DriverFramework purge

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)

src/lib/cdev/CDev.cpp

@@ -188,27 +188,6 @@ CDev::close(file_t *filep)
 	return ret;
 }
 
-int
-CDev::ioctl(file_t *filep, int cmd, unsigned long arg)
-{
-	PX4_DEBUG("CDev::ioctl");
-	int ret = -ENOTTY;
-
-	switch (cmd) {
-
-	/* fetch a pointer to the driver's private data */
-	case DIOC_GETPRIV:
-		*(void **)(uintptr_t)arg = (void *)this;
-		ret = PX4_OK;
-		break;
-
-	default:
-		break;
-	}
-
-	return ret;
-}
-
 int
 CDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 {
@@ -327,7 +306,7 @@ CDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 }
 
 void
-CDev::poll_notify(pollevent_t events)
+CDev::poll_notify(px4_pollevent_t events)
 {
 	PX4_DEBUG("CDev::poll_notify events = %0x", events);
 
@@ -344,7 +323,7 @@ CDev::poll_notify(pollevent_t events)
 }
 
 void
-CDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
+CDev::poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t events)
 {
 	PX4_DEBUG("CDev::poll_notify_one");
 

src/lib/cdev/CDev.hpp

@@ -137,8 +137,8 @@ public:
 	/**
 	 * Perform an ioctl operation on the device.
 	 *
-	 * The default implementation handles DIOC_GETPRIV, and otherwise
-	 * returns -ENOTTY. Subclasses should call the default implementation
+	 * The default implementation returns -ENOTTY.
+	 * Subclasses should call the default implementation
 	 * for any command they do not handle themselves.
 	 *
 	 * @param filep		Pointer to the NuttX file structure.
@@ -146,7 +146,7 @@ public:
 	 * @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; };
 
 	/**
 	 * Perform a poll setup/teardown operation.
@@ -187,7 +187,7 @@ protected:
 	 * @param filep		The file that's interested.
 	 * @return		The current set of poll events.
 	 */
-	virtual pollevent_t poll_state(file_t *filep) { return 0; }
+	virtual px4_pollevent_t poll_state(file_t *filep) { return 0; }
 
 	/**
 	 * Report new poll events.
@@ -197,7 +197,7 @@ protected:
 	 *
 	 * @param events	The new event(s) being announced.
 	 */
-	virtual void	poll_notify(pollevent_t events);
+	virtual void	poll_notify(px4_pollevent_t events);
 
 	/**
 	 * Internal implementation of poll_notify.
@@ -205,7 +205,7 @@ protected:
 	 * @param fds		A poll waiter to notify.
 	 * @param events	The event(s) to send to the waiter.
 	 */
-	virtual void	poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
+	virtual void	poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t events);
 
 	/**
 	 * Notification of the first open.

src/lib/cdev/posix/cdev_platform.cpp

@@ -44,10 +44,7 @@
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/time.h>
 
-#include "DevMgr.hpp"
-
 using namespace std;
-using namespace DriverFramework;
 
 const cdev::px4_file_operations_t cdev::CDev::fops = {};
 
@@ -60,8 +57,6 @@ static cdev::file_t filemap[PX4_MAX_FD] = {};
 
 extern "C" {
 
-	int px4_errno;
-
 	static cdev::CDev *getDev(const char *path)
 	{
 		PX4_DEBUG("CDev::getDev");
@@ -233,7 +228,6 @@ extern "C" {
 		}
 
 		if (ret < 0) {
-			px4_errno = -ret;
 			ret = PX4_ERROR;
 		}
 
@@ -255,7 +249,6 @@ extern "C" {
 		}
 
 		if (ret < 0) {
-			px4_errno = -ret;
 			ret = PX4_ERROR;
 		}
 
@@ -277,7 +270,6 @@ extern "C" {
 		}
 
 		if (ret < 0) {
-			px4_errno = -ret;
 			ret = PX4_ERROR;
 		}
 
@@ -298,14 +290,10 @@ extern "C" {
 			ret = -EINVAL;
 		}
 
-		if (ret < 0) {
-			px4_errno = -ret;
-		}
-
 		return ret;
 	}
 
-	int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
+	int px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout)
 	{
 		if (nfds == 0) {
 			PX4_WARN("px4_poll with no fds");
@@ -315,7 +303,6 @@ extern "C" {
 		px4_sem_t sem;
 		int count = 0;
 		int ret = -1;
-		unsigned int i;
 
 		const unsigned NAMELEN = 32;
 		char thread_name[NAMELEN] = {};
@@ -339,7 +326,7 @@ extern "C" {
 		// Go through all fds and check them for a pollable state
 		bool fd_pollable = false;
 
-		for (i = 0; i < nfds; ++i) {
+		for (unsigned int i = 0; i < nfds; ++i) {
 			fds[i].sem     = &sem;
 			fds[i].revents = 0;
 			fds[i].priv    = nullptr;
@@ -393,7 +380,7 @@ extern "C" {
 
