include <sys/ioctl.h>
#ifdef CONFIG_DISABLE_POLL
src/lib/cdev/test/cdevtest_example.cpp
-1
View File
@@ -43,7 +43,6 @@
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/time.h>
#include <drivers/drv_device.h>
#include <lib/cdev/CDev.hpp>
#include <unistd.h>
#include <stdio.h>
src/lib/drivers/accelerometer/PX4Accelerometer.cpp
-2
View File
@@ -65,8 +65,6 @@ static constexpr uint8_t clipping(const int16_t samples[16], int16_t clip_limit,
}
PX4Accelerometer::PX4Accelerometer(uint32_t device_id, enum Rotation rotation) :
_sensor_pub{ORB_ID(sensor_accel)},
_sensor_fifo_pub{ORB_ID(sensor_accel_fifo)},
_device_id{device_id},
_rotation{rotation}
{
src/lib/drivers/accelerometer/PX4Accelerometer.hpp
+2 -2
View File
@@ -66,8 +66,8 @@ private:
void Publish(const hrt_abstime &timestamp_sample, float x, float y, float z, uint8_t clip_count[3]);
void UpdateClipLimit();
uORB::PublicationMulti<sensor_accel_s> _sensor_pub;
uORB::PublicationMulti<sensor_accel_fifo_s> _sensor_fifo_pub;
uORB::PublicationMulti<sensor_accel_s> _sensor_pub{ORB_ID(sensor_accel)};
uORB::PublicationMulti<sensor_accel_fifo_s> _sensor_fifo_pub{ORB_ID(sensor_accel_fifo)};
uint32_t _device_id{0};
const enum Rotation _rotation;
src/lib/drivers/barometer/PX4Barometer.cpp
+1 -8
View File
@@ -36,11 +36,8 @@
#include <lib/drivers/device/Device.hpp>
PX4Barometer::PX4Barometer(uint32_t device_id) :
CDev(nullptr),
_sensor_baro_pub{ORB_ID(sensor_baro)}
PX4Barometer::PX4Barometer(uint32_t device_id)
{
_class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
_sensor_baro_pub.advertise();
_sensor_baro_pub.get().device_id = device_id;
@@ -48,10 +45,6 @@ PX4Barometer::PX4Barometer(uint32_t device_id) :
PX4Barometer::~PX4Barometer()
{
if (_class_device_instance != -1) {
unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_device_instance);
}
_sensor_baro_pub.unadvertise();
}
src/lib/drivers/barometer/PX4Barometer.hpp
+4 -10
View File
@@ -33,20 +33,17 @@
#pragma once
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <uORB/uORB.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_baro.h>
class PX4Barometer : public cdev::CDev
class PX4Barometer
{
public:
PX4Barometer(uint32_t device_id);
~PX4Barometer() override;
~PX4Barometer();
const sensor_baro_s &get() { return _sensor_baro_pub.get(); }
@@ -57,12 +54,9 @@ public:
void update(const hrt_abstime &timestamp_sample, float pressure);
int get_class_instance() { return _class_device_instance; };
int get_instance() { return _sensor_baro_pub.get_instance(); };
private:
uORB::PublicationMultiData<sensor_baro_s> _sensor_baro_pub;
int _class_device_instance{-1};
uORB::PublicationMultiData<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
};
src/lib/drivers/device/CDev.cpp
-18
View File
@@ -42,7 +42,6 @@
#include <cstring>
#include <px4_platform_common/posix.h>
#include <drivers/drv_device.h>
namespace device
{
@@ -77,21 +76,4 @@ out:
return ret;
}
int CDev::ioctl(file_t *filep, int cmd, unsigned long arg)
{
PX4_DEBUG("CDev::ioctl");
int ret = -ENOTTY;
switch (cmd) {
case DEVIOCGDEVICEID:
ret = (int)_device_id.devid;
break;
default:
break;
}
return ret;
}
} // namespace device
src/lib/drivers/device/CDev.hpp
+1 -5
View File
@@ -75,16 +75,12 @@ public:
/**
* Perform an ioctl operation on the device.
*
* The default implementation handles DEVIOCGDEVICEID, and otherwise
* returns -ENOTTY. Subclasses should call the default implementation
* for any command they do not handle themselves.
*
* @param filep Pointer to the NuttX file structure.
* @param cmd The ioctl command value.
* @param arg The ioctl argument value.
* @return OK on success, or -errno otherwise.
*/
virtual int ioctl(file_t *filep, int cmd, unsigned long arg);
virtual int ioctl(file_t *filep, int cmd, unsigned long arg) { return -ENOTTY; }
};
src/lib/drivers/device/Device.hpp
+5 -11
View File
@@ -46,7 +46,7 @@
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/posix.h>
#include <drivers/drv_device.h>
#include <drivers/drv_sensor.h>
#define DEVICE_LOG(FMT, ...) PX4_LOG_NAMED(_name, FMT, ##__VA_ARGS__)
#define DEVICE_DEBUG(FMT, ...) PX4_LOG_NAMED_COND(_name, _debug_enabled, FMT, ##__VA_ARGS__)
@@ -138,15 +138,7 @@ public:
* @param arg An argument to the operation.
* @return Negative errno on error, OK or positive value on success.
