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DriverFramework purge

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The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.

 - DriverFramework (src/lib/DriverFramework submodule) completely removed
 - added dspal submodule in qurt platform (was brought in via DriverFramework)
 - all df wrapper drivers removed
 - all boards using df wrapper drivers updated to use in tree equivalents
 - unused empty arch/board.h on posix and qurt removed
 - unused IOCTLs removed (pub block, priv, etc)
 - Integrator delete methods only used from df wrapper drivers
 - commander: sensor calibration use "NuttX version" everywhere for now
 - sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
 - load_mon and top remove from linux boards (unused)
 - delete unused PX4_MAIN_FUNCTION
 - delete unused getreg32 macro
 - delete unused SIOCDEVPRIVATE define
 - named each platform tasks consistently
 - posix list_devices and list_topics removed (list_files now shows all virtual files)
This commit is contained in:
Daniel Agar
2020-01-13 14:07:03 -05:00
parent 04ba05f5a0
commit de4f594937
165 changed files with 285 additions and 8108 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/include/px4_platform_common/defines.h
-17
View File
@@ -54,19 +54,6 @@ constexpr bool PX4_ISFINITE(float x) { return __builtin_isfinite(x); }
constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
#endif /* __cplusplus */
#if defined(__PX4_NUTTX) || defined(__PX4_POSIX)
/****************************************************************************
* Building for NuttX or POSIX.
****************************************************************************/
/* Main entry point */
#define PX4_MAIN_FUNCTION(_prefix) int _prefix##_task_main(int argc, char *argv[])
#else // defined(__PX4_NUTTX) || defined(__PX4_POSIX)
/****************************************************************************/
#error "No target OS defined"
#endif
#if defined(__PX4_NUTTX)
/****************************************************************************
* NuttX specific defines.
@@ -99,9 +86,6 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
// NuttX _IOC is equivalent to Linux _IO
#define _PX4_IOC(x,y) _IO(x,y)
/* FIXME - Used to satisfy build */
#define getreg32(a) (*(volatile uint32_t *)(a))
#define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
@@ -111,7 +95,6 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
# include "dspal_math.h"
# define PX4_ROOTFSDIR "."
# define PX4_TICKS_PER_SEC 1000L
# define SIOCDEVPRIVATE 999999
#else // __PX4_QURT
platforms/common/include/px4_platform_common/posix.h
+11 -19
View File
@@ -44,7 +44,6 @@
#include <stdint.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <stdint.h>
#if defined(__PX4_QURT)
@@ -60,7 +59,10 @@
#ifdef __PX4_NUTTX
#include <poll.h>
typedef struct pollfd px4_pollfd_struct_t;
typedef pollevent_t px4_pollevent_t;
#if defined(__cplusplus)
#define _GLOBAL ::
@@ -73,7 +75,6 @@ typedef struct pollfd px4_pollfd_struct_t;
#define px4_write _GLOBAL write
#define px4_read _GLOBAL read
#define px4_poll _GLOBAL poll
#define px4_fsync _GLOBAL fsync
#define px4_access _GLOBAL access
#define px4_getpid _GLOBAL getpid
@@ -83,34 +84,31 @@ typedef struct pollfd px4_pollfd_struct_t;
#define PX4_STACK_OVERHEAD (1024 * 11)
/**
* Terminates the calling process immediately.
* @return 0 on success, 1 on error
*/
#define px4_exit(status) ({return status;})
__BEGIN_DECLS
typedef short pollevent_t;
typedef short px4_pollevent_t;
typedef struct {
/* This part of the struct is POSIX-like */
int fd; /* The descriptor being polled */
pollevent_t events; /* The input event flags */
pollevent_t revents; /* The output event flags */
px4_pollevent_t events; /* The input event flags */
px4_pollevent_t revents; /* The output event flags */
/* Required for PX4 compatibility */
px4_sem_t *sem; /* Pointer to semaphore used to post output event */
void *priv; /* For use by drivers */
} px4_pollfd_struct_t;
#ifndef POLLIN
#define POLLIN (0x01)
#endif
__EXPORT int px4_open(const char *path, int flags, ...);
__EXPORT int px4_close(int fd);
__EXPORT ssize_t px4_read(int fd, void *buffer, size_t buflen);
__EXPORT ssize_t px4_write(int fd, const void *buffer, size_t buflen);
__EXPORT int px4_ioctl(int fd, int cmd, unsigned long arg);
__EXPORT int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
__EXPORT int px4_fsync(int fd);
__EXPORT int px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout);
__EXPORT int px4_access(const char *pathname, int mode);
__EXPORT px4_task_t px4_getpid(void);
@@ -127,13 +125,7 @@ __END_DECLS
#define PX4_STACK_ADJUSTED(_s) (_s * (__SIZEOF_POINTER__ >> 2) + PX4_STACK_OVERHEAD)
__BEGIN_DECLS
extern int px4_errno;
__EXPORT void px4_show_devices(void);
__EXPORT void px4_show_files(void);
__EXPORT const char *px4_get_device_names(unsigned int *handle);
__EXPORT void px4_show_topics(void);
__EXPORT const char *px4_get_topic_names(unsigned int *handle);
__END_DECLS