 			// We have waited now (or not, depending on timeout),
 			// go through all fds and count how many have data
-			for (i = 0; i < nfds; ++i) {
+			for (unsigned int i = 0; i < nfds; ++i) {
 
 				cdev::CDev *dev = get_vdev(fds[i].fd);
 
@@ -421,11 +408,6 @@ extern "C" {
 		return (count) ? count : ret;
 	}
 
-	int px4_fsync(int fd)
-	{
-		return 0;
-	}
-
 	int px4_access(const char *pathname, int mode)
 	{
 		if (mode != F_OK) {
@@ -437,51 +419,6 @@ extern "C" {
 		return (dev != nullptr) ? 0 : -1;
 	}
 
-	void px4_show_devices()
-	{
-		int i = 0;
-		PX4_INFO("PX4 Devices:");
-
-		pthread_mutex_lock(&devmutex);
-
-		for (const auto &dev : devmap) {
-			if (strncmp(dev.first.c_str(), "/dev/", 5) == 0) {
-				PX4_INFO("   %s", dev.first.c_str());
-			}
-		}
-
-		pthread_mutex_unlock(&devmutex);
-
-		PX4_INFO("DF Devices:");
-		const char *dev_path;
-		unsigned int index = 0;
-		i = 0;
-
-		do {
-			// Each look increments index and returns -1 if end reached
-			i = DevMgr::getNextDeviceName(index, &dev_path);
-
-			if (i == 0) {
-				PX4_INFO("   %s", dev_path);
-			}
-		} while (i == 0);
-	}
-
-	void px4_show_topics()
-	{
-		PX4_INFO("Devices:");
-
-		pthread_mutex_lock(&devmutex);
-
-		for (const auto &dev : devmap) {
-			if (strncmp(dev.first.c_str(), "/obj/", 5) == 0) {
-				PX4_INFO("   %s", dev.first.c_str());
-			}
-		}
-
-		pthread_mutex_unlock(&devmutex);
-	}
-
 	void px4_show_files()
 	{
 		PX4_INFO("Files:");
@@ -489,10 +426,7 @@ extern "C" {
 		pthread_mutex_lock(&devmutex);
 
 		for (const auto &dev : devmap) {
-			if (strncmp(dev.first.c_str(), "/obj/", 5) != 0 &&
-			    strncmp(dev.first.c_str(), "/dev/", 5) != 0) {
-				PX4_INFO("   %s", dev.first.c_str());
-			}
+			PX4_INFO_RAW("   %s\n", dev.first.c_str());
 		}
 
 		pthread_mutex_unlock(&devmutex);

src/lib/drivers/barometer/PX4Barometer.cpp

@@ -74,8 +74,6 @@ PX4Barometer::update(hrt_abstime timestamp, float pressure)
 	report.timestamp = timestamp;
 	report.pressure = pressure;
 
-	poll_notify(POLLIN);
-
 	_sensor_baro_pub.update();
 }
 

src/lib/drivers/device/CDev.cpp

@@ -53,10 +53,9 @@ CDev::CDev(const char *name, const char *devname) :
 {
 }
 
-int
-CDev::init()
+int CDev::init()
 {
-	DEVICE_DEBUG("CDev::init");
+	PX4_DEBUG("CDev::init");
 
 	// base class init first
 	int ret = Device::init();
@@ -78,29 +77,12 @@ out:
 	return ret;
 }
 
-int
-CDev::ioctl(file_t *filep, int cmd, unsigned long arg)
+int CDev::ioctl(file_t *filep, int cmd, unsigned long arg)
 {
-	DEVICE_DEBUG("CDev::ioctl");
+	PX4_DEBUG("CDev::ioctl");
 	int ret = -ENOTTY;
 
 	switch (cmd) {
-
-	/* fetch a pointer to the driver's private data */
-	case DIOC_GETPRIV:
-		*(void **)(uintptr_t)arg = (void *)this;
-		ret = PX4_OK;
-		break;
-
-	case DEVIOCSPUBBLOCK:
-		_pub_blocked = (arg != 0);
-		ret = PX4_OK;
-		break;
-
-	case DEVIOCGPUBBLOCK:
-		ret = _pub_blocked;
-		break;
-
 	case DEVIOCGDEVICEID:
 		ret = (int)_device_id.devid;
 		break;

src/lib/drivers/device/CDev.hpp

@@ -75,7 +75,7 @@ public:
 	/**
 	 * Perform an ioctl operation on the device.
 	 *
-	 * The default implementation handles DIOC_GETPRIV, and otherwise
+	 * The default implementation handles DEVIOCGDEVICEID, and otherwise
 	 * returns -ENOTTY. Subclasses should call the default implementation
 	 * for any command they do not handle themselves.
 	 *

src/lib/drivers/device/integrator.cpp

@@ -114,50 +114,6 @@ Integrator::put(const hrt_abstime &timestamp, const matrix::Vector3f &val, matri
 	}
 }
 