*/
virtual int ioctl(unsigned operation, unsigned &arg)
{
switch (operation) {
case DEVIOCGDEVICEID:
return (int)_device_id.devid;
}
return -ENODEV;
}
virtual int ioctl(unsigned operation, unsigned &arg) { return -ENODEV; }
/** Device bus types for DEVID */
enum DeviceBusType {
@@ -182,7 +174,8 @@ public:
*
* @return The bus type
*/
DeviceBusType get_device_bus_type() const { return _device_id.devid_s.bus_type; }
DeviceBusType get_device_bus_type() const { return _device_id.devid_s.bus_type; }
void set_device_bus_type(DeviceBusType bus_type) { _device_id.devid_s.bus_type = bus_type; }
static const char *get_device_bus_string(DeviceBusType bus)
{
@@ -211,6 +204,7 @@ public:
* @return The bus ID
*/
uint8_t get_device_bus() const { return _device_id.devid_s.bus; }
void set_device_bus(uint8_t bus) { _device_id.devid_s.bus = bus; }
/**
* Return the bus address of the device.
src/lib/drivers/gyroscope/PX4Gyroscope.cpp
-2
View File
@@ -52,8 +52,6 @@ static constexpr int32_t sum(const int16_t samples[16], uint8_t len)
}
PX4Gyroscope::PX4Gyroscope(uint32_t device_id, enum Rotation rotation) :
_sensor_pub{ORB_ID(sensor_gyro)},
_sensor_fifo_pub{ORB_ID(sensor_gyro_fifo)},
_device_id{device_id},
_rotation{rotation}
{
src/lib/drivers/gyroscope/PX4Gyroscope.hpp
+2 -2
View File
@@ -64,8 +64,8 @@ public:
private:
void Publish(const hrt_abstime &timestamp_sample, float x, float y, float z);
uORB::PublicationMulti<sensor_gyro_s> _sensor_pub;
uORB::PublicationMulti<sensor_gyro_fifo_s> _sensor_fifo_pub;
uORB::PublicationMulti<sensor_gyro_s> _sensor_pub{ORB_ID(sensor_gyro)};
uORB::PublicationMulti<sensor_gyro_fifo_s> _sensor_fifo_pub{ORB_ID(sensor_gyro_fifo)};
uint32_t _device_id{0};
const enum Rotation _rotation;
src/lib/drivers/magnetometer/PX4Magnetometer.cpp
-8
View File
@@ -37,23 +37,15 @@
#include <lib/drivers/device/Device.hpp>
PX4Magnetometer::PX4Magnetometer(uint32_t device_id, enum Rotation rotation) :
CDev(nullptr),
_sensor_pub{ORB_ID(sensor_mag)},
_device_id{device_id},
_rotation{rotation}
{
// advertise immediately to keep instance numbering in sync
_sensor_pub.advertise();
_class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
}
PX4Magnetometer::~PX4Magnetometer()
{
if (_class_device_instance != -1) {
unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_device_instance);
}
_sensor_pub.unadvertise();
}
src/lib/drivers/magnetometer/PX4Magnetometer.hpp
+4 -8
View File
@@ -33,18 +33,16 @@
#pragma once
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_mag.h>
class PX4Magnetometer : public cdev::CDev
class PX4Magnetometer
{
public:
PX4Magnetometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
~PX4Magnetometer() override;
~PX4Magnetometer();
bool external() { return _external; }
@@ -58,10 +56,10 @@ public:
void update(const hrt_abstime &timestamp_sample, float x, float y, float z);
int get_class_instance() { return _class_device_instance; };
int get_instance() { return _sensor_pub.get_instance(); };
private:
uORB::PublicationMulti<sensor_mag_s> _sensor_pub;
uORB::PublicationMulti<sensor_mag_s> _sensor_pub{ORB_ID(sensor_mag)};
uint32_t _device_id{0};
const enum Rotation _rotation;
@@ -71,6 +69,4 @@ private:
uint32_t _error_count{0};
bool _external{false};
int _class_device_instance{-1};
};
src/lib/drivers/rangefinder/PX4Rangefinder.cpp
+1 -9
View File
@@ -35,12 +35,8 @@
#include <lib/drivers/device/Device.hpp>
PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_orientation) :
CDev(nullptr),
_distance_sensor_pub{ORB_ID(distance_sensor)}
PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_orientation)
{
_class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
_distance_sensor_pub.advertise();
set_device_id(device_id);
@@ -49,10 +45,6 @@ PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_or
PX4Rangefinder::~PX4Rangefinder()
{
if (_class_device_instance != -1) {
unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_device_instance);
}
_distance_sensor_pub.unadvertise();
}
src/lib/drivers/rangefinder/PX4Rangefinder.hpp
+3 -10
View File
@@ -34,15 +34,12 @@
#pragma once
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/distance_sensor.h>
class PX4Rangefinder : public cdev::CDev
class PX4Rangefinder
{
public:
PX4Rangefinder(const uint32_t device_id,
const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
@@ -64,12 +61,8 @@ public:
void update(const hrt_abstime &timestamp_sample, const float distance, const int8_t quality = -1);
int get_class_instance() { return _class_device_instance; };
int get_instance() { return _distance_sensor_pub.get_instance(); };
private:
uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub;
int _class_device_instance{-1};
uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
};