-bool
-Integrator::put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral,
-			      uint32_t &integral_dt)
-{
-	if (_last_integration_time == 0) {
-		/* this is the first item in the integrator */
-		hrt_abstime now = hrt_absolute_time();
-		_last_integration_time = now;
-		_last_reset_time = now;
-		_last_val = val;
-
-		return false;
-	}
-
-	// Create the timestamp artifically.
-	const hrt_abstime timestamp = _last_integration_time + interval_us;
-
-	return put(timestamp, val, integral, integral_dt);
-}
-
-matrix::Vector3f
-Integrator::get(bool reset, uint32_t &integral_dt)
-{
-	matrix::Vector3f val = _alpha;
-
-	if (reset) {
-		_reset(integral_dt);
-	}
-
-	return val;
-}
-
-matrix::Vector3f
-Integrator::get_and_filtered(bool reset, uint32_t &integral_dt, matrix::Vector3f &filtered_val)
-{
-	// Do the usual get with reset first but don't return yet.
-	const matrix::Vector3f ret_integral = get(reset, integral_dt);
-
-	// Because we need both the integral and the integral_dt.
-	filtered_val = ret_integral * 1000000 / integral_dt;
-
-	return ret_integral;
-}
-
 void
 Integrator::_reset(uint32_t &integral_dt)
 {

src/lib/drivers/device/integrator.h

@@ -51,12 +51,6 @@ public:
 	Integrator(uint32_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
 	~Integrator() = default;
 
-	// no copy, assignment, move, move assignment
-	Integrator(const Integrator &) = delete;
-	Integrator &operator=(const Integrator &) = delete;
-	Integrator(Integrator &&) = delete;
-	Integrator &operator=(Integrator &&) = delete;
-
 	/**
 	 * Put an item into the integral.
 	 *
@@ -69,42 +63,6 @@ public:
 	 */
 	bool put(const uint64_t &timestamp, const matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);
 
-	/**
-	 * Put an item into the integral but provide an interval instead of a timestamp.
-	 *
-	 * @param interval_us	Interval in us since last integration.
-	 * @param val		Item to put.
-	 * @param integral	Current integral in case the integrator did reset, else the value will not be modified
-	 * @param integral_dt	Get the dt in us of the current integration (only if reset). Note that this
-	 *			values might not be accurate vs. hrt_absolute_time because it is just the sum of the
-	 *			supplied intervals.
-	 * @return		true if putting the item triggered an integral reset and the integral should be
-	 *			published.
-	 */
-	bool put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);
-
-	/**
-	 * Get the current integral and reset the integrator if needed.
-	 *
-	 * @param reset	    	Reset the integral to zero.
-	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
-	 * @return		the integral since the last read-reset
-	 */
-	matrix::Vector3f	get(bool reset, uint32_t &integral_dt);
-
-
-	/**
-	 * Get the current integral and reset the integrator if needed. Additionally give the
-	 * integral over the samples differentiated by the integration time (mean filtered values).
-	 *
-	 * @param reset	    	Reset the integral to zero.
-	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
-	 * @param filtered_val	The integral differentiated by the integration time.
-	 * @return		the integral since the last read-reset
-	 */
-	matrix::Vector3f	get_and_filtered(bool reset, uint32_t &integral_dt, matrix::Vector3f &filtered_val);
-
-
 	/**
 	 * Set auto reset interval during runtime. This won't reset the integrator.
 	 *

src/lib/drivers/device/nuttx/SPI.hpp

@@ -42,6 +42,8 @@
 
 #include "../CDev.hpp"
 
+#include <nuttx/spi/spi.h>
+
 namespace device __EXPORT
 {
 

src/lib/drivers/magnetometer/PX4Magnetometer.cpp

@@ -131,7 +131,6 @@ PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
 	report.y = val_calibrated(1);
 	report.z = val_calibrated(2);
 
-	poll_notify(POLLIN);
 	_sensor_mag_pub.update();
 }
 

src/lib/systemlib/CMakeLists.txt

@@ -33,20 +33,20 @@
 
 set(SRCS
 	conversions.c
-	cpuload.c
 	crc.c
 	mavlink_log.cpp
-	otp.c
-	)
+)
 
 if(${PX4_PLATFORM} STREQUAL "nuttx")
 	list(APPEND SRCS
+		cpuload.c
 		print_load_nuttx.c
-		)
+		otp.c
+	)
 else()
 	list(APPEND SRCS
 		print_load_posix.c
-		)
+	)
 endif()
 
 px4_add_library(systemlib ${SRCS})

src/lib/systemlib/cpuload.c

@@ -51,7 +51,7 @@
 
 #include <sys/time.h>
 
-#include <arch/board/board.h>
+
 #include <drivers/drv_hrt.h>
 
 #include "cpuload.h"